Rearview mirror monitoring method and device and intelligent driving equipment

Abstract

The invention discloses a rearview mirror monitoring method and device and intelligent driving equipment, and the method comprises the steps that an image collected by a camera device is obtained, the image indicates a first vehicle body feature of the first side of a vehicle, and the camera device is arranged at a rearview mirror of the first side of the vehicle; and determining the actual pose of the rearview mirror according to the first vehicle body feature. And when the actual pose of the rearview mirror is not matched with the target pose, executing at least one of the following steps: adjusting the pose of the rearview mirror, prompting that the pose of the rearview mirror is abnormal, or controlling the vehicle to stop driving or park. The scheme can be applied to intelligent vehicles such as electric vehicles and new energy vehicles, the real-time pose and pose change of the rearview mirror can be monitored, and the risk that the rearview mirror or a vehicle body is scratched can be reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and more specifically, to a rearview mirror monitoring method, device and intelligent driving equipment. Background Art

[0002] As vehicles develop towards automation and intelligence, it is possible to automatically control the flip angle of the vehicle's rearview mirror. However, since there is no sensor at the rearview mirror that can detect the flip position of the rearview mirror, the vehicle's control system cannot determine the flip position of the rearview mirror. In this case, if the rearview mirror fails or is manually bent, the flip angle of the rearview mirror may not reach the preset angle, causing the rearview mirror to be scratched.

[0003] In view of this, a monitoring solution capable of monitoring the status of rearview mirrors needs to be developed urgently. Summary of the invention

[0004] The present application provides a rearview mirror monitoring method, device and intelligent driving equipment, which can monitor the actual position and posture of the rearview mirror when the rearview mirror is not provided with a flip position sensor.

[0005] In a first aspect, a rearview mirror monitoring method is provided, which can be executed by an intelligent driving device, for example, by a computing platform in the intelligent driving device, or by a chip or processor in the intelligent driving device. The intelligent driving device can be a vehicle.

[0006] The method includes: acquiring an image captured by a first camera device, the image indicating a first body feature of a first side of a vehicle, the first camera device being arranged at a rearview mirror on the first side of the vehicle; and determining an actual position and posture of the rearview mirror according to the first body feature.

[0007] In the above technical solution, the real-time position and position changes of the rearview mirror can be monitored by the features indicated by the image obtained by the camera device arranged at the rearview mirror, which helps to reduce the risk of scratches on the rearview mirror or the vehicle body.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the first body feature does not match the second body feature, determining that the posture of the rearview mirror is abnormal; wherein the second body feature is a body feature of the first side corresponding to the target posture of the rearview mirror, the target posture is the posture of the rearview mirror indicated by the vehicle control instruction, or the target posture is the posture of the rearview mirror determined based on one or more of the vehicle's operating status, target parking area, and planned path width.

[0009] If the position and posture of the rearview mirror can be automatically adjusted by the controller, then when the rearview mirror does not reach the target position and posture indicated by the vehicle control command of the controller, or when the rearview mirror is manually flipped to a position deviating from the target position and posture after being adjusted to the target position and posture in response to the vehicle control command, it can be determined that the position and posture of the rearview mirror is abnormal. If the position and posture of the rearview mirror cannot be automatically adjusted, but it is determined according to the operation scenario of the vehicle (such as the operation status, the target parking area, the planned path width, etc.) that the position and posture of the rearview mirror needs to be adjusted to the target position and posture, and the actual position and posture of the rearview mirror do not match the target position and posture, it can also be determined that the position and posture of the rearview mirror is abnormal.

[0010] The above technical solutions help to improve the intelligence level of vehicles and thus improve the user experience.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: when the actual posture does not match the target posture, determining that the posture of the rearview mirror is abnormal; wherein the target posture is the posture of the rearview mirror indicated by the vehicle control instruction, or the target posture is the posture of the rearview mirror determined based on one or more of the vehicle's operating status, target parking area, and planned path width.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the posture of the rearview mirror is abnormal, adjusting the posture of the rearview mirror, and / or controlling a prompt device to prompt that the posture of the rearview mirror is abnormal.

[0013] In the above technical solution, when the rearview mirror is in an abnormal position, adjusting the rearview mirror can help improve vehicle safety and / or driving experience. For example, if the rearview mirror should be in a folded state, but it is actually in an unfolded state, adjusting the rearview mirror position can help reduce the risk of scratching the rearview mirror, thereby improving vehicle safety. For another example, if the rearview mirror should be in an unfolded state that is convenient for observing the vehicle coming from behind during vehicle driving, but its actual position is not convenient for observing the vehicle coming from behind, adjusting the rearview mirror position can help the driver observe the vehicle coming from behind, thereby improving driving safety and user driving experience. By prompting the user that the rearview mirror position is abnormal, it helps the user to take timely measures (such as adjusting the rearview mirror, pausing driving or parking, etc.), reducing the impact of the abnormal rearview mirror position on vehicle safety or driving experience.

[0014] In combination with the first aspect, in certain implementations of the first aspect, adjusting the position of the rearview mirror includes: when the vehicle is traveling toward a first parking space, or when the width of a first planned path of the vehicle is less than or equal to a first width threshold, adjusting the position of the rearview mirror to a first position, the width of the first parking space is less than or equal to a second width threshold, and the first planned path is within a first range of the vehicle; or, when the vehicle is traveling toward a second parking space, or when the width of a second planned path of the vehicle is greater than the first width threshold, adjusting the position of the rearview mirror to a second position, the width of the second parking space is greater than the second width threshold, and the second planned path is within a second range of the vehicle; wherein the outer contour width of the vehicle corresponding to the first position is smaller than the outer contour width of the vehicle corresponding to the second position.

[0015] In the above technical solution, when the vehicle needs to pass through a narrow path or park in a narrow parking space, the rearview mirror is controlled to be closer to the vehicle body, which helps to reduce the risk of the rearview mirror being scratched. When the vehicle is driving on a wider road or parking in a wider parking space, the rearview mirror is controlled to be unfolded to a suitable posture, which helps to observe the position of obstacles during driving or parking, and can reduce the risk of collision between the vehicle body and obstacles.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: determining a flip angle of the rearview mirror based on the first vehicle body feature and the second vehicle body feature; and adjusting the position and posture of the rearview mirror, including: adjusting the position and posture of the rearview mirror based on the flip angle.

[0017] In some implementations, the rearview mirror posture is adjusted from a current posture to a first posture or a second posture according to the flip angle.

[0018] When the rearview mirror is manually flipped to a certain position, or when a sudden failure occurs during the process of adjusting the rearview mirror to the target position in response to the vehicle control command, causing the rearview mirror to be stuck in a certain position, the above technical solution does not need to restore the rearview mirror to the initial position, and the rearview mirror can be adjusted to a suitable position (such as the target position), which helps to improve the user experience.

[0019] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: controlling a prompting device to prompt that the position and posture of the rearview mirror is about to be adjusted.

[0020] In the above technical solution, before adjusting the rearview mirror, the user is reminded that the rearview mirror is about to be adjusted, so as to avoid sudden adjustment of the rearview mirror when the user is not prepared, which helps to improve the user's driving experience.

[0021] In combination with the first aspect, in certain implementations of the first aspect, when the posture of the rearview mirror is abnormal, the method also includes: when the vehicle is driving toward a third parking space, or when the width of a third planned path of the vehicle is less than or equal to a third width threshold, prompting the rearview mirror to be adjusted to a third posture, the width of the third parking space is less than or equal to a fourth width threshold, and the third planned path is within a third range of the vehicle; or, when the vehicle is driving toward a fourth parking space, or when the width of a fourth planned path of the vehicle is greater than the third width threshold, prompting the rearview mirror to be adjusted to a fourth posture, the width of the fourth parking space is greater than the fourth width threshold, and the fourth planned path is within a fourth range of the vehicle; wherein the outer contour width of the vehicle corresponding to the third posture is smaller than the outer contour width of the vehicle corresponding to the fourth posture.

[0022] In the above technical solution, when the vehicle cannot automatically adjust the position of the rearview mirror, when the vehicle needs to pass through a narrow path, or when parking in a narrow parking space, the user can be prompted to adjust the rearview mirror to a position closer to the vehicle body, which helps reduce the risk of the rearview mirror being scratched. When the vehicle is driving on a wider road, or when parking in a wider parking space, the user can be prompted to unfold the rearview mirror to a suitable position, which helps to observe the position of obstacles during driving or parking, and can reduce the risk of collision between the vehicle body and obstacles.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the posture of the rearview mirror is abnormal, controlling the vehicle to stop driving or park.

[0024] In the above technical solution, when the rearview mirror is in an abnormal position, the vehicle is controlled to enter a pause state to avoid danger caused by the vehicle operating in a state where the rearview mirror is in an abnormal position.

