Electronic rearview mirror fault identification method and related device

Abstract

The embodiment of the invention provides a fault identification method of an electronic rearview mirror and a related device. The method comprises the following steps: acquiring a first image acquired by the electronic rearview mirror; determining a first parameter of the electronic rearview mirror according to the first image; and determining that the electronic rearview mirror has a fault under the condition that the first parameter of the electronic rearview mirror meets a preset condition. By adopting the embodiment of the invention, the vehicle can automatically determine whether the electronic rearview mirror has the fault according to the first image collected by the electronic rearview mirror. When the electronic rearview mirror has the fault, the early warning information is displayed to the user, so that the user is reminded to adjust the electronic rearview mirror with the fault in time, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of electronic rearview mirrors, and in particular to a fault identification method and related devices for an electronic rearview mirror. Background Art

[0002] The electronic rearview mirror (Camera Monitor System, CMS) uses a combination of a camera and a monitor to replace the traditional optical rearview mirror. The display mode is that the external camera collects the image, and the image is processed and displayed on the display screen in the cockpit.

[0003] The electronic rearview mirror may malfunction due to physical factors such as bumps and human factors. For example, the position of the electronic rearview mirror changes, which causes its external parameters to change. If the external parameters of the electronic rearview mirror exceed the safety range, it will affect the imaging range and imaging quality of the electronic rearview mirror, thereby affecting driving safety.

[0004] In the existing solution for determining whether an electronic rearview mirror is faulty, the user usually feels that the electronic rearview mirror imaging is abnormal and returns the vehicle to the factory for calibration to determine the external parameters of the electronic rearview mirror. Since the factory calibration takes a long time and the process is cumbersome, it will increase the user's time cost. Summary of the invention

[0005] The embodiment of the present application provides a fault identification method and related device for an electronic rearview mirror. The vehicle determines the first parameter of the electronic rearview mirror according to the first image collected by the electronic rearview mirror, thereby determining whether the electronic rearview mirror has a fault. The process of determining the first parameter of the electronic rearview mirror is simplified, and the driving safety is improved.

[0006] In a first aspect, an embodiment of the present application provides a method for identifying a fault of an electronic rearview mirror, the method comprising:

[0007] Acquire a first image captured by the electronic rearview mirror;

[0008] determining a first parameter of the electronic rearview mirror according to the first image;

[0009] When the first parameter of the electronic rearview mirror meets a preset condition, it is determined that the electronic rearview mirror has a fault.

[0010] In the above method, the vehicle automatically determines the first parameter of the electronic rearview mirror based on the first image collected by the electronic rearview mirror, thereby determining that the electronic rearview mirror whose first parameter meets the preset conditions is faulty. Compared with the existing solution, when the user feels that the electronic rearview mirror imaging is abnormal, the factory staff manually measures the first parameter of the electronic rearview mirror to determine whether the electronic rearview mirror is faulty, the vehicle can automatically determine whether the electronic rearview mirror is faulty. The measurement personnel, measurement site and measurement tools for measuring the electronic rearview mirror are eliminated. It avoids the misjudgment of the user's senses, saves the user's time, and improves driving safety.

[0011] In an optional solution of the first aspect, the electronic rearview mirror includes a first rearview mirror and a second rearview mirror, and determining a first parameter of the electronic rearview mirror according to the first image includes:

[0012] determining a first parameter of the first rearview mirror according to the first image;

[0013] Based on the first parameter of the first rearview mirror and according to the positional relationship between the first rearview mirror and the second rearview mirror, the first parameter of the second rearview mirror is determined.

[0014] In the above method, once the first parameter of one side rearview mirror is determined, the first parameter of the other side rearview mirror can be determined according to the position relationship, without having to solve the first parameters of both side rearview mirrors at the same time. This simplifies the steps of determining the first parameter of the vehicle electronic rearview mirror and improves work efficiency.

[0015] In an optional solution of the first aspect, when the first parameter of the electronic rearview mirror does not meet a preset condition, determining that the electronic rearview mirror has a fault includes:

[0016] In the case where the first parameter of the first rearview mirror satisfies the preset condition, determining that the first rearview mirror has a fault, and / or,

[0017] When the first parameter of the second rearview mirror satisfies the preset condition, it is determined that the second rearview mirror has a fault.

[0018] In the above method, the vehicle can determine whether the first rearview mirror and / or the second rearview mirror are faulty. The user can clearly know which electronic rearview mirror does not meet the requirements based on the fault information, so that it can be adjusted, saving the user time.

[0019] In an optional solution of the first aspect, the first parameter includes at least one of a rotation parameter and a translation parameter, and when the first parameter of the electronic rearview mirror satisfies a preset condition, determining that the electronic rearview mirror has a fault includes:

[0020] In the case where the rotation parameter satisfies a first preset condition, determining that the rotation angle of the electronic rearview mirror is incorrect;

[0021] When the translation parameter satisfies a second preset condition, it is determined that the position of the electronic rearview mirror is incorrect.

[0022] In the above method, the position and posture of the electronic rearview mirror can be determined by the rotation parameter and the translation parameter in the first parameter. When the rotation parameter meets the first preset condition, it indicates that the rotation angle of the electronic rearview mirror does not meet the imaging requirement. When the translation parameter meets the second preset condition, it indicates that the position of the electronic rearview mirror has shifted.

[0023] In an optional solution of the first aspect, after determining that the rotation angle of the electronic rearview mirror is incorrect, the method further includes:

[0024] Display warning information, wherein the warning information includes one or more of the following: information that the rotation angle of the electronic rearview mirror is incorrect, and information that the position of the electronic rearview mirror is offset.

[0025] In the above method, after the vehicle determines that the electronic rearview mirror has a fault, it can also display the specific fault to the user in the form of an early warning. The vehicle determines the factors that the electronic rearview mirror does not meet the imaging requirements based on the rotation parameters and the translation parameters, so that the user can adjust the electronic rearview mirror in a targeted manner.

[0026] In an optional solution of the first aspect, determining the first parameter of the second rearview mirror based on the first parameter of the first rearview mirror and according to a positional relationship between the first rearview mirror and the second rearview mirror includes:

[0027] Determining an angle between an optical axis of the first rearview mirror and an optical axis of the second rearview mirror according to a positional relationship between the first rearview mirror and the second rearview mirror;

[0028] Based on the first parameter of the first rearview mirror, the first parameter of the second rearview mirror is determined according to the included angle.

[0029] In the above method, the vehicle can determine the first parameter of the second rearview mirror based on the angle between the optical axis of the first rearview mirror and the optical axis of the second rearview mirror without introducing other parameters, thereby improving the vehicle's efficiency in determining whether the electronic rearview mirror has a fault.

[0030] In an optional solution of the first aspect, determining a first parameter of the electronic rearview mirror according to the first image includes:

[0031] Determine a target image according to the first image, wherein the target image includes lane line information;

[0032] A first parameter of the electronic rearview mirror is determined according to the lane line information.

[0033] In the above method, the vehicle determines the target image from the collected image, and the vehicle determines the first parameter based on the target image that meets the requirements of the embodiment of the present application, which can make the determined result more accurate. Since the first image is randomly acquired by the vehicle during driving, the vehicle needs to determine the target image that can be used to detect the electronic rearview mirror from multiple first images. Since the lane line serves as an indicator of the lane, the vehicle is more likely to capture the lane line during driving. Therefore, the vehicle uses the lane line as a reference to calculate the first parameter of the electronic rearview mirror, which has a wider scope of application. Therefore, the embodiment of the present application uses a picture including lane line information as the target image to meet the fault identification of the vehicle in an actual scenario.

