A camera system and method for reducing a blind spot in a vehicle's field of view

Abstract

This invention discloses a camera system for reducing blind spots in vehicle visibility. The camera system includes a control unit, a camera unit, and a telescopic mechanism. A first end of the telescopic mechanism is mounted on the body of the target vehicle, and a second end extends outward from the vehicle body. The camera unit is mounted on the second end of the telescopic mechanism. The control unit acquires the vehicle's own state and driving state, and controls the telescopic length of the telescopic mechanism based on these states. The driving state includes at least turning and / or reversing. The control unit at least drives the telescopic mechanism to adjust its telescopic length based on the vehicle's turning angle and / or reversing state. This camera system can significantly improve the visibility flexibility of vehicles, especially those with trailers, during driving and turning, and reduce blind spots during cornering.

Description

Technical Field

[0001] This invention relates to the field of electronic rearview mirrors for vehicles, specifically to a camera system and method for reducing blind spots in a vehicle's field of vision, which can improve the real-time field of vision of electronic exterior rearview mirrors. Background Technology

[0002] Because commercial vehicles, especially those with trailers, are typically long, the inner wheel difference causes the front and rear wheels to not align when turning. The longer the vehicle, the greater the wheel difference and the wider its range. Large construction vehicles and other commercial vehicles are particularly long, and even after the front has turned, a significant portion of the vehicle remains, creating a blind spot for drivers. The danger increases when non-motorized vehicles or pedestrians enter this blind spot. Being too close to the vehicle, they can be dragged into the vehicle by the rear when it turns, leading to a traffic accident.

[0003] With the rise of electronic rearview mirrors, vehicle design has become more flexible. Fixed cameras extending outside the vehicle can affect its aesthetics, while cameras that don't extend outside the vehicle don't meet regulatory requirements for field of vision. A wider field of vision is especially necessary when the vehicle is stationary, turning, or reversing.

[0004] Currently, rearview mirrors installed on various vehicle models all have blind spots to varying degrees, resulting in insufficient field of vision or image distortion. Drivers cannot accurately judge the position of obstacles and the distance between the vehicle and obstacles, which seriously affects driving safety.

[0005] Traditional rearview mirrors, limited by their physical size and installation location, often cannot provide sufficient lateral and rearward visibility, especially when driving at high speeds, changing lanes, or parking. These limitations may prevent drivers from noticing surrounding obstacles or other vehicles in time, thereby increasing the risk of accidents.

[0006] Electronic exterior rearview mirrors use cameras to capture image information about the vehicle's surroundings, and typically use a display screen to show the images captured by the cameras to obtain image information about blind spots, thus meeting the driver's observation needs.

[0007] Chinese patent application number 201921242525.0, entitled "A Retractable and Foldable Electronic Rearview Mirror Device," discloses a retractable and foldable electronic rearview mirror device. This device incorporates an electrically operated telescopic and / or folding mechanism within a camera unit bracket, enabling the camera unit to be retractable and foldable. This reduces the space occupied by the electronic rearview mirror device when the vehicle is stationary.

[0008] However, in certain situations, such as when turning at an intersection, the right rear view camera in current vehicle electronic rearview mirrors cannot accurately capture the entire field of vision of vehicles approaching from the right; similarly, the field of vision obtained by the camera is limited when reversing. How to further improve the real-time field of vision of electronic rearview mirrors is a problem that urgently needs to be solved. Summary of the Invention

[0009] To address the aforementioned problems, the present invention aims to provide a camera system and method for reducing blind spots in vehicle visibility.

[0010] The inventors of this application have long been committed to the development and research of safe and reliable rearview mirrors. During the research and development process, the inventors noticed that vehicles, especially those with trailers, are more prone to accidents when turning, which is closely related to the blind spot problem during turning. When a vehicle turns, on the one hand, the difference between the inner and outer wheels causes a deviation between the observation path and the driving path; on the other hand, while the camera unit of the electronic rearview mirror strictly changes with the angle of the vehicle's front during turning, the area to be observed does not change synchronously with the angle of the vehicle's front, requiring a larger observation area during turning.