[0025] In combination with the first aspect, in certain implementations of the first aspect, the first vehicle body feature indicates any of the following: the proportion and / or position of the vehicle body image of the first side in the image; or the position and / or shape of a portion or all of the vehicle body image contour line of the first side.

[0026] In the above technical solution, the first vehicle body feature is independent of the vehicle's driving speed, and therefore, the accuracy of the rearview mirror's status monitoring result is not affected by the vehicle's speed.

[0027] In combination with the first aspect, in some implementations of the first aspect, the first vehicle body feature is associated with an external parameter of the first camera device.

[0028] In a second aspect, a rearview mirror monitoring device is provided, which includes: an acquisition unit for acquiring an image captured by a first camera device, the image indicating a first body feature of a first side of a vehicle, and the first camera device is arranged at the rearview mirror on the first side of the vehicle; and a processing unit for determining an actual position and posture of the rearview mirror according to the first body feature.

[0029] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is also used to: determine that the posture of the rearview mirror is abnormal when the first body feature does not match the second body feature; wherein the second body feature is the body feature of the first side corresponding to the target posture of the rearview mirror, and the target posture is the posture of the rearview mirror indicated by the vehicle control instruction, or the target posture is the posture of the rearview mirror determined according to one or more of the vehicle's operating status, target parking area, and planned path width.

[0030] In combination with the second aspect, in certain implementations of the second aspect, the device also includes an adjustment unit and / or a first prompt unit, the adjustment unit being used to: adjust the position of the rearview mirror when the position of the rearview mirror is abnormal; the first prompt unit being used to: control the prompt device to prompt that the position of the rearview mirror is abnormal when the position of the rearview mirror is abnormal.

[0031] In combination with the second aspect, in certain implementations of the second aspect, the adjustment unit is used to: when the vehicle is driving toward a first parking space, or when the width of a first planned path of the vehicle is less than or equal to a first width threshold, adjust the rearview mirror posture to a first posture, the width of the first parking space is less than or equal to a second width threshold, and the first planned path is within a first range of the vehicle; or, when the vehicle is driving toward a second parking space, or when the width of a second planned path of the vehicle is greater than the first width threshold, adjust the rearview mirror posture to a second posture, the width of the second parking space is greater than the second width threshold, and the second planned path is within a second range of the vehicle; wherein the outer contour width of the vehicle corresponding to the first posture is smaller than the outer contour width of the vehicle corresponding to the second posture.

[0032] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is further used to: determine the flip angle of the rearview mirror according to the first body feature and the second body feature; and the adjustment unit is used to: adjust the position of the rearview mirror according to the flip angle.

[0033] In combination with the second aspect, in certain implementations of the second aspect, the first prompting unit is further used to: control the prompting device to prompt that the position and posture of the rearview mirror is about to be adjusted.

[0034] In combination with the second aspect, in certain implementations of the second aspect, the device also includes a second prompt unit, which is used to: when the posture of the rearview mirror is abnormal and the vehicle is driving toward the third parking space, or, when the posture of the rearview mirror is abnormal and the width of the third planned path of the vehicle is less than or equal to the third width threshold, control the prompt device to prompt to adjust the rearview mirror to the third posture, the width of the third parking space is less than or equal to the fourth width threshold, and the third planned path is within the third range of the vehicle; or, when the posture of the rearview mirror is abnormal and the vehicle is driving toward the fourth parking space, or, when the posture of the rearview mirror is abnormal and the width of the fourth planned path of the vehicle is greater than the third width threshold, control the prompt device to prompt to adjust the rearview mirror to the fourth posture, the width of the fourth parking space is greater than the fourth width threshold, and the fourth planned path is within the fourth range of the vehicle; wherein, the outer contour width of the vehicle corresponding to the third posture is smaller than the outer contour width of the vehicle corresponding to the fourth posture.

[0035] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is further used to: control the vehicle to stop driving or park when the posture of the rearview mirror is abnormal.

[0036] In combination with the second aspect, in certain implementations of the second aspect, the first vehicle body feature indicates any of the following: the proportion and / or position of the vehicle body image of the first side in the image; or the position and / or shape of a portion or all of the vehicle body image contour line of the first side.

[0037] In combination with the second aspect, in some implementations of the second aspect, the first vehicle body feature is associated with an external parameter of the first camera device.

[0038] In a third aspect, a rearview mirror monitoring device is provided, the device comprising: a memory for storing a computer program; a processor for executing the computer program stored in the memory, so that the device performs a method as in any possible implementation of the first aspect.

[0039] In a fourth aspect, a rearview mirror monitoring system is provided, the system comprising a device as in any possible implementation of the second aspect or the third aspect, and a first camera device.

[0040] In a fifth aspect, an intelligent driving device is provided, which includes a device as in any possible implementation of the second aspect or the third aspect; or, the intelligent driving device includes a device as in any possible implementation of the fourth aspect.

[0041] In combination with the fifth aspect, in certain implementations of the fifth aspect, the intelligent driving device is a vehicle.

[0042] In a sixth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation of the first aspect.

[0043] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or may be packaged separately from the processor.

[0044] In a seventh aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation manner of the first aspect.

[0045] In an eighth aspect, a chip is provided, the chip comprising a circuit, the circuit being used to execute the method in any possible implementation manner of the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a functional schematic diagram of an intelligent driving device provided in an embodiment of the present application;

[0047] Figure 2 is a schematic block diagram of a rearview mirror monitoring system provided in an embodiment of the present application;

[0048] Figure 3 It is a schematic diagram of an application scenario of the rearview mirror monitoring method provided in an embodiment of the present application;

[0049] Figure 4 is a schematic block diagram of a rearview mirror monitoring method provided in an embodiment of the present application;

[0050] Figure 5 is another schematic diagram of an application scenario of the rearview mirror monitoring method provided in an embodiment of the present application;

[0051] Figure 6 is another schematic diagram of an application scenario of the rearview mirror monitoring method provided in an embodiment of the present application;

[0052] Figure 7 is a schematic diagram of the baseline angle provided in the embodiment of the present application;

[0053] Figure 8 is a schematic block diagram of a rearview mirror monitoring device provided in an embodiment of the present application;

[0054] Fig. 9 It is another schematic block diagram of the rearview mirror monitoring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] As mentioned above, since there is no sensor on the rearview mirror that can detect the flip position of the rearview mirror, if the rearview mirror fails (such as the electric folding motor fails, etc.) or the rearview mirror is manually moved, the vehicle control system cannot determine the flip position of the rearview mirror. During vehicle driving, if the flip angle of the rearview mirror does not reach the preset angle, the rearview mirror may be scratched, causing property loss to the user.

[0056] In view of this, the embodiments of the present application provide a rearview mirror method, device and intelligent driving device, which can determine whether the position of the rearview mirror is normal. When the position of the rearview mirror is abnormal, the driver is prompted that the position of the rearview mirror is abnormal, and / or the running state of the vehicle is controlled, which helps to reduce the risk of scratches on the rearview mirror, thereby protecting the personal and property safety of the user.

[0057] In order to facilitate understanding of the solutions of the embodiments of the present application, the concepts involved in the present application are introduced below:

[0058] 1. External parameters: parameters related to the installation position of the camera device, such as pitch angle, roll angle, and yaw angle, etc. The pitch angle is the angle between the x-axis of the object coordinate system and the xoy plane of the ground coordinate system, the roll angle is the angle between the y-axis of the object coordinate system and the xoy plane of the ground coordinate system, and the yaw angle is the angle between the projection of the x-axis of the object coordinate system on the xoy plane of the ground coordinate system and the yaw axis of the ground coordinate system.

[0059] 2. Flip angle of rearview mirror: Taking a flip rearview mirror as an example, the flip angle of the rearview mirror is the angle between the outer tangent surface of the rearview mirror shell (upper mirror shell or lower mirror shell) when the rearview mirror is unfolded and when the rearview mirror is folded to the extreme position. Among them, the extreme position can be understood as the position where the angle between the rearview mirror and the vehicle body is the smallest, which can be supported by the steering gear of the rearview mirror. The flip angle can be decomposed into a horizontal flip angle and a vertical flip angle. Taking a four-wheel vehicle as an example, the horizontal flip angle can be the angle at which the rearview mirror flips in the plane where the four tires of the vehicle are located, and the vertical flip angle can be the angle at which the rearview mirror flips in a plane perpendicular to the plane where the four tires of the vehicle are located. It can be understood that the horizontal flip angle and the vertical flip angle of the rearview mirror are both greater than or equal to zero. When the rearview mirror is folded to the extreme position, the horizontal flip angle and the vertical flip angle of the rearview mirror are both zero. The state when the rearview mirror is folded to the extreme position is the folded state, and the state when the horizontal flip angle of the rearview mirror is not zero is the unfolded state.