[0034] In an optional solution of the first aspect, determining the target image according to the first image includes:

[0035] Determining a distance relationship between the vehicle and the lane line according to the first image, wherein the distance relationship is used to represent the distance between the vehicle and the lane line in a width direction of the vehicle;

[0036] The image in the first image whose distance relationship satisfies a preset distance relationship is used as the target image.

[0037] In the above method, in order to ensure the accuracy of the first parameter of the electronic rearview mirror, the vehicle needs to be located in the center of the lane as much as possible when capturing the first image. Therefore, the vehicle can determine whether the vehicle is located in the center of the lane based on the distance relationship between the vehicle and the lane line, and use the first image located in the center as the target image.

[0038] In an optional solution of the first aspect, determining the target image according to the first image includes:

[0039] Determining an angle relationship between the vehicle and the lane line according to the first image, wherein the angle relationship is used to represent an angle between an extension line of a body of the vehicle and an extension line of the lane line;

[0040] The image in the first image whose angle relationship satisfies the preset angle relationship is used as the target image.

[0041] In the above method, in order to ensure the accuracy of the first parameter of the electronic rearview mirror, the vehicle needs to be as parallel to the lane line as possible when capturing the first image. Therefore, the vehicle can determine whether the vehicle is parallel to the lane line based on the angle relationship between the vehicle and the lane line, and use the first image parallel to the lane line as the target image.

[0042] In an optional solution of the first aspect, the lane line is a virtual lane line, and the virtual lane line includes edge points.

[0043] In the above method, in order to ensure the accuracy of the first parameter of the electronic rearview mirror, the vehicle needs to be as parallel to the lane line as possible when capturing the first image. Therefore, the vehicle can determine whether the vehicle is parallel to the lane line based on the angle relationship between the vehicle and the lane line, and use the first image parallel to the lane line as the target image.

[0044] In an optional solution of the first aspect, determining the first parameter of the electronic rearview mirror according to the lane line information includes:

[0045] A first parameter of the electronic rearview mirror is determined according to the edge point.

[0046] In an optional solution of the first aspect, determining the first parameter of the electronic rearview mirror according to the edge point includes:

[0047] Determining a product matrix of the electronic rearview mirror according to the edge points, wherein the product matrix is ​​used to indicate the product of a first parameter of the electronic rearview mirror and a second parameter of the electronic rearview mirror;

[0048] A first parameter of the electronic rearview mirror is determined according to the product matrix and a second parameter of the electronic rearview mirror.

[0049] In the above method, the vehicle first determines the product matrix of the second parameter of the electronic rearview mirror and the first parameter of the electronic rearview mirror, and then determines the first parameter of the electronic rearview mirror in combination with the known second parameter of the electronic rearview mirror. The known edge points are used to first determine the product of the first parameter and the second parameter, and then determine the first parameter. The direct solution of the first parameter can be transformed into an indirect solution of the first parameter, making the solution process simpler and more reliable.

[0050] In an optional solution of the first aspect, determining the product matrix of the electronic rearview mirror according to the edge points includes:

[0051] Determining the coordinates of the first edge point in the pixel coordinate system according to the coordinates of the first edge point in the world coordinate system, wherein the first edge point is one of the edge points;

[0052] A product matrix of the electronic rearview mirror is determined according to the coordinates of the first edge point in the pixel coordinate system and the coordinates of the first edge point in the world coordinate system.

[0053] In the above method, the product matrix is ​​determined according to the coordinates of the edge points in the world coordinate system and the coordinates in the pixel coordinate system. The product matrix is ​​determined by the relationship between the coordinates in different coordinate systems, combined with the actual reference objects of the vehicle during driving, so that the obtained product matrix can be more realistic.

[0054] In a second aspect, an embodiment of the present application provides a fault identification device for an electronic rearview mirror, the device comprising:

[0055] A communication unit, used to obtain a first image captured by the electronic rearview mirror;

[0056] a processing unit, configured to determine a first parameter of the electronic rearview mirror according to the first image;

[0057] The processing unit is further used to determine that the electronic rearview mirror has a fault when the first parameter of the electronic rearview mirror meets a preset condition.

[0058] In an optional solution of the second aspect, the processing unit is specifically used for the electronic rearview mirror to include a first rearview mirror and a second rearview mirror, and the determining the first parameter of the electronic rearview mirror according to the first image includes:

[0059] determining a first parameter of the first rearview mirror according to the first image;

[0060] Based on the first parameter of the first rearview mirror and according to the positional relationship between the first rearview mirror and the second rearview mirror, the first parameter of the second rearview mirror is determined.

[0061] In an optional solution of the second aspect, the processing unit is specifically configured to determine that the electronic rearview mirror has a fault when the first parameter of the electronic rearview mirror satisfies a preset condition, including:

[0062] In the case where the first parameter of the first rearview mirror satisfies the preset condition, determining that the first rearview mirror has a fault, and / or,

[0063] When the first parameter of the second rearview mirror satisfies the preset condition, it is determined that the second rearview mirror has a fault.

[0064] In an optional solution of the second aspect, the processing unit is specifically configured to: when the first parameter includes at least one of a rotation parameter and a translation parameter, determine that the electronic rearview mirror has a fault when the first parameter of the electronic rearview mirror satisfies a preset condition, including:

[0065] In the case where the rotation parameter satisfies a first preset condition, determining that the rotation angle of the electronic rearview mirror is incorrect;

[0066] When the translation parameter satisfies a second preset condition, it is determined that the position of the electronic rearview mirror is incorrect.

[0067] In an optional solution of the second aspect, the processing unit, specifically configured to, after determining that the rotation angle of the electronic rearview mirror is incorrect, further comprises:

[0068] Display warning information, wherein the warning information includes one or more of the following: information that the rotation angle of the electronic rearview mirror is incorrect, and information that the position of the electronic rearview mirror is offset.

[0069] In an optional solution of the second aspect, the processing unit is specifically configured to determine the first parameter of the second rearview mirror based on the first parameter of the first rearview mirror and according to a positional relationship between the first rearview mirror and the second rearview mirror, including:

[0070] Determining an angle between an optical axis of the first rearview mirror and an optical axis of the second rearview mirror according to a positional relationship between the first rearview mirror and the second rearview mirror;

[0071] Based on the first parameter of the first rearview mirror, the first parameter of the second rearview mirror is determined according to the included angle.

[0072] In an optional solution of the second aspect, the processing unit, specifically configured to determine the first parameter of the electronic rearview mirror according to the first image, includes:

[0073] Determine a target image according to the first image, wherein the target image includes lane line information;

[0074] A first parameter of the electronic rearview mirror is determined according to the lane line information.

[0075] In an optional solution of the second aspect, the processing unit, specifically configured to determine the target image according to the first image, includes:

[0076] Determining a distance relationship between the vehicle and the lane line according to the first image, wherein the distance relationship is used to represent the distance between the vehicle and the lane line in a width direction of the vehicle;

[0077] The image in the first image whose distance relationship satisfies a preset distance relationship is used as the target image.

[0078] In an optional solution of the second aspect, the processing unit, specifically configured to determine the target image according to the first image, includes:

[0079] Determining an angle relationship between the vehicle and the lane line according to the first image, wherein the angle relationship is used to represent an angle between an extension line of a body of the vehicle and an extension line of the lane line;

[0080] The image in the first image whose angle relationship satisfies the preset angle relationship is used as the target image.

[0081] In an optional solution of the second aspect, the lane line is a virtual lane line, and the virtual lane line includes edge points.

[0082] In an optional solution of the second aspect, the processing unit, specifically configured to determine the first parameter of the electronic rearview mirror according to the lane line information, includes:

[0083] A first parameter of the electronic rearview mirror is determined according to the edge point.