[0011] Therefore, the present invention proposes a camera system that can adjust the field of view according to the vehicle's driving status.

[0012] Specifically, this application provides a camera system for reducing blind spots in a vehicle. The camera system includes a control unit, a camera unit, and a telescopic mechanism. A first end of the telescopic mechanism is mounted on the body of the target vehicle, and a second end extends outward from the vehicle body. The camera unit is mounted on the second end of the telescopic mechanism.

[0013] The control unit acquires the vehicle's own state and driving state, and controls the extension length of the telescopic mechanism based on the vehicle's own state and driving state. The driving state includes at least turning and / or reversing states. The control unit at least drives the telescopic mechanism to adjust the extension length of the telescopic mechanism based on the vehicle's turning angle and / or reversing state.

[0014] In a preferred implementation, the control unit is further configured to perform telescopic control based on the vehicle's driving state in the following manner:

[0015] When the vehicle is detected to be powered off and turned off, the telescopic mechanism is driven to retract completely.

[0016] When the vehicle is detected to be powered on and started, the telescopic mechanism is driven to extend a first preset distance to meet normal driving needs;

[0017] When the vehicle turns, the telescopic mechanism is driven to extend outward by an amount proportional to the turning angle.

[0018] In another preferred implementation, when a vehicle is detected to be traveling straight, the telescopic mechanism is driven to maintain a first preset distance.

[0019] When a vehicle is detected reversing, the telescopic electronic rearview mirror camera is driven to extend outward by a second preset distance from a first preset distance. Preferably, the first preset distance is 5-13cm and the second preset distance is 2-30cm.

[0020] In another preferred implementation, the vehicle's driving state includes its speed and turning angle, and the vehicle's own state includes the camera unit's mounting position, the length of the tractor unit, and the length of the trailer. The tractor unit and trailer unit can rotate relative to each other. When the vehicle is moving forward, for the camera unit on the turning side, the control unit controls the extension / retraction amount of the telescopic mechanism based on the following formula:

[0021]

[0022] Where α is the half field of view of the camera unit, a is the minimum safe observation width at a distance from the vehicle body, β is the angle formed between the line connecting the minimum safe observation width position at the rear of the trailer and the front top corner of the trailer and the trailer body, γ is the turning angle of the vehicle front relative to the trailer, b is the length of the trailer body, and L1 is the distance between the camera unit and the side of the vehicle front when driving normally.

[0023] For the camera unit on the opposite side of the turn, the control unit controls the extension amount of the telescopic mechanism based on the following formula: L'=|S×tanγ-L1|, (4)

[0024] S is the longitudinal distance between the camera unit and the front of the carriage along the direction of the train's movement.

[0025] Alternatively, for the camera units on both sides, the control unit adjusts the extension amount based on the above formula (3) or (4).

[0026] In another preferred implementation, when the calculated extension amount L is greater than the maximum mechanical extension distance of the telescopic mechanism, the maximum mechanical extension distance is used as the actual extension amount.

[0027] In another preferred implementation, when the vehicle is in a reversing state, the telescopic mechanism of the camera system extends or retracts by a fixed amount, preferably the fixed amount being the maximum extension or retraction amount.

[0028] In another preferred implementation, the telescopic direction is perpendicular to the side of the vehicle front and horizontal, wherein the telescopic mechanism of the camera system away from the turning side and the telescopic mechanism of the camera system on the same side of the turning side both extend outward or one of them extends outward individually.

[0029] On the other hand, the present invention provides a camera method for reducing blind spots in vehicle visibility, the method comprising:

[0030] The camera unit is mounted to the side of the vehicle via a telescopic mechanism;

[0031] The camera unit captures real-time images of the rear of the vehicle.