[0060] 3. Fold or stow the rearview mirror: control the rearview mirror to flip towards the direction close to the vehicle body, or control the rearview mirror to retract into the vehicle body.

[0061] 4. Open or unfold the rearview mirror: control the rearview mirror to flip away from the vehicle body, or control the rearview mirror to extend from the vehicle body.

[0062] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0063] Figure 1 is a functional block diagram of the intelligent driving device provided in the embodiment of the present application. Figure 1 As shown, the intelligent driving device 100 may include a perception system 120, a display device 130 and a computing platform 150, wherein the perception system 120 may include several sensors for sensing information about the environment around the intelligent driving device 100. For example, the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a Beidou system or other positioning systems. For another example, the perception system 120 may also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera. Among them, the camera may include a camera arranged at a rearview mirror, and the camera may include but is not limited to a fisheye camera and a wide-angle camera.

[0064] The display device 130 in the cockpit is mainly divided into two categories. The first category is the vehicle-mounted display screen; the second category is the projection display screen, such as a head up display (HUD). The vehicle-mounted display screen is a physical display screen and an important part of the vehicle-mounted infotainment system. Multiple display screens can be set in the cockpit, such as a digital instrument display screen, a central control screen, etc. Head-up display, also known as a head-up display system. It is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as a windshield). To reduce the driver's line of sight transfer time, avoid pupil changes caused by the driver's line of sight transfer, and improve driving safety and comfort. HUD, for example, includes a combined head-up display (combiner-HUD, C-HUD) system, a windshield head-up display (windshield-HUD, W-HUD) system, and an augmented reality head-up display system (augmented reality HUD, AR-HUD). The display device may also include a human machine interface (human machine interface, HMI) to prompt the user of the switching of the planning mode.

[0065] Some or all functions of the intelligent driving device 100 may be controlled by the computing platform 150. The computing platform 150 may include processors 151 to 15n. The processor is a circuit with signal processing capability. In one implementation, the processor may be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which may be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory, the memory is used to store instructions, and some or all of the processors 151 to 15n may call the instructions in the memory to implement corresponding functions.

[0066] The intelligent driving device 100 may include an advanced driving assistant system (ADAS). ADAS uses a variety of sensors on the intelligent driving device (including but not limited to: lidar, millimeter wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the intelligent driving device, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, intelligent driving device positioning, path planning, driver monitoring / reminder, etc., thereby improving the safety, automation and comfort of driving the intelligent driving device.

[0067] In terms of logical functions, ADAS systems generally include three main functional modules: perception module, decision module and execution module. The perception module perceives the environment around the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center. The perception module mainly includes on-board cameras / ultrasonic radars / millimeter-wave radars / lidar, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, warnings, etc.

[0068] At different levels of autonomous driving (L0-L5), ADAS can achieve different levels of autonomous driving assistance based on artificial intelligence algorithms and information obtained by multiple sensors. The above autonomous driving levels (L0-L5) are based on the grading standards of the Society of Automotive Engineers (SAE). Among them, L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is highly automated; L5 is fully automated. The tasks of monitoring road conditions and responding to L1 to L3 are completed by the driver and the system together, and the driver needs to take over the dynamic driving tasks. L4 and L5 levels allow the driver to completely transform into the role of a passenger. At present, the functions that ADAS can achieve mainly include but are not limited to: adaptive cruise, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assist, rear vehicle collision avoidance warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above-mentioned various functions may have specific modes under different levels of autonomous driving (L0-L5), and the higher the level of autonomous driving, the smarter the corresponding mode. For example, automatic parking may include automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP). For APA, the driver does not need to operate the steering wheel, but the driver is still required to operate the intelligent driving device to monitor the status of the intelligent driving device in real time; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the intelligent driving device outside the intelligent driving device; for AVP, the intelligent driving device can complete parking without a driver. In terms of the corresponding level of autonomous driving, APA is approximately at the level of L2, RPA is approximately at the level of L2-L3, and AVP is approximately at the level of L4.

[0069] The intelligent driving equipment involved in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving equipment can be a vehicle, which is a vehicle in a broad sense, and can be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiment of this application does not specifically limit the type of vehicle. For another example, the vehicle can be a vehicle such as an airplane or a ship. The following is an example of an intelligent driving device as a vehicle.

[0070] In the present application, the camera device at the rearview mirror can be set at the base of the rearview mirror, or can also be set at the edge of the rearview mirror, for example, at the upper edge or lower edge of the rearview mirror. The external parameters of the camera device at the rearview mirror can change with the change of the posture of the rearview mirror. The change of the external parameters of the camera device causes the body-related features in the image it captures to change, for example, the proportion and position of the body image in the entire image changes, or the contour shape and / or position of the body image in the image changes. Further, the computing platform 150 can determine whether the actual posture of the rearview mirror is consistent with the target posture based on the image captured by the camera device at the rearview mirror, or the computing platform 150 can also determine the actual posture of the rearview mirror based on the image captured by the camera device at the rearview mirror.

[0071] It should be noted that the rearview mirror monitoring method provided by the present application can be applied to the state monitoring or position monitoring of external rearview mirrors, such as the state monitoring or posture monitoring of external rearview mirrors such as flip-up rearview mirrors and telescopic rearview mirrors. The rearview mirror involved in the present application can be a rearview mirror whose posture can be automatically adjusted, or it can also be a rearview mirror whose posture can only be adjusted manually. The following description takes a flip-up rearview mirror as an example. Based on the technical concept of the present application, those skilled in the art who apply the following scheme to the monitoring field of other external rearview mirrors such as telescopic rearview mirrors should be deemed to fall within the protection scope of the present application.

[0072] Figure 2 FIG. 1 shows a schematic block diagram of a rearview mirror monitoring system provided by an embodiment of the present application. Figure 2 As shown, the system includes a rearview mirror control module 210, a rearview mirror module 220, a feature generation module 230 and a state judgment module 240. The rearview mirror module 220 includes a rearview mirror 221 and a camera device 222, and the camera device 222 may include one or more cameras in the perception system 120. The feature generation module 230 and the state judgment module 240 may include Figure 1 One or more processors in computing platform 150 are shown.

[0073] The rearview mirror 221 may include Figure 3 The rearview mirror 301 and / or rearview mirror 302 shown. The arrangement of the camera device 222 at the rearview mirror 221 can refer to the description in the above embodiment and will not be repeated here. The camera device 222 can be used to obtain images of the vehicle's surroundings including the vehicle body. Exemplarily, when the rearview mirror 221 is flipped to different positions (i.e., the rearview mirror 221 is in different postures), the external parameters are calibrated for the camera device 222 respectively. For example, when the rearview mirror 221 is in a position such as Figure 3 In the folded state shown in (a) of FIG. 1 , the external parameters of the camera device 222 are calibrated as the pitch angle, the roll angle and the yaw angle are a0, b0 and c0 respectively, that is, yaw = a0, pitch = b0, roll = c0; when the rearview mirror 221 is unfolded to Figure 3 When the camera 222 is at the position shown in (b) (hereinafter referred to as position 1), the external parameters of the camera 222 are calibrated as the pitch angle, roll angle and yaw angle are a1, b1 and c1 respectively, that is, yaw = a1, pitch = b1, roll = c1. It can be understood that the proportion and position of the vehicle body image in the image captured by the camera 222 under different external parameters are different, and the shape and / or position of the vehicle body contour line are also different. For example, when the rearview mirror is in the folded state, the image captured by the camera 222 is as follows Figure 3 As shown in (a) in FIG. 1 , the contour line of the vehicle body image in the image is the vehicle body contour line 1; when the rearview mirror is flipped to position 1, the image captured by the camera device 222 is as follows Figure 3 As shown in (b) in the figure, the contour line of the vehicle body image in the image is the vehicle body contour line 2. If the contour line of the fixed position of the vehicle body is taken as the reference baseline, then Figure 3 It can be seen that the reference baselines corresponding to the rearview mirror when it is in the folded state and flipped to position 1 are body baseline 1 and body baseline 2 respectively. The correspondence between the flip position of the rearview mirror 221 and the features of the image captured by the camera device 222 can be stored in the memory of the rearview mirror monitoring system, or stored in the feature generation module 230. The features of the image captured by the camera device 222 include but are not limited to: the proportion and / or position of the body image in the entire image, the shape and / or position of the contour line of the body image, and the reference baseline shape and / or position.