[0084] In an optional solution of the second aspect, the processing unit, specifically used for determining the first parameter of the electronic rearview mirror according to the edge point, includes:

[0085] Determining a product matrix of the electronic rearview mirror according to the edge points, wherein the product matrix is ​​used to indicate the product of a first parameter of the electronic rearview mirror and a second parameter of the electronic rearview mirror;

[0086] A first parameter of the electronic rearview mirror is determined according to the product matrix and a second parameter of the electronic rearview mirror.

[0087] In an optional solution of the second aspect, the processing unit, specifically used for determining the product matrix of the electronic rearview mirror according to the edge points, includes:

[0088] Determining the coordinates of the first edge point in the pixel coordinate system according to the coordinates of the first edge point in the world coordinate system, wherein the first edge point is one of the edge points;

[0089] A product matrix of the electronic rearview mirror is determined according to the coordinates of the first edge point in the pixel coordinate system and the coordinates of the first edge point in the world coordinate system.

[0090] In a third aspect, an embodiment of the present application provides a vehicle, comprising a processor and a memory, wherein the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program, so that the vehicle executes the method described in any one of the first aspects above.

[0091] In a fourth aspect, an embodiment of the present application provides a computing device, comprising a processor and a memory; the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program so that the computing device executes the method described in any one of the first aspects above.

[0092] Optionally, the computing device further includes a communication interface, wherein the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor.

[0093] It should be noted that the above embodiment is described by taking a processor (or general-purpose processor) that executes the method by calling a computer specification as an example. In the specific implementation process, the processor can also be a dedicated processor, in which case the computer instructions have been pre-loaded in the processor. Optionally, the processor can also include both a dedicated processor and a general-purpose processor.

[0094] Optionally, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0095] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer or a processor, the method described in any one of the first aspects above is implemented.

[0096] The beneficial effects of the technical solutions provided in the second to fifth aspects of the present application can refer to the beneficial effects of the technical solution of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] The following is a brief introduction to the drawings required for describing the embodiments.

[0098] Figure 1 is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application;

[0099] Figure 2 is a schematic diagram of another vehicle architecture provided in an embodiment of the present application;

[0100] Figure 3 It is a flowchart of a method for identifying a fault of an electronic rearview mirror provided in an embodiment of the present application;

[0101] Figure 4 is a schematic diagram of an edge point provided in an embodiment of the present application;

[0102] Figure 5 is a schematic diagram of a training image provided in an embodiment of the present application;

[0103] Figure 6 is a schematic diagram of a coordinate system provided in an embodiment of the present application;

[0104] Figure 7 is a schematic diagram of converting a world coordinate system into a camera coordinate system provided by an embodiment of the present application;

[0105] Figure 8 is a schematic diagram of a rotation parameter provided in an embodiment of the present application;

[0106] Fig. 9 is a schematic diagram of converting a camera coordinate system into an image coordinate system provided by an embodiment of the present application;

[0107] Fig.10 is a schematic diagram of a position relationship of a rearview mirror provided in an embodiment of the present application;

[0108] Fig.11 This is a block diagram of the functional units of a fault identification device for an electronic rearview mirror provided in an embodiment of the present application;

[0109] Fig.12 It is a structural diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0110] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0111] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0112] In order to facilitate the understanding of the embodiments of the present application, the technical problems that the present application specifically aims to solve are analyzed and proposed below.

[0113] When the user feels that the image captured by the electronic rearview mirror is inaccurate, for example, the range of the image captured by the electronic rearview mirror becomes smaller, or the viewing angle of the captured image changes. The user can seek help from the 4S store, and the 4S store will return the vehicle to the factory, and the factory staff will determine whether the electronic rearview mirror is faulty, for example, the factory staff will determine whether the first parameter of the electronic rearview mirror has changed. Specifically, the factory staff will drive the vehicle into the calibration room and constrain the position of the vehicle with a limiter. Then, the first parameters of the two electronic rearview mirrors are determined separately through manual operation. Therefore, it is determined whether the position of the electronic rearview mirror needs to be adjusted based on the first parameter.

[0114] However, the above solution has the following problems:

[0115] (1) It requires the user's senses to judge whether the electronic rearview mirror is faulty, which is not supported by data and has large errors;

[0116] (2) A special calibration room needs to be built to determine the first parameters of the electronic rearview mirror of the returned vehicle;

[0117] (3) It takes a long time and a complicated process to return the vehicle to the factory to determine the first parameters of the electronic rearview mirror, which increases the communication and time costs between the user and the factory;

[0118] (4) When the factory determines the first parameter of the electronic rearview mirror, it is necessary to use a limiter to constrain the position of the vehicle. The limiter parameters need to be adjusted accordingly for different vehicle models;

[0119] (5) Each calibration room can only determine the first parameters of one vehicle's electronic rearview mirror at a time, and cannot determine the first parameters of multiple vehicles' electronic rearview mirrors at the same time, which is inefficient;

[0120] (6) The factory determines that the environment of the first parameter of the vehicle electronic rearview mirror is an ideal environment, which is inconsistent with the actual environment and will affect the result of the first parameter;

[0121] (7) The process of determining the first parameter of the electronic rearview mirror of the vehicle is cumbersome and complicated, and the time cost is high;

[0122] (8) In the process of determining the first parameter of the electronic rearview mirror, it is necessary to use precision instruments to measure the installation accuracy of the left and right cameras respectively, and the purchase cost of the precision instruments is high;

[0123] (9) The process of determining the first parameter of the electronic rearview mirror is highly professional and requires high professional quality of the operator, so the cost of acquiring and training operators is also correspondingly high.

[0124] In view of this, the present application provides a method for identifying faults of an electronic rearview mirror, wherein the vehicle determines a first parameter of the electronic rearview mirror based on a first image captured by the electronic rearview mirror, thereby determining whether the electronic rearview mirror has a fault through the first parameter of the electronic rearview mirror. When the first parameter of the electronic rearview mirror meets a preset condition, the vehicle determines that the electronic rearview mirror has a fault. The vehicle can display a warning message to the user, prompting the user that the imaging of the electronic rearview mirror is inaccurate, and suggesting that the user adjust the position of the electronic rearview mirror.

[0125] The following is an introduction to the system architecture of the embodiment of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solution of this application, and do not constitute a limitation on the technical solution provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0126] See also Figure 1 , Figure 1 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 1 As shown, vehicle 10 includes rearview mirror 101 and rearview mirror 102 .

[0127] The vehicle 10 may be a vehicle driven by electric energy, a vehicle driven by fuel, or a vehicle driven by new energy hybrid power. Exemplarily, when the vehicle 10 is a vehicle driven by electric energy, it may be a new energy vehicle, such as a pure electric vehicle, an extended-range electric vehicle, a hybrid vehicle, a fuel cell electric vehicle, etc. When the vehicle 10 is a vehicle driven by fuel, it may be a car, an agricultural transport vehicle, a tractor, or a trailer, etc. When the vehicle 10 is a car, it may be a sedan, an off-road vehicle, a truck, a bus, or a van, etc.

[0128] The rearview mirror 101 and the rearview mirror 102 are both electronic rearview mirrors, and the electronic rearview mirror is an indirect field of view device that obtains a specified field of view through a system composed of a camera and a monitor. The rearview mirror 101 and the rearview mirror 102 can collect a first image, and then the vehicle 10 determines the first parameter of the electronic rearview mirror according to the collected first image, so as to determine whether the electronic rearview mirror is faulty according to whether the first parameter meets the preset condition. For example, when the rotation parameter in the first parameter meets the first preset condition, it means that the rotation angle of the electronic rearview mirror of the vehicle 10 is incorrect, and the vehicle 10 can determine that the rotation angle of the electronic rearview mirror is incorrect. It is also possible to display an early warning message that the rotation angle of the electronic rearview mirror is incorrect, so as to prompt the user that there is a problem with the rotation angle of the electronic rearview mirror. When the translation parameter in the first parameter meets the second preset condition, the vehicle 10 can determine that the position of the electronic rearview mirror is incorrect. The vehicle 10 can also display an early warning message that the position of the electronic rearview mirror is offset, so as to prompt the user that there is a problem with the position of the electronic rearview mirror.