[0032] The system acquires the vehicle's own state and driving state, and controls the extension length of the telescopic mechanism based on the vehicle's own state and driving state. The driving state includes at least the turning state, and the vehicle body state includes at least the change in the target shooting area of ​​the camera unit due to the turning.

[0033] In a preferred implementation, the method includes:

[0034] The vehicle's driving status is detected, and the telescopic control is performed based on the vehicle's driving status in the following manner:

[0035] When the vehicle is detected to be powered off or turned off, the telescopic mechanism is driven to retract completely.

[0036] When the vehicle is detected to be powered on and started, the telescopic mechanism is driven to extend a first preset distance to meet normal driving needs;

[0037] When the vehicle turns, the telescopic mechanism is driven to extend outward by an amount proportional to the turning angle.

[0038] In another preferred implementation, the vehicle's driving state includes its speed and turning direction, and the vehicle's own state includes the camera unit's mounting position, the length of the tractor unit, and the length of the trailer, wherein the tractor unit and the trailer can rotate relative to each other.

[0039] For the camera unit on the turning side, the control unit controls the extension and retraction amount of the telescopic mechanism based on the following formula:

[0040] Where α is the half-side field of view of the camera unit, a is the minimum safe observation width at a distance from the vehicle body, β is the angle formed between the line connecting the minimum safe observation width position of the trailer tail and the front top corner of the trailer and the trailer body, γ is the turning angle of the vehicle front relative to the trailer, b is the trailer body length, and L1 is the distance between the camera unit and the side of the vehicle front when driving normally.

[0041] For the camera unit on the opposite side of the turn, the control unit controls the extension amount of the telescopic mechanism based on the following formula: L'=|S×tanγ-L1| (4), where S is the longitudinal distance between the camera unit and the front end of the carriage along the direction of the vehicle's forward movement.

[0042] Alternatively, for the camera units on both sides, the control unit adjusts the extension amount based on the above formula (3) or (4).

[0043] In another preferred implementation, when the vehicle is in reverse, the telescopic mechanism of the camera system extends or retracts by a fixed amount, or according to the turning angle when reversing. Preferably, the fixed amount is the maximum extension or retraction amount.

[0044] The statement in this patent that the telescopic mechanism is fully retracted after power-off refers to either the mechanism retracting completely immediately upon power-off or within a predetermined time after power-off, such as 120 seconds after power-off (which can be considered a power-off method in the case of no start command for an extended period).

[0045] The vehicle-mounted camera device of the present invention can be divided into two (left and right), or four (left front, right front, left rear, and right rear), or used in conjunction with more sets of camera devices.

[0046] In this invention, the turning angle refers to the angle between the front of the vehicle and the cargo box (the acute angle formed by the straight lines of the front of the vehicle and the side wall of the cargo box). If the steering angle of the steering wheel is used instead of the turning angle, then considering the time required for the steering angle and the front of the vehicle to complete the turn, a predetermined delay is set during control. For example, S approximates the length of the front of the vehicle, v represents the vehicle speed, and S / v represents the time it takes to move forward one front of the vehicle. This time is used as the delay.

[0047] Alternatively, no delay can be set to allow the camera unit to extend or retract in advance, thus expanding the field of view ahead of time.

[0048] The vehicle-mounted camera system of the present invention can be installed on a car, truck, or trailer. During installation, it is positioned on both sides of the vehicle, but the extension range and extension control method of the left and right cameras can differ.

[0049] Those skilled in the art should understand that, since telescopic is a relative concept, the amount of telescopic extension of the camera unit relative to the vehicle body under the action of the telescopic mechanism can be adjusted based on the type of vehicle.

[0050] Beneficial effects

[0051] 1. The camera system of this invention can significantly improve the visibility of vehicles, especially those with trailers, during driving and turning, reducing blind spots during turns. By acquiring vehicle status information, the system drives the telescopic electronic rearview mirrors to extend and retract accordingly in situations such as turning and reversing, providing a more comprehensive field of view in real time to meet observation needs.