[0074] The rearview mirror control module 210 is used to control the flip angle of the rearview mirror 221. For example, the rearview mirror control module 210 sends a control instruction to the electric folding motor of the rearview mirror 221, wherein the control instruction is used to control the rearview mirror 221 to flip to a preset position, or to control the rearview mirror 221 to flip to a preset angle. When the electric folding motor executes the control instruction, the flip angle of the rearview mirror 221 is controlled. In the specific implementation process, the rearview mirror control module 210 can control the flip angle of the rearview mirror 221 in response to the user's operation. For example, the rearview mirror control module 210 can be a rearview mirror adjustment button, and the flip angle of the rearview mirror 221 is controlled in response to the user pressing the rearview mirror adjustment button; or the rearview mirror control module 210 can also control the flip angle of the rearview mirror 221 according to the operating state and / or operating state change of the vehicle. For example, when the vehicle is parked in a parking space and the power is turned off, the flip angle of the rearview mirror 221 is controlled to become smaller so that the state of the rearview mirror is flipped from the unfolded state to the folded state; or, when the vehicle is powered on, the flip angle of the rearview mirror 221 is controlled to become larger so that the state of the rearview mirror is flipped from the folded state to the unfolded state; or, when the gear position of the vehicle is changed from the driving gear to the reverse gear, the flip angle of the rearview mirror is controlled so that the viewing angle of the rearview mirror is suitable for observing the position of obstacles behind when reversing; or, when the gear position of the vehicle is changed from the reverse gear to the driving gear, the flip angle of the rearview mirror is controlled so that the viewing angle of the rearview mirror is suitable for observing vehicles coming from behind when driving.

[0075] In some implementations, the feature generation module 230 may obtain a control instruction of the rearview mirror control module 210, and determine the features of the image captured by the camera device 222 corresponding to the control instruction according to the control instruction. The features of the image captured by the camera device 222 corresponding to the control instruction may be understood as the features that the image captured by the camera device 222 should have if the rearview mirror 221 flips to a preset position or a preset angle according to the control instruction. In some implementations, when or after the feature generation module 230 obtains the control instruction, the camera device 222 is controlled to capture images in real time; or, when or after the feature generation module 230 determines the features of the image captured by the camera device 222 corresponding to the control instruction, the camera device 222 is controlled to capture images in real time. More specifically, the feature generation module 230 may determine the features of the image captured by the camera device 222 corresponding to the control instruction according to pre-stored feature information, wherein the feature information includes the correspondence between multiple groups of flip positions of the rearview mirror 221 and the features of the image captured by the camera device 222.

[0076] In other implementations, the feature generation module 230 can determine the target posture of the rearview mirror 221 based on one or more of the vehicle's operating status, the target parking area, and the planned path width, and determine the features of the image captured when the external parameters of the camera device 222 are the external parameters corresponding to the target posture based on the target posture.

[0077] The state judgment module 240 is used to determine whether the posture of the rearview mirror 221 is normal according to the features of the image captured in real time by the camera device 222 and the features of the image determined by the feature generation module 230. In the actual implementation process, due to the rearview mirror failure or the artificial turning of the rearview mirror, the rearview mirror 221 fails to flip to the preset position after the rearview mirror control module 210 issues a control instruction, resulting in the mismatch between the features of the image captured in real time by the camera device 222 and the features of the image determined by the feature generation module 230. In the above case, it is determined that the posture of the rearview mirror 221 is abnormal, and then at least one of the following is executed: prompting the driver that the posture of the rearview mirror is abnormal, controlling the vehicle to stop driving or park. In some implementations, the state judgment module 240 obtains the features of the image captured in real time by the camera device 222 through an image processing algorithm. In some implementations, the state judgment module 240 can perform dedistortion processing on the image, thereby determining the angle between the reference baseline of the image determined by the feature generation module 230 and the actual baseline of the image acquired in real time by 222, and then sending the angle to the rearview mirror control module 210 so that the rearview mirror control module 210 adjusts the flip angle of the rearview mirror according to the angle.

[0078] It should be understood that Figure 2 The system shown is only an example. In actual implementation, the rearview mirror monitoring system may include more or fewer modules. The feature generation module 230 and the state judgment module 240 may be combined into one module. For another example, the rearview mirror monitoring system may also include a prompt module, which may include Figure 1 The display device 130 shown in the figure is used to remind the driver that the rearview mirror is in an abnormal position when the rearview mirror is in an abnormal position.

[0079] It should also be understood that the external parameters of the camera device 222 corresponding to the rearview mirror in the folded state and the external parameters of the camera device 222 corresponding to the rearview mirror flipped to position 1 are only exemplary. In actual implementation, the rearview mirror monitoring system can store more external parameters of the camera device 222 corresponding to the rearview mirror flipped to other positions (or the rearview mirror is in other postures). Accordingly, the rearview mirror monitoring system can also store the features of the images collected by the camera device 222 under different external parameters.

[0080] The above introduces the rearview mirror monitoring system provided by the embodiment of the present application. The following describes in detail the rearview mirror monitoring method provided by the present application.

[0081] Figure 4 A schematic flow chart of a rearview mirror monitoring method provided in an embodiment of the present application is shown. Figure 4 The method 400 shown may be performed by Figure 1 The intelligent driving device 100 shown in FIG. 1 is executed, or the method 400 may also be executed by Figure 2Specifically, the method 400 may include S401 and S402.

[0082] S401, acquiring an image captured by a first camera device, the image indicating a first vehicle body feature of a first side of a vehicle, the first camera device being disposed at a rearview mirror on the first side of the vehicle.

[0083] Exemplarily, the first camera device may include the camera device 222 in the above embodiment, the rearview mirror may include the rearview mirror 221 in the above embodiment, and the first side of the vehicle may be the left side or the right side of the vehicle. When the first side of the vehicle is the left side of the vehicle, the rearview mirror may include the rearview mirror 301, and the first camera device may be a camera device disposed at the rearview mirror 301; when the first side of the vehicle is the right side of the vehicle, the rearview mirror may include the rearview mirror 302, and the first camera device may be a camera device disposed at the rearview mirror 302. The image captured by the first camera device may be understood as an image captured by the first camera device in real time.

[0084] In some implementations, the first vehicle body feature is associated with an external parameter of the first camera device. The first vehicle body feature being associated with the external parameter of the first camera device can be understood as: the first vehicle body feature includes the external parameter of the first camera device determined based on the image captured by the first camera device in real time; or the first vehicle body feature changes as the external parameter of the first camera device changes.

[0085] In some implementations, the first vehicle body feature may include a feature of the first side of the vehicle body in an image captured in real time by the first camera device, and the first vehicle body feature may include at least one of the following: the proportion and / or position of the image of the first side of the vehicle body in the entire image, the shape of the contour line of the image of the first side of the vehicle body and / or its position in the image, and the reference baseline shape and / or its position in the image.

[0086] S402: Determine an actual position and posture of the rearview mirror according to the first vehicle body feature.

[0087] Exemplarily, according to the comparison between the first vehicle body feature and the feature information in the above embodiment, when the first vehicle body feature matches a specific feature of the feature information, the posture corresponding to the specific feature is determined to be the actual posture of the rearview mirror. The matching of the first vehicle body feature and the specific feature may include: the first vehicle body feature is equal to or identical to the specific feature, or the difference between the first vehicle body feature and the specific feature is less than a preset threshold.

[0088] In some implementations, when the first body feature does not match the second body feature, the position and posture of the rearview mirror is determined to be abnormal, and the second body feature is the body feature of the first side corresponding to the target position and posture of the rearview mirror. Alternatively, when the first body feature matches the second body feature, the position and posture of the rearview mirror is determined to be normal.

[0089] In some implementations, the target posture is the posture of the rearview mirror indicated by the vehicle control command, or the target posture is the posture of the rearview mirror determined according to one or more of the vehicle's operating state, the target parking area, and the planned path width. The vehicle control command is used to control the rearview mirror to adjust to a preset posture. Exemplarily, the vehicle control command may include a control command sent by the rearview mirror control 210.

[0090] Exemplarily, the second vehicle body feature may include features of the first side vehicle body in an image captured by a pre-stored first camera device, and the second vehicle body feature may include at least one of the following: the proportion and / or position of the image of the first side vehicle body in the entire pre-stored image, the shape of the contour line of the image of the first side vehicle body and / or its position in the pre-stored image, and the reference baseline shape and / or its position in the pre-stored image. The pre-stored image is an image acquired by the first camera device when the external parameter is an external parameter calibrated under the rearview mirror posture indicated by the vehicle control command. In other implementations, the second vehicle body feature may also include the external parameter of the first camera device calibrated under the rearview mirror posture indicated by the vehicle control command.

[0091] For example, the second vehicle body feature may be determined according to the feature information in the above embodiment. The feature information may be in a form as shown in Table 1.