[0129] See also Figure 2 , Figure 2 FIG. 1 is a schematic diagram of another vehicle structure provided in an embodiment of the present application. Figure 2 As shown, the vehicle 10 includes a picture acquisition module, a lane line detection module, a first calculation module, a second calculation module, a third calculation module and a safety calculation module.

[0130] The image acquisition module acquires the first image through the electronic rearview mirror at a preset time interval. The image acquisition module may also send the acquired first image and the number of the electronic rearview mirror corresponding to the first image to the lane line detection module.

[0131] The lane line detection module is used to determine the target image from one or more first images from the image acquisition module. Then, the target image and the number of the electronic rearview mirror corresponding to the target image are sent to the first calculation module. Exemplarily, the lane line detection module can determine the target image through a trained deep learning model.

[0132] The first calculation module can define the electronic rearview mirror corresponding to the target image from the lane line detection module as the first rearview mirror, and then determine the product matrix of the first rearview mirror according to the target image. The product matrix is ​​used to multiply the second parameter of the surface electronic rearview mirror and the first parameter of the electronic rearview mirror. The first calculation module can also send the product matrix of the first rearview mirror to the second calculation module.

[0133] The second calculation module receives the product matrix of the first rearview mirror from the first calculation module, and then determines the first parameter of the first rearview mirror based on the product matrix and the second parameter of the first rearview mirror. The second calculation module can send the first parameter of the first rearview mirror to the safety calculation module and / or the third calculation module.

[0134] The third calculation module receives the first parameter of the first rearview mirror from the first calculation module, and the third calculation module can determine the first parameter of the second rearview mirror according to the positional relationship between the first rearview mirror and the second rearview mirror. Then, the third calculation module sends the first parameter of the second rearview mirror to the safety calculation module.

[0135] The safety calculation module receives the first parameter of the first rearview mirror from the second calculation module, and then compares the first parameter of the first rearview mirror with a preset condition. If the first parameter of the first rearview mirror meets the preset condition, it is determined that the first rearview mirror has a fault, and a warning message about the first rearview mirror is displayed. The safety calculation module can also receive the first parameter of the second rearview mirror from the third calculation module, and then compares the first parameter of the second rearview mirror with the preset condition. If the first parameter of the second rearview mirror meets the preset condition, it is determined that the second rearview mirror has a fault, and a warning message about the second rearview mirror is displayed.

[0136] See also Figure 3 , Figure 3 is a flow chart of a method for identifying a fault of an electronic rearview mirror provided in an embodiment of the present application, and the method is applied to Figure 1 or Figure 2 The vehicle shown. Figure 3 As shown, the method includes but is not limited to the following steps:

[0137] Step S301, acquiring a first image captured by the electronic rearview mirror.

[0138] Specifically, the vehicle can collect the first image through the electronic rearview mirror during driving. The first image collected by the electronic rearview mirror can be the road conditions on the left side and / or the right side of the vehicle, and the road conditions can include but are not limited to lane lines, road signs, other vehicles, pedestrians, etc.

[0139] For example, after receiving the user's operation to start the electronic rearview mirror to warn, the vehicle obtains the first image captured by the electronic rearview mirror according to the detection period. The detection period can be set by the user. For example, when the detection period is 30ms, the vehicle can obtain the first image captured by the electronic rearview mirror at intervals of 30ms.

[0140] Step S302: determining a first parameter of the electronic rearview mirror according to the first image.

[0141] Specifically, the vehicle determines a first parameter of the electronic rearview mirror according to a first image captured by the electronic rearview mirror, and the first parameter is used to indicate the position of the electronic rearview mirror. In one implementation, the electronic rearview mirror includes a camera, and the first parameter may include an external parameter of the camera, including a rotation parameter and a translation parameter of the electronic rearview mirror.

[0142] In a possible implementation, the vehicle determines a target image from a first image captured by the electronic rearview mirror, wherein the target image is an image including lane lines. Then, the vehicle determines a first parameter of the electronic rearview mirror according to the lane lines in the target image.

[0143] Specifically, since the first image is randomly acquired by the vehicle during driving, the vehicle needs to determine the target image that can be used to detect the electronic rearview mirror from multiple first images. Since the lane line is an indicator of the lane, the vehicle is more likely to capture the lane line during driving. Therefore, the vehicle uses the lane line as a reference to calculate the first parameter of the electronic rearview mirror, which has a wider scope of application. Therefore, the embodiment of the present application uses a picture including lane line information as the target image.

[0144] In a possible implementation, the vehicle determines the distance relationship between the vehicle and the lane line based on the first image, and then the vehicle uses the image in the first image whose distance relationship satisfies a preset distance as the target image.

[0145] Specifically, the distance relationship is used to represent the distance between the vehicle and the lane line in the width direction of the vehicle. In order to ensure the accuracy of the first parameter of the electronic rearview mirror, the vehicle needs to be located in the center of the lane as much as possible when capturing the first image. Therefore, the vehicle can determine whether the vehicle is located in the center of the lane based on the distance relationship with the lane line, and use the first image located in the center as the target image.

[0146] In a possible implementation, the vehicle determines an angular relationship between the vehicle and the lane line based on the first image, and then uses an image in the first image whose angular relationship satisfies a preset angle as a target image.

[0147] Specifically, the angle relationship is used to represent the angle between the extension line of the vehicle body and the extension line of the lane line. In order to ensure the accuracy of the first parameter of the electronic rearview mirror, the vehicle needs to be as parallel to the lane line as possible when capturing the first image. Therefore, the vehicle can determine whether the vehicle is parallel to the lane line based on the angle relationship with the lane line, and use the first image parallel to the lane line as the target image.

[0148] In a possible implementation, the lane line included in the target image is a virtual lane line, and the virtual lane line includes a plurality of edge points.

[0149] Among them, see Figure 4 , Figure 4 is a schematic diagram of an edge point provided in an embodiment of the present application. Figure 4 As shown, Figure 4 It is a top view of the lane, and edge points a and b of the virtual lane line 1 and edge points c and d of the virtual lane line 2 on the lane are four edge points in the target image.

[0150] In a possible implementation, the vehicle may determine a target image from a first image captured by an electronic rearview mirror through a deep learning model.

[0151] Specifically, the vehicle first trains a deep learning model based on a training image set, and then determines a target image from one or more first images captured by the electronic rearview mirror based on the trained deep learning model.

[0152] Among them, see Figure 5 , Figure 5 is a schematic diagram of a training image provided in an embodiment of the present application. Figure 5 For ease of explanation, Figure 5 is a top-down representation of the training images. Figure 5 (a) is a training image of the electronic rearview mirror on the right side of the vehicle, and the lane line on the right lane of the vehicle is a virtual lane line. Figure 5 (b) is a training image of the electronic rearview mirror on the left side of the vehicle, and the lane line on the left lane of the vehicle is a virtual lane line. In addition, the vehicle for collecting training images can also have the following features:

[0153] (1) The distance between the left side of the vehicle and the left lane line is d1, and the distance between the right side of the vehicle and the right lane line is d2. The distance relationship between the vehicle and the lane line is the difference between d1 and d2. To ensure that the vehicle is in the center of the lane when collecting training images, the difference between d1 and d2, that is, the image when the distance relationship satisfies the preset distance relationship, can be selected as the training image. For example, the preset distance relationship can be that the distance between the vehicle and the lane line in the width direction of the vehicle is less than 10 cm, that is, the difference between d1 and d2 needs to be less than 10 cm.