[0052] 2. The telescopic method of the camera system of the present invention provides different telescopic states according to different environments, further enhancing the visible area of ​​the electronic rearview mirror and ensuring vehicle driving safety.

[0053] 3. The camera system of the present invention can provide different extension and retraction states for the camera units on both sides of the vehicle to meet the different changes in the field of view on both sides when turning. Attached Figure Description

[0054] Figure 1 This is a schematic structural diagram of the camera system of this application;

[0055] Figure 2 This is a diagram showing the field of view of the camera in the left-side rearview mirror when the vehicle is making a left turn.

[0056] Figure 3 A diagram showing the camera's field of view when reversing a vehicle;

[0057] Figure 4 This is a diagram showing the positional relationship of the right-side camera being obstructed by the trailer when the vehicle makes a left turn.

[0058] Figure 5 A simplified diagram showing the relationship between the right-side camera and the front and sides of the vehicle when it makes a left turn.

[0059] Figure 6 The image shows the actual footage taken when the right-side camera is obstructed by the trailer while the vehicle is making a left turn, as well as the field of view before and after the camera extends and retracts. Detailed Implementation

[0060] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0061] The terms used in this application, such as top, bottom, left, right, inner, outer, front, rear, head, and tail, are based on the orientations or positional relationships shown in the accompanying drawings. Different drawings may result in different positional relationships, therefore they should not be construed as limiting the scope of protection.

[0062] In this invention, the terms "installation," "connection," "interlocking," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, or a connection that allows communication between components. They can also refer to a direct connection or an indirect connection through an intermediate medium. Furthermore, they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0063] Example 1

[0064] Figure 1 A schematic diagram of the structure of a camera system for reducing blind spots in vehicles, according to an embodiment of the present invention, is shown.

[0065] The camera system of this embodiment includes a control unit (not shown in the figure), a camera unit 101, and a telescopic mechanism 102. The first end of the telescopic mechanism 102 is mounted on the body of the target vehicle, for example, fixedly mounted on the front or rear side of the vehicle body via a mounting base 103. The second end of the telescopic mechanism extends outward from the vehicle body, and the camera unit 101 is mounted on the second end of the telescopic mechanism 102.

[0066] The control unit can be integrated into the processor of the camera unit or into the processor of the vehicle system, or it can be a separate control unit. The control unit is used to acquire the vehicle's own status and driving status, and control the extension length of the telescopic mechanism based on the vehicle's own status and driving status.

[0067] The driving state includes at least turning state (including forward turning and reverse turning), and the control unit drives the telescopic mechanism to adjust the telescopic length based on the turning angle of the vehicle.

[0068] In this embodiment, the vehicle's driving state primarily considers the blind spots caused by turning, and secondarily considers whether the vehicle is off, stationary, or in normal driving condition. Furthermore, the inventors of this application have noted that the required extension range of the rearview camera units on the turning side and the opposite side of the turn is actually somewhat different when the vehicle is turning. Therefore, in a preferred implementation, the extension range of the rearview camera units on the turning side and the opposite side of the turn is controlled separately.

[0069] Taking into account the three driving states mentioned above (straight ahead, turning, and engine off), the extension and retraction of the telescopic mechanism can be controlled as follows:

[0070] When the vehicle is detected to be powered down (a long period without a start command can be considered a power-down method) or turned off (e.g., 120 seconds after the engine is turned off), the telescopic mechanism is driven to retract completely.

[0071] When the vehicle is detected to be powered on and started, the telescopic mechanism is driven to extend a first preset distance to meet normal driving needs;

[0072] When the vehicle turns, the telescopic mechanism extends outward by an amount proportional to the turning angle. Preferably, the additional extension amount during turning is within a second preset distance range.

[0073] It should be noted that the extension function of the first predetermined distance during engine shutdown and startup is an optional function. A key function of this invention is extension control based on the turning amount.