[0092] Table 1

[0093] Target pose External parameters of the first camera device Second body feature Pose A yaw=a0, pitch=b0, roll=c0 Feature 1 Pose B yaw=a1, pitch=b1, roll=c1 Feature 2 Pose C yaw=a2, pitch=b2, roll=c2 Feature 3 …… …… ……

[0094] It should be understood that the characteristic information shown in Table 1 is only an exemplary description. In actual implementation, the characteristic information may only include the correspondence between the target posture and the second body feature, and the characteristic information may include more or less correspondences between the target posture and the second body feature. In addition, when the target posture is the posture of the rearview mirror indicated by the vehicle control command, the characteristic information may also only include the correspondence between the vehicle control command and the second body feature.

[0095] In some implementations, when the target posture is the posture of the rearview mirror determined according to one or more of the vehicle's operating state, the target parking area, and the planned path width, the feature information may be in the form of what is shown in Table 2.

[0096] Table 2

[0097]

[0098] It should be understood that the characteristic information shown in Table 2 is only an exemplary description. In actual implementation, the characteristic information may only include the correspondence between the operating state and the second body feature, and the characteristic information may include more or less correspondence between the operating state and the second body feature. In addition, posture a and posture c can be the same posture, then the external parameters of the first camera device and the second body feature corresponding to posture a and posture c are the same. Posture d and posture f can also be the same posture, then the external parameters of the first camera device and the second body feature corresponding to posture d and posture f are the same. Posture b, posture e and posture g can also be the same posture, then the external parameters of the first camera device and the second body feature corresponding to posture b, posture e and posture g are the same.

[0099] In one example, the mismatch between the first body feature and the second body feature may include: the first body feature and the second body feature are not equal or identical. In another example, when the first body feature and the second body feature are respectively the proportion and position of the image of the first side body in the entire image, the mismatch between the first body feature and the second body feature may include: the difference in the proportion of the image of the first side body in the entire image is greater than a preset proportion threshold. The preset proportion threshold may be 0, or 3%, or other values. In another example, when the first body feature and the second body feature are respectively the shapes of the reference baselines, the mismatch between the first body feature and the second body feature may include: the angle between the reference baselines is greater than the angle threshold, or the shape similarity of the reference baselines is less than or equal to the first similarity threshold. The angle threshold may be 0 degrees (degree, °), or 3°, or other values; the first similarity threshold may be 95%, or 98%, or other values. In another example, when the first body feature and the second body feature are respectively the shapes of the contour line of the image of the first side body, the mismatch between the first body feature and the second body feature may include: the similarity of the shape of the contour line of the first side body image is less than or equal to the second similarity threshold. The second similarity threshold may be 95%, or 98%, or other values.

[0100] Exemplarily, the abnormal posture of the rearview mirror may include: the actual posture of the rearview mirror is different from the target posture, or the deviation between the actual posture of the rearview mirror and the target posture exceeds a preset threshold.

[0101] In some implementations, when a vehicle control instruction is obtained, or when a feature of an image determined by the feature generation module 230 is obtained, S401 is executed.

[0102] In some implementations, when determining that the position and posture of the rearview mirror is abnormal, the method further includes: adjusting the position and posture of the rearview mirror, and / or controlling a prompting device to prompt that the position and posture of the rearview mirror is abnormal. Exemplarily, the prompting device includes but is not limited to: a display device, a sound device (such as a speaker, etc.).

[0103] In some implementations, adjusting the position and posture of the rearview mirror may include: when the vehicle is traveling toward the first parking space, or when the width of the first planned path of the vehicle is less than or equal to the first width threshold, adjusting the position and posture of the rearview mirror to the first position, the width of the first parking space is less than or equal to the second width threshold, and the first planned path is within the first range of the vehicle. Alternatively, when the vehicle is traveling toward the second parking space, or when the width of the second planned path of the vehicle is greater than the first width threshold, adjusting the position and posture of the rearview mirror to the first position, the width of the second parking space is greater than the second width threshold, and the second planned path is within the second range of the vehicle. The outer contour width of the vehicle corresponding to the first position is smaller than the outer contour width of the vehicle corresponding to the second position.

[0104] The outer width of the vehicle is the distance between the outer edges of the left and right rearview mirrors of the vehicle. When both rearview mirrors are in a folded state, the outer width of the vehicle is the smallest; when both rearview mirrors are opened to the maximum position, the outer width of the vehicle is the largest. In the embodiment of the present application, the distance between the outer edges of the two rearview mirrors when the two rearview mirrors are opened to the maximum position is called the maximum outer width of the vehicle.

[0105] Exemplarily, the first planned path (or the second planned path) may be the path that the vehicle is about to travel, and the first range (or the second range) may be a range within a specific distance from the vehicle in the direction of travel of the vehicle. The specific distance may be 5 meters, or 10 meters, or other values. For example, taking the specific distance of 10 meters as an example, when the vehicle is traveling in the direction of the front of the vehicle (hereinafter referred to as the front of the vehicle), the first range (or the second range) may be a range within 10 meters from the front of the vehicle to the front of the vehicle; when the vehicle is traveling in the direction of the rear of the vehicle (hereinafter referred to as the rear of the vehicle), the first range (or the second range) may be a range within 10 meters from the rear of the vehicle to the rear of the vehicle. The first width threshold may be determined according to the maximum outer contour width of the vehicle, for example, the first width threshold may be the sum of the maximum outer contour width and the preset width. The preset width may be 10 centimeters, or 20 centimeters, or other values.

[0106] Exemplarily, the first parking space may be a narrow parking space, and the second width threshold may be determined according to the vehicle model, or the second width threshold may be determined according to the maximum outer width of the vehicle. For example, the second width threshold may be the sum of the maximum outer width and a preset width. The second parking space may be an ordinary parking space or a wide parking space. The first parking space and the second parking space may be parking spaces determined by the vehicle according to parking space lines, or may be parking spaces determined by the vehicle according to obstacles, or may be parking spaces determined by the vehicle according to parking space lines and obstacles around the parking space lines.

[0107] Exemplarily, the first posture or the second posture may be a target posture, or the first posture or the second posture may also be other preset postures.

[0108] In some implementations, when the posture of the rearview mirror is abnormal, the method further includes: when the vehicle is traveling toward the third parking space, or when the width of the third planned path of the vehicle is less than or equal to the third width threshold, the control prompt device prompts to adjust the rearview mirror to the third posture, the width of the third parking space is less than or equal to the fourth width threshold, and the third planned path is within the third range of the vehicle. Alternatively, when the vehicle is traveling toward the fourth parking space, or when the width of the fourth planned path of the vehicle is greater than the third width threshold, the control prompt device prompts to adjust the rearview mirror to the fourth posture, the width of the fourth parking space is greater than the fourth width threshold, and the fourth planned path is within the fourth range of the vehicle; wherein the outer contour width of the vehicle corresponding to the third posture is less than the outer contour width of the vehicle corresponding to the fourth posture.

[0109] Exemplarily, the third parking space and the first parking space may be the same parking space, the fourth parking space and the second parking space may be the same parking space, the third width threshold and the first width threshold may be the same value, the fourth width threshold and the second width threshold may be the same value, the third planned path and the first planned path may be the same path, the fourth planned path and the second planned path may be the same path, the third range and the first range may be the same range, and the fourth range and the second range may be the same range.

[0110] In some implementations, the method further includes: when the rearview mirror posture is abnormal, controlling the vehicle to stop driving or park. Controlling the vehicle to stop driving may include: controlling the vehicle speed to drop to zero. Controlling the vehicle to stop parking may include: controlling the vehicle speed to drop to zero; or controlling the vehicle to continue driving along the parking trajectory until the vehicle speed drops to zero before the vehicle enters the target parking space.

[0111] Figure 5 and Figure 6 Some application scenarios of the above solution are shown.

[0112] Figure 5 The figure shows a scene where a vehicle is parking in a narrow parking space or a narrow path exists in the target driving path of the vehicle. Figure 5 As shown in (a), in one scenario, vehicle 510 travels along planned path 511, and the rearview mirror of vehicle 510 is unfolded to a posture suitable for observing the rearward vehicle when driving (such as posture 1). Due to the restrictions of vehicle 512 and parking space lines, the path width of the portion of planned path 511 passing through area 514 is less than the width threshold (such as the first width threshold), and the rearview mirror control module of vehicle 510 can control the rearview mirror to be folded (such as posture 2). In another scenario, vehicle 510 selects parking space 515 as the target parking space, and the rearview mirror of vehicle 510 is unfolded to a posture suitable for observing the position of obstacles around the parking space when parking (such as posture 3). Due to the restrictions of vehicle 513, the width of parking space 515 is less than the width threshold (such as the second width threshold), and the rearview mirror control module of vehicle 510 can control the rearview mirror to be folded (such as posture 2).