[0154] (2) To ensure that the vehicle body is parallel to the lane line when collecting training images, images in which the angle relationship between the vehicle body and the lane line satisfies a preset angle relationship can be selected as training images. Images in which the angle is less than a threshold are used as training images. For example, the preset angle relationship can be that the angle between the extension line of the vehicle body and the extension line of the lane line is less than 1 degree.

[0155] In a possible implementation, the vehicle determines a product matrix of the electronic rearview mirror according to edge points in the target image, and then determines a first parameter of the electronic rearview mirror according to the product matrix and a second parameter of the electronic rearview mirror.

[0156] The product matrix is ​​used to indicate the product of the first parameter of the electronic rearview mirror and the second parameter of the electronic rearview mirror. The second parameter of the electronic rearview mirror may be an internal parameter of the electronic rearview mirror, wherein the internal parameter is a fixed value, including one or more of the following: normalized focal length, pixel size, coordinates of the center of the photosensitive plate of the electronic rearview mirror in the pixel coordinate system, angle between the horizontal side and the vertical side of the photosensitive plate of the electronic rearview mirror, etc.

[0157] In a possible implementation, the vehicle determines a product matrix according to a conversion relationship between a world coordinate system and a pixel coordinate system.

[0158] Specifically, the process of collecting images by the electronic rearview mirror is to first convert the points in the world coordinate system into the points in the camera coordinate system through the first parameter. Then, the points in the camera coordinate system are converted into the points in the image coordinate system through the second parameter. Finally, the points in the image coordinate system are converted into the points in the pixel coordinate system through the second parameter. Therefore, to determine the first parameter of the electronic rearview mirror, the conversion relationship between the world coordinate system and the pixel coordinate system can be determined first.

[0159] For example, see Figure 6 , Figure 6 is a schematic diagram of a coordinate system provided in an embodiment of the present application. Figure 6 As shown, Ow-XwYwZw is the world coordinate system, Oc-XcYcZc is the camera coordinate system, o-xy is the image coordinate system, and μv is the pixel coordinate system. Point P (Xw, Yw, Zw) is a point in the world coordinate system, that is, a point in the real world. Point p is the imaging point of point P in the image, and its coordinates in the image coordinate system are (x, y), and its coordinates in the pixel coordinate system are (μ, v). The center of the photosensitive plate of the electronic rearview mirror is point Oc, that is, the optical center of the electronic rearview mirror is point Oc. Point Oc is point o in the image coordinate system, and point o has coordinates in the pixel coordinate system (μ0, v0). The focal length of the electronic rearview mirror is f, which is specifically the distance from the optical center of the electronic rearview mirror to the image plane.

[0160] For example, see Figure 7 , Figure 7 Schematic diagram of converting a world coordinate system into a camera coordinate system provided by an embodiment of the present application. Figure 7 As shown, Ow-XwYwZw is the world coordinate system, Oc-XcYcZc is the camera coordinate system, and point P (Xw, Yw, Zw) is a point in the world coordinate system. The vehicle can obtain the point P in the camera coordinate system by rotating and / or translating point P. Among them, the rotation can be performed by the rotation parameter R in the first parameter of the electronic rearview mirror, and the translation can be performed by the translation parameter T in the first parameter of the electronic rearview mirror. Therefore, the relationship between the world coordinate system and the camera coordinate system can be determined as follows:

[0161]

[0162] in, is the first parameter of the electronic rearview mirror, Xc, Yc and Zc are the coordinates of point P in the camera coordinate system, and Xw, Yw and Zw are the coordinates of point P in the world coordinate system.

[0163] Among them, see Figure 8 , Figure 8 is a schematic diagram of a rotation parameter provided in an embodiment of the present application. Figure 8 As shown, the rotation parameter R is obtained by multiplying three rotation parameters, namely the rotation parameter around the x-axis, the rotation parameter around the y-axis, and the rotation parameter around the z-axis. Figure 8 This is a schematic diagram of rotating the z-axis by an angle of θ. The x-axis rotates by an angle of θ around the z-axis to become the x1-axis, and the y-axis rotates by an angle of θ around the z-axis to become the y1-axis. At this time, the coordinates of point p after rotation are (x1, y1, z1).

[0164] See also Fig. 9 , Fig. 9 Schematic diagram of converting a camera coordinate system into an image coordinate system provided by an embodiment of the present application. Fig. 9 As shown in the figure, according to the pinhole imaging principle, point p is a point in the camera coordinate system, point p1 is the corresponding point of point p in the image coordinate system, and point o is the corresponding point of the optical center of the electronic rearview mirror in the image coordinate system. f is the focal length of the electronic rearview mirror, and Z is the scale factor. The distance Xc between point p and the optical axis corresponds to the distance x between point p1 and the optical axis. According to the properties of similar triangles, the following expression can be obtained:

[0165]

[0166] Where x is the horizontal coordinate of point p in the image coordinate system, y is the vertical coordinate of point p in the image coordinate system, and X c is the horizontal coordinate of point p in the camera coordinate system, Y c is the ordinate of point p in the camera coordinate system. f is the focal length of the electronic rearview mirror, and Z is the scale factor.

[0167] By homogenizing the above expression, we can get the following expression:

[0168]

[0169] For example, in the process of converting the image coordinate system to the pixel coordinate system, there is the following relationship:

[0170]

[0171] The coordinates of point p in the image coordinate system are (x, y), and the coordinates of point p in the pixel coordinate system are (μ, ν). The coordinates of the optical center of the electronic rearview mirror in the pixel coordinate system are (μ0, ν0), f x is the normalized focal length on the x-axis in the image coordinate system, f y is the normalized focal length on the y-axis in the image coordinate system. x and f y It can be determined according to the following formula:

[0172]

[0173] Wherein, f is the focal length of the electronic rearview mirror, dx is the physical size of each pixel in the μ-axis direction in the pixel coordinate system, and dy is the physical size of each pixel in the ν-axis direction in the pixel coordinate system.

[0174] By homogenizing the above expression, we can get the following expression:

[0175]

[0176] In summary, according to expressions (1), (2) and (3), the relationship between the world coordinate system and the pixel coordinate system can be determined as follows:

[0177]

[0178] in, is the second parameter matrix of the electronic rearview mirror, is the first parameter matrix of the electronic rearview mirror. θ is the angle between the horizontal and vertical sides of the electronic rearview mirror photosensitive plate. For details, see Figure 8 The angle θ is shown. When θ is 90 degrees, it means that the photosensitive plate of the electronic rearview mirror has no error.

[0179] In a possible implementation, the vehicle determines the coordinates of the first edge point in the pixel coordinate system according to the coordinates of the first edge point in the world coordinate system, and then determines the product matrix of the electronic rearview mirror according to the coordinates of the first edge point in the pixel coordinate system and the coordinates of the first edge point in the world coordinate system, wherein the first edge point is one of the four edge points.

[0180] Specifically, the vehicle can fix the world coordinate system on the first edge point, and set the plane where the first edge point is located to be the plane where the Zw axis of the world coordinate system is 0. Therefore, the coordinates of the first corner point in the world coordinate system are (Xw, Yw, 0), and the following expression can be obtained according to Expression 4:

[0181]

[0182] Where A is the second parameter of the electronic rearview mirror, [R1R2R3T] is the first parameter of the electronic rearview mirror, R1, R2 and R3 are the three rotation parameters of the first parameter, and T is the translation parameter of the first parameter. The coordinates of the first edge point in the world coordinate system are (X w , Y w , Z w ), the coordinates of the first edge point in the pixel coordinate system are (μ, v).