[0074] Preferably, the first preset distance is 5-13cm, and the second preset distance is 2-30cm. When the calculated extension amount is greater than the maximum mechanical extension distance of the telescopic mechanism (e.g., the aforementioned preset 13cm + 30cm), the maximum extension distance is used as the actual extension amount.

[0075] In this embodiment, a truck with a trailer is used as an example to illustrate the process of controlling the extension and retraction of the telescopic mechanism.

[0076] like Figure 2 As shown, the diagram illustrates the angular relationship between the camera system and various parts of the vehicle when the camera extends or retracts relative to the turning side during a turn. To make the diagram clearer, the extension / retraction amount has been enlarged. In the diagram, α represents the half-field-of-view angle of the camera unit, a represents the set minimum safe observation width from the vehicle body, β represents the angle formed between the line connecting the minimum safe observation width position at the rear of the trailer and the front top corner of the trailer, γ represents the turning angle of the vehicle's front relative to the trailer, and b represents the length of the trailer.

[0077] When the truck head turns, the trailer does not follow suit in time. At this time, the turning angle of the truck head relative to the trailer is γ. The angle β formed between the line connecting the minimum safe observation width position C at the rear of the trailer and the front top corner of the trailer and the trailer body, i.e. ∠CDF, forms the exterior angle of triangle CBD.

[0078] According to the Law of Sines: a1 / sinA1=b1 / sinB1=c1 / sinC1=2r, where r is the radius of the circumcircle of the triangle. Here, a1, b1, and c1 are the lengths of the three sides of any triangle, and A1, B1, and C1 are the three interior angles of the triangle and their respective sides.

[0079] exist Figure 2 In the structural relationships shown, for triangle ABC,

[0080] L / sin(∠ACB)=e / sin(∠BAC), and ∠BAC=90+α,

[0081] Therefore, L / sin(∠ACB)=e / sin(90+α),

[0082] That is, L=sin(∠ACB)*e / sin(90+α)(1)

[0083] α is a known quantity. We only need to determine the length of e to determine the length of L. The length of e can be obtained through triangle BCD.

[0084] For triangle BCD, due to the turning angle of the front of the vehicle by γ degrees, the line connecting the minimum safe observation width position C of the trailer rear and the center B of the camera is deflected by the same angle γ degrees. Therefore, ∠CBO is equal to the deflection angle γ, and ∠CBD is equal to γ+α.

[0085] Based on the law of sines, we have: e / sin(180-(β+γ))=e / sin(180-β-γ)=c / sin(α+γ), therefore,

[0086] e=c*sin(180-β-γ) / sin(γ+α), (2)

[0087] Here, a new unknown quantity c is added, and the length of c can be obtained from triangle CDE.

[0088] For triangle CDE, since it is a right triangle,

[0089] Substituting the value of c into equations (1) and (2) above, we obtain the theoretical required telescopic distance for measuring the camera on the turning side (considering that the telescopic distance is not negative, we take the absolute value; more preferably, when the value inside the absolute value sign is negative, the telescopic amount is taken as 0, and when it is greater than 0, we take the current value):

[0090] L1 is the initial telescopic length of the camera.

[0091] like Figure 4 As shown, when the camera on the opposite side of the turn extends outward by 5-15cm, the obstructed view on the right side of the carriage will be basically eliminated, thus eliminating safety hazards and improving safety.

[0092] Specifically, such as Figure 5 As shown, it is Figure 4A simplified schematic diagram of the right-hand side view. When considering a vehicle-mounted camera system located away from the turning side (the opposite side of the turning direction, referred to here as the "turning-back side"), the optimal extension distance is mainly related to the longitudinal distance S between the camera unit mounting position on the hood and the trailer, as well as the turning angle γ. The angular relationship on this side can be simplified to the triangular relationship shown in the diagram, where QT represents the side direction of the hood, TU represents the side direction of the trailer, and there is an angle of γ degrees between them due to the γ-degree turn of the hood. Point P is the position of the camera center. When the camera center extends to be basically flush with the carriage, there is no obstruction. At this time, we only need to calculate the distance QP, which is the distance L after the camera extends. QT is the longitudinal distance S between the longitudinal position of the camera mounted on the front of the vehicle and the front of the carriage (the part that will cause obstruction). ∠PQR=∠QTR=γ. If the side view of the vehicle body needs to be unobstructed, the distance QR=L*cosγ from the side of the front of the vehicle after extension needs to be equal to QT*sinγ=S*sinγ. Therefore, L=S*sinγ / cosγ, L=S*tanγ.