[0113] In the actual implementation of the above two scenarios, the motor used to control the rearview mirror posture may execute the instructions of the rearview mirror control module to control the rearview mirror posture to reach posture 2; or, the motor used to control the rearview mirror posture may fail to reach posture 2 due to sudden motor failure and other reasons during the process of executing the instructions of the rearview mirror control module; or, due to motor failure and other reasons, the motor may not execute the instructions of the rearview mirror control module, so that the rearview mirror posture remains unchanged in the original posture (such as posture 1 or posture 2). Therefore, the rearview mirror monitoring method provided in the embodiment of the present application can monitor whether the rearview mirror posture is normal. Figure 5 As shown in (b) in FIG. 5 , if the rearview mirror of the vehicle 510 is retracted, the image captured by the camera device provided at the rearview mirror should have a reference baseline. If the position and shape of the actual baseline in the image actually captured by the camera device provided at the rearview mirror match the reference baseline after the rearview mirror control module issues a control instruction, the rearview mirror posture is determined to be normal. If the position or shape of the actual baseline does not match the reference baseline, the rearview mirror posture is determined to be abnormal. For example, if the actual baseline is as follows: Figure 5 As shown in (b) in the figure, if the reference baseline does not coincide with the actual baseline, it is determined that the rearview mirror posture is abnormal.

[0114] Taking the process of vehicle 510 parking into parking space 515 as an example, when the rearview mirror posture is abnormal (such as the rearview mirror is in the unfolded state), vehicle 510 can prompt that the rearview mirror posture is abnormal and / or prompt to adjust the rearview mirror to posture 2 through a sound device such as a speaker, and / or, vehicle 510 can prompt that the rearview mirror posture is abnormal and / or prompt to adjust the rearview mirror to posture 2 through a user graphical interface (graphical user interface, GUI) of a display device such as a central control screen.

[0115] like Figure 5As shown in (c) in FIG. 5 , the GUI may include a parking interface, which includes an icon 501 representing a vehicle 510, an icon 502 representing a parking space 515, and a prompt dialog box 503. Exemplarily, the vehicle 510 may control the prompt dialog box 503 to display "Rearview mirror is not folded!" or "Rearview mirror status is abnormal!" to prompt that the rearview mirror posture is abnormal. Exemplarily, the parking interface may also include an icon 504 displaying the real-time vehicle speed and a button 505 for controlling parking. When the user clicks the button 505, the vehicle 510 will exit the parking process.

[0116] In some implementations, such as Figure 5 As shown in (d) in FIG. 5 , the vehicle 510 may also control the prompt dialog box 503 to display “Please put away the rearview mirror!” to prompt the rearview mirror to be adjusted to position 2.

[0117] In some implementations, when the rearview mirror posture is abnormal, the vehicle 510 can control the rearview mirror posture to be adjusted to posture 2. Before the vehicle 510 adjusts the rearview mirror posture, the parking interface can be controlled to display "Please note! The rearview mirror is about to be retracted!" to prompt that the rearview mirror posture is about to be adjusted.

[0118] In some implementations, when the rearview mirror posture is abnormal, the vehicle 510 pauses the parking process or stops driving. Figure 5 As shown in (e) in FIG. 5 , icon 504 shows that the speed of vehicle 510 drops to 0. In addition, Figure 5 The parking interface shown in (e) also includes a button 506 for controlling parking. After the vehicle 510 pauses parking, when the user clicks the button 506, the vehicle 510 will resume the parking process, that is, the vehicle 510 continues to park into the target parking space 515. If the vehicle 510 can automatically adjust the position of the rearview mirror, then before the vehicle 510 pauses parking and adjusts the position of the rearview mirror, the prompt dialog box 503 of the parking interface can display "Please note! The rearview mirror is about to be put away!" to remind the driver that the position of the rearview mirror is about to be adjusted. In addition, when the vehicle 510 pauses parking, the prompt dialog box 503 of the parking interface can also display prompts such as "The rearview mirror is not put away!", "The rearview mirror is abnormal!" or "Please put away the rearview mirror!"

[0119] exist Figure 5 In (a)-(e), vehicle 510 is an example of a vehicle in method 400, parking space 515 is an example of the first parking space or the third parking space in method 400, the portion of path 511 located in area 514 is an example of the first planned path or the third planned path in method 400, and the actual baseline and the reference baseline are examples of the first body feature and the second body feature, respectively. Pose 2 is an example of the first pose or the third pose in method 400, or, Pose 2 is an example of the target pose in method 400.

[0120] Figure 6 The figure shows a scene where a vehicle is parking in a non-narrow parking space or there is no narrow path in the target driving path of the vehicle. Figure 6 As shown in (a), in one scenario, vehicle 610 travels along planned path 611, and the rearview mirror of vehicle 610 is unfolded to a posture suitable for observing the rearward vehicle when driving (such as posture 4). Since the path width of the portion of planned path 611 passing through area 612 is greater than the width threshold (such as the first width threshold), the posture of the rearview mirror of vehicle 610 can be maintained at posture 4. In another scenario, vehicle 610 selects parking space 613 as the target parking space, and the rearview mirror of vehicle 610 is unfolded to a posture suitable for observing the position of obstacles around the parking space when parking (such as posture 5). Since the width of parking space 613 is greater than the width threshold (such as the second width threshold), the posture of the rearview mirror of vehicle 610 can be maintained at posture 5.

[0121] In the actual implementation of the above two scenarios, when the vehicle 610 is traveling along the path 611, the position of the rearview mirror may not be in position 4, for example, the rearview mirror may be in a folded state. When the vehicle 610 is parking in the parking space 613, the position of the rearview mirror may not be in position 5, for example, the rearview mirror may be in a folded state. Therefore, the rearview mirror monitoring method provided in the embodiment of the present application can monitor whether the position of the rearview mirror is normal.

[0122] Take the process of vehicle 610 parking in parking space 613 as an example. Figure 6 As shown in (b) in FIG. 6 , if the posture of the rearview mirror of the vehicle 610 is in posture 5, the image captured by the camera device set at the rearview mirror should have a reference baseline. If the position and shape of the actual baseline in the image actually captured by the camera device set at the rearview mirror match the reference baseline, the posture of the rearview mirror is determined to be normal. If the position or shape of the actual baseline does not match the reference baseline, the posture of the rearview mirror is determined to be abnormal. For example, if the actual baseline is as follows Figure 6 As shown in (b), the reference baseline and the actual baseline do not coincide with each other, which indicates that the rearview mirror posture is abnormal.

[0123] In some implementations, when the rearview mirror is in an abnormal position (such as the rearview mirror is in a folded state), the vehicle 610 may prompt that the rearview mirror is in an abnormal position and / or prompt to adjust the rearview mirror to position 5 through a sound device such as a speaker, and / or the vehicle 610 may prompt that the rearview mirror is in an abnormal position and / or prompt to adjust the rearview mirror to position 5 through a GUI of a display device such as a central control screen.

[0124] like Figure 6As shown in (c) in FIG. 1 , the GUI may include a parking interface, which includes an icon 601 representing a vehicle 610, an icon 602 representing a parking space 613, and a prompt dialog box 603. Exemplarily, the vehicle 610 may control the prompt dialog box 603 to display "The rearview mirror is in a folded state!" or "The rearview mirror is in an abnormal state!" to indicate that the rearview mirror is in an abnormal position. Exemplarily, the parking interface may also include an icon 604 that displays the real-time vehicle speed, and a button 605 for controlling parking. When the user clicks the button 605, the vehicle 610 will exit the parking process.

[0125] In some implementations, such as Figure 6 As shown in (d) in FIG. 6 , the vehicle 610 may also control the prompt dialog box 603 to display “Please open the rearview mirror!” to prompt the rearview mirror to be adjusted to position 5.

[0126] In some implementations, when the rearview mirror posture is abnormal, the vehicle 610 can control the rearview mirror posture to be adjusted to posture 5. Before the vehicle 610 adjusts the rearview mirror posture, the parking interface can be controlled to display "Please note! The rearview mirror is about to open!" to prompt that the rearview mirror posture is about to be adjusted.

[0127] In some implementations, when the rearview mirror posture is abnormal, the vehicle 610 pauses the parking process or stops driving. Figure 6 As shown in (e) in FIG. 6 , icon 604 shows that the speed of vehicle 610 drops to 0. In addition, Figure 6 The parking interface shown in (e) also includes a button 606 for controlling parking. After the vehicle 610 pauses parking, when the user clicks the button 606, the vehicle 610 will resume the parking process, that is, the vehicle 610 continues to park in the target parking space 613. If the vehicle 610 can automatically adjust the position of the rearview mirror, then before the vehicle 610 pauses parking and adjusts the position of the rearview mirror, the prompt dialog box 603 of the parking interface can display "Please note! The rearview mirror is about to be opened!" to remind the driver that the position of the rearview mirror is about to be adjusted. In addition, when the vehicle 610 pauses parking, the prompt dialog box 603 of the parking interface can also display prompts such as "The rearview mirror is in a folded state!", "The rearview mirror is in an abnormal state!" or "Please open the rearview mirror!"