[0183] In a possible implementation, the vehicle determines a product matrix H according to the first parameter of the electronic rearview mirror and the second parameter of the electronic rearview mirror, wherein the product matrix is ​​a homography matrix having 8 independent unknown elements. The vehicle can determine the 8 unknown elements of the product matrix according to the four edge points.

[0184] Specifically, according to Expression 5, the vehicle can obtain the following expression for the product matrix:

[0185]

[0186] in, For the product matrix H, we can let H 33 is normalized to 1.

[0187] In expression (6), the scale factor Z is the coefficient. Since the homogeneous coordinates are independent of the coefficients, omitting Z yields the following expression:

[0188]

[0189] Since the coordinates of each edge point in the world coordinate system (X w , Y w , 0) and the coordinates (μ, v) in the pixel coordinate system can determine two constraints. That is, μ and X w and Y w The corresponding relationship between v and X w and Y w Therefore, the four edge points can determine 8 corresponding relationships respectively. The vehicle can determine the H in the product matrix based on the above 8 corresponding relationships. 11 , H 12 , H 13 , H 21 , H 22 , H 23 , H 31 , H 32 These 8 parameters thus determine the product matrix.

[0190] In a possible implementation, since the second parameter of the electronic rearview mirror is known, the vehicle can determine the first parameter of the electronic rearview mirror according to the second parameter of the electronic rearview mirror and the product matrix.

[0191] Specifically, the second parameter of the electronic rearview mirror, the first parameter of the electronic rearview mirror and the product matrix can be expressed by the following relational expression:

[0192] [R1R2T]= -1 H

[0193] Among them, [R1R2T] is the first parameter of the electronic rearview mirror, A -1 is the inverse of the second parameter of the electronic rearview mirror, and H is the product matrix. The vehicle can determine the first parameter of the electronic rearview mirror according to the above relationship.

[0194] In a possible implementation manner, after the vehicle determines the first parameter of the first rearview mirror according to the above embodiment, the vehicle may also determine the first parameter of the second rearview mirror according to the positional relationship between the first rearview mirror and the second rearview mirror.

[0195] Specifically, the vehicle can determine the angle between the optical axis of the first rearview mirror and the optical axis of the second rearview mirror according to the positional relationship between the first rearview mirror and the second rearview mirror, and then determine the first parameter of the second rearview mirror according to the angle based on the first parameter of the first rearview mirror.

[0196] For example, see Fig.10 , Fig.10 Schematic diagram of the position relationship of a rearview mirror provided in an embodiment of the present application. Fig.10 As shown, the front of the vehicle faces upward, and the left rearview mirror of the vehicle is taken as the first rearview mirror for explanation. The optical axis of the first rearview mirror intersects with the x-axis of the camera coordinate system at the optical center of the first rearview mirror, and the optical axis of the second rearview mirror intersects with the x-axis of the camera coordinate system at the optical center of the second rearview mirror. The angle between the optical axis of the first rearview mirror and the x-axis of the camera coordinate system is n. Because the angle n can be regarded as the rotation angle of the first rearview mirror, the vehicle can determine the rotation angle of the first rearview mirror according to the rotation parameter in the first parameter of the first rearview mirror.

[0197] like Fig.10 As shown, the angle between the optical axis of the first rearview mirror and the optical axis of the second rearview mirror is m, which can be determined according to the following expression:

[0198] m = 2 × (180° -)

[0199] After obtaining the angle m between the optical axis of the first rearview mirror and the optical axis of the second rearview mirror, the vehicle can determine the first parameter of the second rearview mirror according to the following expression:

[0200]

[0201] Among them, [Ro1Ro2To] is the first parameter of the second rearview mirror, and [R1R2T] is the first parameter of the first rearview mirror.

[0202] Step S303: When the first parameter of the electronic rearview mirror meets a preset condition, it is determined that there is a fault in the electronic rearview mirror.

[0203] Specifically, after obtaining the first parameter of the electronic rearview mirror, the vehicle can compare it with the preset condition. If the first parameter does not meet the preset condition, it is determined that the electronic rearview mirror does not have a fault problem. If the first parameter meets the preset condition, it is determined that the electronic rearview mirror has a fault problem.

[0204] Exemplarily, the preset condition may be that the first parameter is less than a preset value. Therefore, when the first parameter is greater than or equal to the preset value, the position of the electronic rearview mirror meets the imaging requirements, the electronic rearview mirror does not have a fault problem, and the electronic rearview mirror does not need to be adjusted. When the first parameter is less than the preset value, the position of the electronic rearview mirror does not meet the imaging requirements, the electronic rearview mirror has a fault problem, and the electronic rearview mirror needs to be adjusted.

[0205] Exemplarily, the vehicle may determine whether the first parameter of the electronic rearview mirror meets the requirements according to the following expression:

[0206] [R1R2Tm]=[R1R2T]-[R1 R2 Tmin]

[0207] Wherein, [R1R2T] is the first parameter of the electronic rearview mirror. [R1 R2 Tmin] is a preset value, which may be [7.25 7.25 1.725[ as required by the regulations. [R1R2Tm] is the difference between the first parameter of the electronic rearview mirror and the preset value.

[0208] When R1, R2 and Tm are all greater than or equal to 0, the first parameter of the electronic rearview mirror meets the requirements. When any of the three values ​​of R1, R2 and Tm is less than 0, the first parameter of the electronic rearview mirror does not meet the requirements, and the vehicle can determine that there is a fault in the electronic rearview mirror. Furthermore, the vehicle can display the warning information of the electronic rearview mirror, thereby prompting the user that the imaging of this electronic rearview mirror is inaccurate, and suggesting that the user adjust the position of the electronic rearview mirror.

[0209] R1 and R2 are rotation parameters in the first parameter of the electronic rearview mirror. When the rotation parameters meet the first preset condition, it is determined that the rotation angle of the electronic rearview mirror is incorrect. For example, when R1 is less than R1 and / or R2 is less than R2, the rotation angle of the electronic rearview mirror does not meet the imaging requirements, the vehicle determines that the rotation angle of the electronic rearview mirror is incorrect, and the vehicle can display a warning message that the rotation angle of the electronic rearview mirror is incorrect.

[0210] T is a translation parameter in the first parameter of the electronic rearview mirror. When the translation parameter meets the second preset condition, it is determined that the position of the electronic rearview mirror is incorrect. For example, when T is less than Tm, the position of the electronic rearview mirror does not meet the imaging requirements, the vehicle determines that the position of the electronic rearview mirror is incorrect, and the vehicle can display a warning message that the position of the electronic rearview mirror is offset.

[0211] In a possible implementation, the vehicle determines that the first rearview mirror has a fault when the first parameter of the first rearview mirror satisfies a preset condition, and / or determines that the second rearview mirror has a fault when the first parameter of the second rearview mirror satisfies a preset condition.

[0212] Specifically, when the vehicle determines that the first parameter of the first rearview mirror and / or the first parameter of the second rearview mirror is less than a preset value, the vehicle determines that the electronic rearview mirror is faulty. Further, the vehicle can display a warning message corresponding to the electronic rearview mirror to the user.

[0213] In a possible implementation, when the first parameter of the electronic rearview mirror is less than a preset value, the vehicle can determine the adjustment direction and adjustment angle of the electronic rearview mirror according to the first parameter of the electronic rearview mirror. The user can adjust the electronic rearview mirror according to the adjustment direction and adjustment angle determined by the vehicle. If the position of the electronic rearview mirror has not been adjusted within a preset time interval, the vehicle can display a warning message again to remind the user to adjust the position of the electronic rearview mirror.