[0093] Since L is the final distance after extension and retraction, the extension and retraction amount based on turning adjustment needs to be subtracted from the initial extension and retraction amount of the camera to obtain the required extension and retraction amount L′=|S×tanγ-L1|(4), where L1 is the initial distance between the camera and the side of the front of the car before extension and retraction, that is, the distance between the camera and the side of the front of the car during normal driving.

[0094] When the vehicle is in reverse, the telescopic mechanism can extend or retract by a fixed amount, preferably the maximum extension or retraction amount. Alternatively, when the vehicle is in reverse, the mechanism can extend or retract according to the turning angle during reversing, based on formulas (3) and (4). If the turning angle is less than a predetermined value or is 0, the mechanism can extend or retract by the maximum extension or retraction amount.

[0095] In one implementation, the telescopic mechanism extends or retracts to its maximum extent when the vehicle is reversing.

[0096] Figure 6 The image shown is taken by the rearview mirror on the opposite side of the turn. The two images on the right, n and i, represent the theoretical field of view before and after extension, respectively. As can be seen from the images, regardless of the method, extending the camera unit outwards during a turn reduces the driver's blind spot. Both n and i images are divided into upper and lower sections, representing the field of view areas captured by different cameras.

[0097] In this patent application, a first direction is defined as the horizontal direction along the side wall of the vehicle front, and a second direction is defined as the telescopic direction, which is generally horizontal and generally perpendicular to the first direction. In one implementation, the telescopic direction and the second direction have a horizontal angle of 3 to 15 degrees, and / or, the telescopic direction and the first direction have a vertical angle of 2 to 10 degrees. If the above angles exist, the telescopic amount can be adaptively adjusted, as long as the final vertical telescopic amount is equal to the telescopic amount calculated by this invention.

[0098] The control unit controls the extension of the telescopic mechanism of the single-sided camera system that is closer to or farther from the turning side, or controls the telescopic mechanism of the camera system farther from the turning side to extend synchronously with the telescopic mechanism of the camera system closer to the turning side.

[0099] Those skilled in the art should understand that in actual production, the stretching distance may not be exactly calculated according to the theoretical stretching distance. The distance may be increased or decreased based on the actual situation, and adjustments may be made without deviating from the scope of the present invention.

[0100] Example 2

[0101] This embodiment provides a camera method for reducing blind spots in a vehicle's field of vision. The method in this embodiment can also be described in conjunction with the system structure described in Embodiment 1.

[0102] The camera method includes:

[0103] The vehicle-mounted camera unit is installed on the side of the vehicle via a telescopic mechanism;

[0104] Using an onboard camera unit to capture real-time images of the area behind the vehicle;

[0105] The system acquires the vehicle's own state and driving state, and controls the extension length of the telescopic mechanism based on the vehicle's own state and driving state. The driving state includes at least the turning state, and the vehicle body state includes at least the change in the target shooting area of ​​the camera unit due to the turning.

[0106] While driving, the vehicle's driving status is detected, and the extension / retraction control is performed based on the vehicle's driving status in the following manner:

[0107] The control unit is also used to perform telescopic control based on the vehicle's driving status in the following manner:

[0108] When a vehicle is detected and the engine is turned off, the telescopic mechanism is driven to retract completely.

[0109] When the vehicle is detected to be powered on and started, the telescopic mechanism is driven to extend a first preset distance to meet normal driving needs;

[0110] When the vehicle turns, the telescopic mechanism is driven to extend outward by an amount proportional to the turning angle.