[0128] exist Figure 6 In (a)-(e), vehicle 610 is an example of a vehicle in method 400, parking space 613 is an example of a second parking space or a fourth parking space in method 400, and the portion of path 611 located in area 612 is an example of a second planned path or a fourth planned path. The actual baseline and the reference baseline are examples of a first body feature and a second body feature, respectively. Pose 5 can be an example of the second pose or the fourth pose in method 400, or pose 5 can also be an example of a target pose in method 400.

[0129] In some implementations, when the first body feature and the second body feature respectively include partial body image contour lines, such as the first body feature includes an actual baseline and the second body feature includes a reference baseline, the method 400 further includes: determining a flip angle of the rearview mirror based on the first body feature and the second body feature; and adjusting the position and posture of the rearview mirror based on the flip angle.

[0130] For example, Figure 7 (a) shows an image captured by a camera device disposed at the rearview mirror when the rearview mirror is in a target position, and the image includes a reference baseline. Figure 7 (b) in FIG. 1 shows an image captured in real time by a camera installed at the rearview mirror, which includes the actual baseline. De-distortion processing is performed on the images respectively, and the following can be obtained: Figure 7 The images shown in (c) and (d) respectively include the reference baseline after correction and the actual baseline after correction (both are straight lines or line segments). Figure 7 As shown in (e) in the figure, the angle between the corrected reference baseline and the corrected actual baseline is α. In some implementations, if the rearview mirror is in the target position and only rotates in the horizontal direction compared to the current position, the rearview mirror is controlled to rotate toward the vehicle body by an angle of α on a plane parallel to the four tires of the vehicle to adjust the rearview mirror position to the target position. In other implementations, if the rearview mirror is in the target position and rotates in the horizontal direction and in the vertical direction compared to the current position, the image can be further processed to determine the horizontal flip angle α' and the vertical flip angle α", when the rearview mirror is in the target position relative to the current position according to the angle α, and control the rearview mirror to flip horizontally α' and vertically α", to adjust the rearview mirror position to the target position. Wherein, α is an example of a flip angle.

[0131] The rearview mirror monitoring method provided in the embodiment of the present application can determine whether the actual position of the rearview mirror is consistent with the target position according to the characteristics of the image obtained by the camera device installed at the rearview mirror. When the actual position of the rearview mirror is inconsistent with the target position, the driver is prompted that the rearview mirror position is abnormal, or the position of the rearview mirror is adjusted, or the vehicle is controlled to stop driving or park, etc., so as to reduce the risk of the vehicle being scratched during movement, which helps to protect the personal and property safety of users and improve the driving experience of users.

[0132] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0133] Combined with the above Figures 1 to 7 The rearview mirror monitoring method provided by the embodiment of the present application is described in detail. Figure 8 and Fig. 9 The rearview mirror monitoring device provided by the embodiment of the present application is described in detail. It should be understood that the description of the embodiment of the rearview mirror monitoring device corresponds to the description of the method embodiment, so the contents not described in detail can be referred to the above method embodiment, and will not be repeated here for the sake of brevity.

[0134] Figure 8 4 shows a schematic block diagram of a rearview mirror monitoring device 800 provided in an embodiment of the present application, and the device 800 may include units for executing the method 400. In addition, each unit in the device 800 is for implementing the corresponding process of the embodiment of the method 400.

[0135] Specifically, the device 800 includes an acquisition unit 810 and a processing unit 820. The acquisition unit 810 is used to: acquire an image captured by a first camera device, the image indicating a first body feature of a first side of a vehicle, and the first camera device is disposed at a rearview mirror on the first side of the vehicle; the processing unit 820 is used to: determine an actual position and posture of the rearview mirror according to the first body feature.

[0136] In some implementations, the processing unit 820 is also used to: determine that the posture of the rearview mirror is abnormal when the first body feature does not match the second body feature; wherein the second body feature is a body feature of the first side corresponding to the target posture of the rearview mirror, and the target posture is the posture of the rearview mirror indicated by the vehicle control instruction, or the target posture is the posture of the rearview mirror determined according to one or more of the vehicle's operating status, target parking area, and planned path width.

[0137] In some implementations, the device also includes an adjustment unit and / or a first prompt unit, the adjustment unit is used to: adjust the position of the rearview mirror when the position of the rearview mirror is abnormal; the first prompt unit is used to: when the position of the rearview mirror is abnormal, control the prompt device to prompt that the position of the rearview mirror is abnormal.

[0138] In some implementations, the adjustment unit is used to: when the vehicle is driving toward a first parking space, or when the width of a first planned path of the vehicle is less than or equal to a first width threshold, adjust the rearview mirror posture to a first posture, the width of the first parking space is less than or equal to a second width threshold, and the first planned path is within a first range of the vehicle; or, when the vehicle is driving toward a second parking space, or when the width of a second planned path of the vehicle is greater than the first width threshold, adjust the rearview mirror posture to a second posture, the width of the second parking space is greater than the second width threshold, and the second planned path is within a second range of the vehicle; wherein the outer contour width of the vehicle corresponding to the first posture is smaller than the outer contour width of the vehicle corresponding to the second posture.

[0139] In some implementations, the processing unit 820 is further used to: determine the flip angle of the rearview mirror according to the first vehicle body feature and the second vehicle body feature; and the adjustment unit is used to: adjust the position and posture of the rearview mirror according to the flip angle.

[0140] In some implementations, the first prompting unit is further used to: control the prompting device to prompt that the position and posture of the rearview mirror is about to be adjusted.

[0141] In some implementations, the device also includes a second prompt unit, which is used to: when the posture of the rearview mirror is abnormal and the vehicle is moving toward a third parking space, or when the posture of the rearview mirror is abnormal and the width of the third planned path of the vehicle is less than or equal to a third width threshold, control the prompt device to prompt the rearview mirror to be adjusted to a third posture, the width of the third parking space is less than or equal to a fourth width threshold, and the third planned path is within a third range of the vehicle; or, when the posture of the rearview mirror is abnormal and the vehicle is moving toward a fourth parking space, or when the posture of the rearview mirror is abnormal and the width of the fourth planned path of the vehicle is greater than the third width threshold, control the prompt device to prompt the rearview mirror to be adjusted to a fourth posture, the width of the fourth parking space is greater than the fourth width threshold, and the fourth planned path is within a fourth range of the vehicle; wherein the outer contour width of the vehicle corresponding to the third posture is smaller than the outer contour width of the vehicle corresponding to the fourth posture.

[0142] Exemplarily, the first prompting unit and the second prompting unit may be the same unit.

[0143] In some implementations, the processing unit 820 is further used to control the vehicle to stop driving or park when the posture of the rearview mirror is abnormal.

[0144] In some implementations, the first vehicle body feature indicates any of the following: a proportion and / or position of the vehicle body image of the first side in the image; or a position and / or shape of a portion or all of a vehicle body image contour line of the first side.

[0145] In some implementations, the first vehicle body feature is associated with an extrinsic parameter of the first camera device.

[0146] Exemplarily, the acquisition unit 810 and the processing unit 820 may be arranged in Figure 2 In the system shown in FIG. 8 , more specifically, the acquisition unit 810 and the processing unit 820 can be arranged in the state judgment module 240. In addition, the adjustment unit, the first prompt unit, and the second prompt unit can also be arranged in Figure 2 In the system shown in FIG. 1 , for example, the adjustment unit may be provided in the rearview mirror control module 210, and the first prompt unit and the second prompt unit may be provided in the prompt device or the prompt module. For example, the operations performed by the above-mentioned units may be performed by one processor, or may be performed by different processors. In the specific implementation process, the above-mentioned one or more processors may be provided in Figure 1 The processor in the intelligent driving device 100 shown in the figure; or, the above-mentioned device 800 can be a chip set in the intelligent driving device 100.

[0147] In the specific implementation process, the various units in the above device can be fully or partially integrated together, or can also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0148] Fig. 9 This is another schematic block diagram of the rearview mirror monitoring device provided in an embodiment of the present application. Fig. 9 The rearview mirror monitoring device 900 shown may include: a processor 910, a transceiver 920, and a memory 930. The processor 910, the transceiver 920, and the memory 930 are connected via an internal connection path, the memory 930 is used to store instructions, and the processor 910 is used to execute the instructions stored in the memory 930 to implement the methods in the above embodiments. Optionally, the memory 930 may be coupled to the processor 910 via an interface, or may be integrated with the processor 910.