[0214] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0215] See also Fig.11 , Fig.11 1 is a block diagram of the functional units of a fault identification device for an electronic rearview mirror provided in an embodiment of the present application. The fault identification device 110 for an electronic rearview mirror may include a communication unit 1101 and a processing unit 1102. The fault identification device 110 for an electronic rearview mirror is used to implement the aforementioned fault identification method for an electronic rearview mirror, for example Figure 3 The fault identification method of the electronic rearview mirror is shown.

[0216] It should be noted that the division of the above-mentioned multiple units is only a logical division based on functions, and does not limit the specific structure of the electronic rearview mirror fault identification device 110. In a specific implementation, some functional modules may be subdivided into more small functional modules, and some functional modules may be combined into one functional module.

[0217] In a possible implementation, the communication unit 1101 is used to obtain a first image captured by the electronic rearview mirror;

[0218] A processing unit 1102 is used to determine a first parameter of the electronic rearview mirror according to the first image;

[0219] The processing unit 1102 is further configured to determine that a fault exists in the electronic rearview mirror when the first parameter of the electronic rearview mirror satisfies a preset condition.

[0220] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0221] determining a first parameter of a first rearview mirror according to the first image;

[0222] Based on the first parameter of the first rearview mirror and according to the positional relationship between the first rearview mirror and the second rearview mirror, the first parameter of the second rearview mirror is determined.

[0223] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0224] When the first parameter of the first rearview mirror meets a preset condition, determining that the first rearview mirror has a fault, and / or,

[0225] When the first parameter of the second rearview mirror meets a preset condition, it is determined that the second rearview mirror has a fault.

[0226] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0227] When the rotation parameter satisfies the first preset condition, determining that the rotation angle of the electronic rearview mirror is incorrect;

[0228] When the translation parameter satisfies the second preset condition, it is determined that the position of the electronic rearview mirror is incorrect.

[0229] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0230] Display warning information, wherein the warning information includes one or more of the following: information that the rotation angle of the electronic rearview mirror is incorrect, and information that the position of the electronic rearview mirror is offset.

[0231] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0232] Determining the angle between the optical axis of the first rearview mirror and the optical axis of the second rearview mirror according to the positional relationship between the first rearview mirror and the second rearview mirror;

[0233] Based on the first parameter of the first rearview mirror, the first parameter of the second rearview mirror is determined according to the included angle.

[0234] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0235] Determine a target image according to the first image, wherein the target image includes lane line information;

[0236] A first parameter of the electronic rearview mirror is determined according to the lane line information.

[0237] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0238] Determine a distance relationship between the vehicle and the lane line according to the first image, wherein the distance relationship is used to represent the distance between the vehicle and the lane line in a width direction of the vehicle;

[0239] The image whose distance relationship in the first image satisfies the preset distance relationship is taken as the target image.

[0240] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0241] Determining an angular relationship between the vehicle and the lane line according to the first image, wherein the angular relationship is used to represent an angle between an extended line of the vehicle body and an extended line of the lane line;

[0242] The image whose angle relationship in the first image satisfies the preset angle relationship is taken as the target image.

[0243] In another possible implementation, the lane line is a virtual lane line, and the virtual lane line includes edge points.

[0244] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0245] The first parameter of the electronic rearview mirror is determined according to the edge point.

[0246] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0247] Determine a product matrix of the electronic rearview mirror according to the edge points, wherein the product matrix is ​​used to indicate the product of a first parameter of the electronic rearview mirror and a second parameter of the electronic rearview mirror;

[0248] The first parameter of the electronic rearview mirror is determined according to the product matrix and the second parameter of the electronic rearview mirror.

[0249] In another possible implementation manner, the processing unit 1102 is specifically configured to:

[0250] Determining the coordinates of the first edge point in the pixel coordinate system according to the coordinates of the first edge point in the world coordinate system, wherein the first edge point is one of the edge points;

[0251] The product matrix of the electronic rearview mirror is determined according to the coordinates of the first edge point in the pixel coordinate system and the coordinates of the first edge point in the world coordinate system.

[0252] It should be noted that in the embodiments of the present application, the specific implementation and technical effects of each unit can also refer to Figure 3 The corresponding description of the method embodiment shown in .

[0253] See also Fig.12 , Fig.12 Schematic diagram of a computing device provided in an embodiment of the present application. Fig.12 As shown, the computing device 120 may include: one or more processors 1201, one or more memories 1202, and one or more communication interfaces 1203. These components may be connected via a bus 1204 or other means. Fig.12 Take the connection via bus 1204 as an example. Where:

[0254] The communication interface 1203 may be used for the computing device 120 to communicate with other communication devices, such as other computing devices. Specifically, the communication interface 1203 may be a wired interface.

[0255] The memory 1202 can be coupled to the processor 1201 through the bus 1204 or the input and output ports, and the memory 1202 can also be integrated with the processor 1201. The memory 1202 is used to store various software programs and / or multiple sets of instructions or data. Specifically, the memory 1202 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1202 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices. The memory 1202 may store an operating system (hereinafter referred to as system), such as an embedded operating system such as uCOS, VxWorks, RTLinux, etc. The memory 1202 may also store a network communication program, which may be used to communicate with one or more additional devices, one or more user devices, or one or more terminals. The memory 1202 may be independent and connected to the processor 1201 via a bus 1204. The memory 1202 may also be integrated with the processor 1201.

[0256] The memory 1202 is used to store application code for executing the above solution, and the execution is controlled by the processor 1201. The processor 1201 is used to execute the application code stored in the memory 1202.

[0257] Processor 1201 may be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 1201 may also be a combination that implements a certain function, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like.

[0258] In the embodiment of the present application, the processor 1201 may be used to read and execute computer-readable instructions. Specifically, the processor 1201 may be used to call a program stored in the memory 1202 to perform the following operations:

[0259] Acquire a first image captured by the electronic rearview mirror;

[0260] determining a first parameter of the electronic rearview mirror according to the first image;

[0261] When the first parameter of the electronic rearview mirror meets a preset condition, it is determined that a fault exists in the electronic rearview mirror.

[0262] In a possible implementation manner, the processor 1201 is specifically configured to:

[0263] determining a first parameter of a first rearview mirror according to the first image;

[0264] Based on the first parameter of the first rearview mirror and according to the positional relationship between the first rearview mirror and the second rearview mirror, the first parameter of the second rearview mirror is determined.

[0265] In a possible implementation manner, the processor 1201 is specifically configured to:

[0266] When the first parameter of the first rearview mirror meets a preset condition, determining that the first rearview mirror has a fault, and / or,

[0267] When the first parameter of the second rearview mirror meets a preset condition, it is determined that the second rearview mirror has a fault.

[0268] In a possible implementation manner, the processor 1201 is specifically configured to:

[0269] When the rotation parameter satisfies the first preset condition, determining that the rotation angle of the electronic rearview mirror is incorrect;

[0270] When the translation parameter satisfies the second preset condition, it is determined that the position of the electronic rearview mirror is incorrect.

[0271] In a possible implementation manner, the processor 1201 is specifically configured to:

[0272] Display warning information, wherein the warning information includes one or more of the following: information that the rotation angle of the electronic rearview mirror is incorrect, and information that the position of the electronic rearview mirror is offset.

[0273] In a possible implementation manner, the processor 1201 is specifically configured to:

[0274] Determining the angle between the optical axis of the first rearview mirror and the optical axis of the second rearview mirror according to the positional relationship between the first rearview mirror and the second rearview mirror;

[0275] Based on the first parameter of the first rearview mirror, the first parameter of the second rearview mirror is determined according to the included angle.

[0276] In a possible implementation manner, the processor 1201 is specifically configured to:

[0277] Determine a target image according to the first image, wherein the target image includes lane line information;

[0278] A first parameter of the electronic rearview mirror is determined according to the lane line information.