[0111] The vehicle's driving state includes its speed and turning direction. The vehicle's own state includes the camera unit's mounting position, the length of the cab, and the length of the trailer. The cab and trailer can rotate relative to each other. For the camera unit on the turning side, the control unit controls the extension / retraction amount of the telescopic mechanism based on the following formula:

[0112] Where α is the half-side field of view of the camera unit, a is the minimum safe observation width at a set distance from the vehicle body, β is the angle formed between the line connecting the minimum safe observation width position of the trailer rear and the front top corner of the trailer and the trailer body, γ is the turning angle of the vehicle front relative to the trailer, and b is the length of the trailer body.

[0113] For a camera unit located away from the turning side (opposite to the turning direction), the required extension L′=|S×tanγ-L1| can be obtained by subtracting the initial extension of the camera from the extension amount needed for turning adjustment.

[0114] Of course, those skilled in the art should understand that, considering that the camera unit may not be able to extend outward to the desired distance when the turning angle is large, the maximum distance that the camera unit can achieve can be set, and when the turning angle exceeds the predetermined angle, it can extend outward with the maximum extension amount.

[0115] Figure 4 The diagram illustrates the actual obstruction on the right side when the vehicle turns left, and compares the obstruction and blind spot before and after the camera unit extends. The diagram shows that extending the camera unit outwards significantly reduces the blind spot.

[0116] In summary, it can be seen that the vehicle-mounted camera system with telescopic function of this application can reduce blind spots, expand the effective field of view, and reduce the risk of accidents.

[0117] Although the principles of the present invention have been described in detail above with reference to preferred embodiments, those skilled in the art should understand that the above embodiments are merely illustrative explanations of the implementation of the present invention and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute a limitation on the scope of the present invention. Any obvious changes, such as equivalent transformations or simple substitutions, based on the technical solutions of the present invention without departing from the spirit and scope of the present invention fall within the protection scope of the present invention.

Claims

1. A camera system for reducing blind spots in vehicle visibility, characterized in that: The camera system includes a control unit, a camera unit, and a telescopic mechanism; the first end of the telescopic mechanism is mounted on the body of the target vehicle, and the second end extends outward from the vehicle body, and the camera unit is mounted on the second end of the telescopic mechanism; The control unit acquires the vehicle's own state and driving state, and controls the extension length of the telescopic mechanism based on the vehicle's own state and driving state. The driving state includes at least turning and / or reversing. The control unit at least drives the telescopic mechanism to adjust its extension length based on the vehicle's turning angle and / or reversing state. The vehicle's driving state includes its speed and turning angle. The vehicle's own state includes the camera unit's mounting position, the length of the cab, and the length of the trailer. The cab and trailer can rotate relative to each other. When the vehicle is moving forward, for the camera unit on the turning side, the control unit controls the extension / retraction amount of the telescopic mechanism based on the following formula: （3） Where α is the half field of view of the camera unit, a is the set minimum safe observation width at a distance from the vehicle body, β is the angle formed between the line connecting the minimum safe observation width position at the rear of the trailer and the front top corner of the trailer, γ is the turning angle of the vehicle front relative to the trailer, and b is the length of the trailer. This refers to the distance between the camera unit and the side of the front of the vehicle during normal driving. For the camera unit on the opposite side of the turn, the control unit controls the extension amount of the telescopic mechanism based on the following formula: (4) S is the longitudinal distance between the camera unit and the front of the carriage along the direction of the train's movement. Alternatively, for the camera units on both sides, the control unit adjusts the extension amount based on the above formula (3) or (4).

2. The camera system for reducing blind spots in vehicles according to claim 1, characterized in that: The control unit is also used to perform telescopic control based on the vehicle's driving status in the following manner: When the vehicle is detected to be powered off or turned off, the telescopic mechanism is driven to retract completely. When the vehicle is detected to be powered on and started, the telescopic mechanism is driven to extend a first preset distance to meet normal driving needs; When the vehicle turns, the telescopic mechanism is driven to extend outward by the amount of extension calculated by formula (3) or (4).