[0149] It should be noted that the transceiver 920 may include but is not limited to a transceiver device such as an input / output interface to achieve communication between the device 900 and other devices or a communication network.

[0150] The memory 930 may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM may be used as an external cache. As an example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous connection dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

[0151] The transceiver 920 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 910 and other devices or a communication network to receive / send data / information used to implement the methods in the above embodiments.

[0152] The embodiment of the present application further provides a computing platform, which includes the rearview mirror monitoring device 800 or the rearview mirror monitoring device 900 in the above embodiment.

[0153] An embodiment of the present application also provides an intelligent driving device, which includes the computing platform in the above embodiment; or, the intelligent driving device includes the rearview mirror monitoring device 800 or the rearview mirror monitoring device 900 in the above embodiment.

[0154] An embodiment of the present application further provides a computer program product, which includes a computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0155] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0156] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0157] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0158] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that three relationships can exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following items" 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 mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0159] The prefixes such as "first" and "second" used in the embodiments of the present application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers used to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0160] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0161] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0162] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0163] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0164] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A rearview mirror monitoring method, characterized in that: include: Acquire an image captured by a first camera device, the image indicating a first body feature of a first side of the vehicle, the first camera device being disposed at a rearview mirror on the first side; The actual position and posture of the rearview mirror is determined according to the first vehicle body feature.

2. The method according to claim 1, characterized in that The method further comprises: When the first body feature does not match the second body feature, it is determined that the posture of the rearview mirror is abnormal; wherein the second body feature is the body feature of the first side corresponding to the target posture of the rearview mirror, and the target posture is the posture of the rearview mirror indicated by a vehicle control instruction, or the target posture is the posture of the rearview mirror determined according to one or more of the operating state of the vehicle, the target parking area, and the planned path width.

3. The method according to claim 2, characterized in that The method further comprises: When the position and posture of the rearview mirror is abnormal, the position and posture of the rearview mirror is adjusted, and / or a prompting device is controlled to prompt that the position and posture of the rearview mirror is abnormal.

4. The method according to claim 3, characterized in that The adjusting the posture of the rearview mirror comprises: When the vehicle is traveling toward a first parking space, or when the width of a first planned path of the vehicle is less than or equal to a first width threshold, adjusting the rearview mirror posture to a first posture, the width of the first parking space is less than or equal to a second width threshold, and the first planned path is within a first range of the vehicle; or, When the vehicle is traveling toward a second parking space, or when the width of a second planned path of the vehicle is greater than the first width threshold, adjusting the rearview mirror posture to a second posture, the width of the second parking space is greater than the second width threshold, and the second planned path is within a second range of the vehicle; Among them, the outer width of the vehicle corresponding to the first posture is smaller than the outer width of the vehicle corresponding to the second posture.

5. The method according to claim 3, characterized in that The method further comprises: determining a flip angle of the rearview mirror according to the first vehicle body feature and the second vehicle body feature; The adjusting the posture of the rearview mirror comprises: The position and posture of the rearview mirror is adjusted according to the flip angle.

6. The method according to any one of claims 3 to 5, characterized in that The method further comprises: The control prompting device prompts that the position and posture of the rearview mirror is about to be adjusted.

7. The method according to claim 2 or 3, characterized in that: When the posture of the rearview mirror is abnormal, the method further includes: When the vehicle is traveling toward a third parking space, or when the width of the third planned path of the vehicle is less than or equal to a third width threshold, the control prompt device prompts the rearview mirror to be adjusted to a third posture, the width of the third parking space is less than or equal to a fourth width threshold, and the third planned path is within a third range of the vehicle; or When the vehicle is traveling toward a fourth parking space, or when the width of a fourth planned path of the vehicle is greater than the third width threshold, the control prompt device prompts the rearview mirror to be adjusted to a fourth posture, the width of the fourth parking space is greater than the fourth width threshold, and the fourth planned path is within a fourth range of the vehicle; Among them, the outer width of the vehicle corresponding to the third posture is smaller than the outer width of the vehicle corresponding to the fourth posture.

8. The method according to any one of claims 2 to 7, characterized in that The method further comprises: When the position and posture of the rearview mirror is abnormal, the vehicle is controlled to stop driving or park.

9. The method according to any one of claims 1 to 8, characterized in that The first vehicle body feature indicates any one of the following: a proportion and / or position of the vehicle body image of the first side in the image; or a position and / or shape of a contour line of part or all of the vehicle body image of the first side.

10. The method according to any one of claims 1 to 9, characterized in that The first vehicle body feature is associated with an external parameter of the first camera device.

11. A rearview mirror monitoring device, characterized in that: include: an acquisition unit, configured to acquire an image captured by a first camera device, the image indicating a first body feature of a first side of the vehicle, the first camera device being disposed at a rearview mirror on the first side; A processing unit is used to determine the actual position and posture of the rearview mirror according to the first vehicle body feature.

12. The device according to claim 11, characterized in that The processing unit is also used for: When the first body feature does not match the second body feature, it is determined that the posture of the rearview mirror is abnormal; wherein the second body feature is the body feature of the first side corresponding to the target posture of the rearview mirror, and the target posture is the posture of the rearview mirror indicated by a vehicle control instruction, or the target posture is the posture of the rearview mirror determined according to one or more of the operating state of the vehicle, the target parking area, and the planned path width.

13. The device according to claim 12, characterized in that The device also includes an adjustment unit and / or a first prompting unit, wherein the adjustment unit is used to adjust the position of the rearview mirror when the position of the rearview mirror is abnormal; and the first prompting unit is used to control a prompting device to prompt that the position of the rearview mirror is abnormal when the position of the rearview mirror is abnormal.

14. The device according to claim 13, characterized in that The regulating unit is used for: When the vehicle is traveling toward a first parking space, or when a width of a first planned path of the vehicle is less than or equal to a first width threshold, adjusting the rearview mirror posture to a first posture, the width of the first parking space is less than or equal to a second width threshold, and the first planned path is within a first range of the vehicle; or, When the vehicle is traveling toward a second parking space, or when the width of a second planned path of the vehicle is greater than the first width threshold, adjusting the rearview mirror posture to a second posture, the width of the second parking space is greater than the second width threshold, and the second planned path is within a second range of the vehicle; Among them, the outer width of the vehicle corresponding to the first posture is smaller than the outer width of the vehicle corresponding to the second posture.

15. The device according to claim 13, characterized in that The processing unit is also used for: determining a flip angle of the rearview mirror according to the first vehicle body feature and the second vehicle body feature; The regulating unit is used for: The position and posture of the rearview mirror is adjusted according to the flip angle.

16. The device according to any one of claims 13 to 15, characterized in that The first prompting unit is also used for: The control prompting device prompts that the position and posture of the rearview mirror is about to be adjusted.

17. The device according to claim 12 or 13, characterized in that The device further includes a second prompting unit, which is used to: when the posture of the rearview mirror is abnormal and the vehicle is traveling toward a third parking space, or when the posture of the rearview mirror is abnormal and the width of the third planned path of the vehicle is less than or equal to a third width threshold, control the prompting device to prompt that the rearview mirror be adjusted to a third posture, the width of the third parking space is less than or equal to a fourth width threshold, and the third planned path is within a third range of the vehicle; or, When the posture of the rearview mirror is abnormal and the vehicle is traveling toward a fourth parking space, or when the posture of the rearview mirror is abnormal and the width of a fourth planned path of the vehicle is greater than the third width threshold, the control prompt device prompts to adjust the rearview mirror to a fourth posture, the width of the fourth parking space is greater than the fourth width threshold, and the fourth planned path is within a fourth range of the vehicle; Among them, the outer width of the vehicle corresponding to the third posture is smaller than the outer width of the vehicle corresponding to the fourth posture.

18. The device according to any one of claims 12 to 17, characterized in that The processing unit is also used for: When the position and posture of the rearview mirror is abnormal, the vehicle is controlled to stop driving or park.

19. The device according to any one of claims 11 to 18, characterized in that The first vehicle body feature indicates any one of the following: a proportion and / or position of the vehicle body image of the first side in the image; or a position and / or shape of a contour line of part or all of the vehicle body image of the first side.

20. The device according to any one of claims 11 to 19, characterized in that The first vehicle body feature is associated with an external parameter of the first camera device.

21. A rearview mirror monitoring device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 10.

22. A rearview mirror monitoring system, characterized in that: The device comprises the device as claimed in any one of claims 11 to 21 and the first camera device.

23. An intelligent driving device, characterized in that: The intelligent driving device comprises the apparatus as described in any one of claims 11 to 21, or the system as described in claim 22.

24. A computer-readable storage medium, characterized in that: Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 10.

25. A chip, characterized in that: The chip comprises a circuit for executing the method according to any one of claims 1 to 10.

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