[0279] In a possible implementation manner, the processor 1201 is specifically configured to:

[0280] Determine a distance relationship between the vehicle and the lane line according to the first image, wherein the distance relationship is used to represent the distance between the vehicle and the lane line in a width direction of the vehicle;

[0281] The image whose distance relationship in the first image satisfies the preset distance relationship is taken as the target image.

[0282] In a possible implementation manner, the processor 1201 is specifically configured to:

[0283] Determining an angular relationship between the vehicle and the lane line according to the first image, wherein the angular relationship is used to represent an angle between an extended line of the vehicle body and an extended line of the lane line;

[0284] The image whose angle relationship in the first image satisfies the preset angle relationship is taken as the target image.

[0285] In a possible implementation manner, the lane line is a virtual lane line, and the virtual lane line includes edge points.

[0286] In a possible implementation manner, the processor 1201 is specifically configured to:

[0287] The first parameter of the electronic rearview mirror is determined according to the edge point.

[0288] In a possible implementation manner, the processor 1201 is specifically configured to:

[0289] Determine a product matrix of the electronic rearview mirror according to the edge points, wherein the product matrix is ​​used to indicate the product of a first parameter of the electronic rearview mirror and a second parameter of the electronic rearview mirror;

[0290] The first parameter of the electronic rearview mirror is determined according to the product matrix and the second parameter of the electronic rearview mirror.

[0291] In a possible implementation manner, the processor 1201 is specifically configured to:

[0292] Determining the coordinates of the first edge point in the pixel coordinate system according to the coordinates of the first edge point in the world coordinate system, wherein the first edge point is one of the edge points;

[0293] The product matrix of the electronic rearview mirror is determined according to the coordinates of the first edge point in the pixel coordinate system and the coordinates of the first edge point in the world coordinate system.

[0294] It should be noted that in the embodiments of the present application, the specific implementation and technical effects of each unit can also refer to Figure 3 The corresponding description of the method embodiment shown in .

[0295] The present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on at least one processor, the aforementioned electronic rearview mirror fault identification method is implemented, for example Figure 3 method.

[0296] The present application also provides a computer program product, which includes computer instructions, and when executed by a computing device, implements the aforementioned electronic rearview mirror fault identification method, for example Figure 3 method.

[0297] In the embodiments of the present application, the words "for example" or "such as" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "such as" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the words "for example" or "such as" is intended to present related concepts in a specific way.

[0298] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0299] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first device and the second device are only for the convenience of description, and do not represent the difference in structure, importance, etc. between the first device and the second device. In some embodiments, the first device and the second device can also be the same device.

[0300] In the above embodiments, the term "when..." can be interpreted as meaning "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the concept and principle of the present application shall be included in the protection scope of the present application.

[0301] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0302] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for identifying a fault of an electronic rearview mirror, characterized in that: The method comprises: Acquire a first image captured by the electronic rearview mirror; determining a first parameter of the electronic rearview mirror according to the first image; When the first parameter of the electronic rearview mirror meets a preset condition, it is determined that the electronic rearview mirror has a fault.

2. The method according to claim 1, characterized in that The electronic rearview mirror includes a first rearview mirror and a second rearview mirror, and determining a first parameter of the electronic rearview mirror according to the first image includes: determining a first parameter of the first rearview mirror according to the first image; Based on the first parameter of the first rearview mirror and according to the positional relationship between the first rearview mirror and the second rearview mirror, the first parameter of the second rearview mirror is determined.

3. The method according to claim 2, characterized in that When the first parameter of the electronic rearview mirror meets a preset condition, determining that the electronic rearview mirror has a fault includes: If the first parameter of the first rearview mirror satisfies the preset condition, determining that the first rearview mirror has a fault; and / or, When the first parameter of the second rearview mirror satisfies the preset condition, it is determined that the second rearview mirror has a fault.

4. The method according to any one of claims 1 to 3, characterized in that: The first parameter includes at least one of a rotation parameter and a translation parameter, and when the first parameter of the electronic rearview mirror satisfies a preset condition, determining that the electronic rearview mirror has a fault includes: In the case where the rotation parameter satisfies a first preset condition, determining that the rotation angle of the electronic rearview mirror is incorrect; When the translation parameter satisfies a second preset condition, it is determined that the position of the electronic rearview mirror is incorrect.

5. The method according to claim 4, characterized in that After determining that the rotation angle of the electronic rearview mirror is incorrect, the method further includes: Display warning information, wherein the warning information includes one or more of the following: information that the rotation angle of the electronic rearview mirror is incorrect, and information that the position of the electronic rearview mirror is offset.

6. The method according to claim 2, characterized in that The determining the first parameter of the second rearview mirror based on the first parameter of the first rearview mirror and according to the positional relationship between the first rearview mirror and the second rearview mirror includes: Determining an angle between an optical axis of the first rearview mirror and an optical axis of the second rearview mirror according to a positional relationship between the first rearview mirror and the second rearview mirror; Based on the first parameter of the first rearview mirror, the first parameter of the second rearview mirror is determined according to the included angle.

7. The method according to any one of claims 1 to 6, characterized in that: Determining a first parameter of the electronic rearview mirror according to the first image includes: Determine a target image according to the first image, wherein the target image includes lane line information; A first parameter of the electronic rearview mirror is determined according to the lane line information.

8. The method according to claim 7, characterized in that The step of determining a target image according to the first image comprises: Determining a distance relationship between the vehicle and the lane line according to the first image, wherein the distance relationship is used to represent the distance between the vehicle and the lane line in a width direction of the vehicle; The image in the first image whose distance relationship satisfies a preset distance relationship is used as the target image.

9. The method according to claim 7 or 8, wherein determining the target image according to the first image comprises: Determining an angle relationship between the vehicle and the lane line according to the first image, wherein the angle relationship is used to represent an angle between an extension line of a body of the vehicle and an extension line of the lane line; The image in the first image whose angle relationship satisfies the preset angle relationship is used as the target image.

10. The method according to any one of claims 7 to 9, characterized in that: The lane line is a virtual lane line, and the virtual lane line includes an edge point.

11. The method according to claim 10, characterized in that The determining the first parameter of the electronic rearview mirror according to the lane line information includes: A first parameter of the electronic rearview mirror is determined according to the edge point.

12. The method according to claim 11, characterized in that Determining the first parameter of the electronic rearview mirror according to the edge point includes: Determining a product matrix of the electronic rearview mirror according to the edge points, wherein the product matrix is ​​used to indicate the product of a first parameter of the electronic rearview mirror and a second parameter of the electronic rearview mirror; A first parameter of the electronic rearview mirror is determined according to the product matrix and a second parameter of the electronic rearview mirror.

13. The method according to claim 12, characterized in that Determining the product matrix of the electronic rearview mirror according to the edge points includes: Determining the coordinates of the first edge point in the pixel coordinate system according to the coordinates of the first edge point in the world coordinate system, wherein the first edge point is one of the edge points; A product matrix of the electronic rearview mirror is determined according to the coordinates of the first edge point in the pixel coordinate system and the coordinates of the first edge point in the world coordinate system.

14. A fault identification device for an electronic rearview mirror, characterized in that: The device comprises: A communication unit, used to obtain a first image captured by the electronic rearview mirror; a processing unit, configured to determine a first parameter of the electronic rearview mirror according to the first image; The processing unit is further used to determine that the electronic rearview mirror has a fault when the first parameter of the electronic rearview mirror meets a preset condition.

15. A vehicle, characterized in that: The vehicle comprises a processor and a memory, wherein the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program, so that the vehicle executes the method according to any one of claims 1 to 13.

16. A computing device, characterized in that The method comprises a processor and a memory, wherein the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program, so that the computing device executes the method according to any one of claims 1 to 13.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes instructions for executing the method according to any one of claims 1 to 13.

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