3. The camera system for reducing blind spots in vehicles according to claim 2, characterized in that: When a vehicle is detected to be traveling straight, the telescopic mechanism is driven to maintain a first preset distance. When the vehicle is detected to be reversing, the telescopic mechanism is driven to extend outward by a second preset distance from the first preset distance.

4. The camera system for reducing blind spots in vehicles according to claim 3, characterized in that: The first preset distance is 5-13cm, and the second preset distance is 2-30cm.

5. The camera system for reducing blind spots in vehicles according to claim 4, characterized in that: When the calculated extension amount L is greater than the maximum mechanical extension distance of the extension mechanism, the maximum mechanical extension distance is used as the actual extension amount.

6. The camera system for reducing vehicle blind spots according to claim 4, characterized in that: When the vehicle is in reverse, the telescopic mechanism of the camera system extends or retracts by a fixed amount.

7. The camera system for reducing blind spots in vehicles according to claim 6, characterized in that: The fixed amount is the maximum expansion / contraction amount.

8. The camera system for reducing blind spots in vehicles according to claim 1, characterized in that: The telescopic mechanism extends in a direction perpendicular to the side of the vehicle's front and horizontally. The telescopic mechanism that extends away from the camera system on the turning side and the telescopic mechanism that extends on the same side of the turning side both extend outwards, or one of them extends outwards alone.

9. A camera method for reducing blind spots in vehicle visibility, characterized in that, The method includes: The camera unit is mounted to the side of the vehicle via a telescopic mechanism; The camera unit captures real-time images of the rear of the vehicle. The system acquires the vehicle's own state and driving state, and controls the extension length of the telescopic mechanism based on the vehicle's own state and driving state. The driving state includes at least turning, and the vehicle's own state and driving state include at least the change in the target shooting area of ​​the camera unit caused by turning. The vehicle's driving state includes its speed and turning direction. The vehicle's own state includes the camera unit's mounting position, the length of the cab, and the length of the trailer, wherein the cab and trailer can rotate relative to each other. As the vehicle moves forward, the telescopic mechanism's extension / retraction amount is controlled for the camera unit on the turning side based on the following formula: (3) Where α is the half-side field of view of the camera unit, a is the set minimum safe observation width at the distance from the vehicle body, β is the angle formed between the line connecting the minimum safe observation width position of the trailer rear and the front top corner of the trailer and the trailer body, γ is the turning angle of the vehicle front relative to the trailer, and b is the length of the trailer body. This refers to the distance between the camera unit and the side of the front of the vehicle during normal driving. For the camera unit on the opposite side of the turn, the extension amount of the telescopic mechanism is controlled based on the following formula: (4), where S is the longitudinal distance between the camera unit and the front of the carriage along the direction of the train's movement. Alternatively, for both camera units, the scaling amount can be adjusted based on the above formula (3) or (4).

10. The camera method for reducing blind spots in a vehicle's field of vision according to claim 9, characterized in that, The method includes: The vehicle's driving status is detected, and the telescopic control is performed based on the vehicle's driving status in the following manner: When the vehicle is detected to be powered off or turned off, the telescopic mechanism is driven to retract completely. When the vehicle is detected to be powered on and started, the telescopic mechanism is driven to extend a first preset distance to meet normal driving needs; When the vehicle turns, the telescopic mechanism is driven to extend outward by the amount of extension calculated by formula (3) or (4).

11. The camera method for reducing blind spots in a vehicle according to claim 10, characterized in that, When the vehicle is in reverse, the telescopic mechanism extends or retracts by a fixed amount.

12. The camera method for reducing blind spots in vehicle visibility according to claim 11, characterized in that, The fixed amount is the maximum expansion / contraction amount.

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