Method and system for automatically adjusting rearview mirror in vehicle and vehicle

Abstract

The invention provides an automatic adjustment method and system for an inside rear-view mirror and a vehicle, and the method comprises the steps: (1) determining first position information of eyes of a driver and second position information of the center of the inside rear-view mirror, and determining a sight incident ray of the inside rear-view mirror based on the first position information and the second position information; and (2) sight reflection rays of the sight incident rays are generated, whether the sight reflection rays pass through a preset calibration point or not is detected, if the detection result is negative, the inner rearview mirror continues to be rotated, the step (1) is returned, if the detection result is positive, rotation of the inner rearview mirror is stopped, and the calibration point is arranged at the center of the visual field area expected by the user. The inside rear-view mirror is adaptively adjusted according to the calibration point set by the user, so that a driver can conveniently observe the activity of the designated area in the vehicle, manual adjustment by the driver is not needed, the user experience is greatly improved, and meanwhile, the safety in the vehicle driving process is also improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic adjustment of interior rearview mirrors, and provides an automatic adjustment method and system for an interior rearview mirror of a vehicle, and a vehicle. Background Art

[0002] With the development of automobile technology, cars have been increasingly used in people's travel, and cars have become an indispensable means of transportation for people's travel. In recent years, automobile development has paid more and more attention to technology, intelligence and perfect user experience, and more and more people are willing to pay for various additional innovative car functions.

[0003] The driver can not only observe the environment behind the vehicle through the rearview mirror to improve driving safety, but also observe the passengers in the back seat and the vehicle environment. However, the field of view of the rearview mirror is affected by factors such as position, size, rear window angle and area, and it often needs to be adjusted.

[0004] Currently, the rearview mirror is mostly adjusted manually. During driving, manually adjusting the rearview mirror not only poses a safety risk, but also greatly reduces the user experience. Summary of the invention

[0005] In view of this, the present application provides a method for automatically adjusting an interior rearview mirror, aiming to improve the above-mentioned problem.

[0006] Specifically, the following technical solutions are included:

[0007] On the one hand, an embodiment of the present application provides a method for automatically adjusting a rearview mirror inside a vehicle, the method specifically comprising the following steps:

[0008] (1) determining first position information of the driver's eyes and second position information of the center of the interior rearview mirror, and determining a sight line incident line of the interior rearview mirror based on the first position information and the second position information;

[0009] (2) generating a sight line reflection line of the sight line incident line, detecting whether the sight line reflection line passes through a preset calibration point, if the detection result is no, continuing to rotate the rearview mirror and returning to step (1), if the detection result is yes, stopping the rotation of the rearview mirror;

[0010] The calibration point is set at the center of the user's expected field of view.

[0011] In some embodiments of the present invention, the method for detecting whether the line of sight reflection line passes through the calibration point is as follows:

[0012] Determine the third position information of the calibration point, detect whether the calibration point is located on the straight line where the line of sight reflection line is located, and if so, determine whether the line of sight reflection line passes through the calibration point.

[0013] In some embodiments of the present invention, the method for detecting whether the line of sight reflection line passes through the calibration point is as follows:

[0014] Determine the third position information of the calibration point, generate an expected sight reflection line emitted from the center of the rearview mirror and passing through the calibration point, detect whether the sight reflection line corresponding to the current sight incident line coincides with the expected sight reflection line, and if the two coincide, determine whether the sight reflection line passes through the calibration point.

[0015] In some embodiments of the present invention, the third location information determination method is specifically as follows:

[0016] A signal transmitter is arranged at the location of the calibration point, and at least two signal receivers are arranged in the vehicle end for receiving the signal transmitted by the signal transmitter, and the fourth position information of the main signal receiver is calibrated, and the main signal receiver is one of the signal receivers;

[0017] The signal transmitter transmits a signal outward, determines the relative position of the signal transmitter and the main signal receiver based on the signal strength of the signal received by each signal receiver, and determines the third position information of the calibration point based on the fourth position information.

[0018] In some embodiments of the present invention, the first position information includes position information of at least one pupil center of the driver.

[0019] In some embodiments of the present invention, when the first position information includes the position information of the driver's two pupil centers, two line of sight incident rays and line of sight reflection lines of the two line of sight incident rays are generated based on the position information of the two pupil centers, and when the calibration point is located on one of the line of sight reflection lines, it is determined whether the line of sight reflection line passes through the calibration point.

[0020] In some embodiments of the present invention, the process of determining the first location information is specifically as follows:

[0021] Acquire a facial image of the driver, determine the position of the eyes in the image coordinate system where the facial image is located based on the facial image, transform the image coordinates of the driver's pupil center in the image coordinate system to the camera coordinate system, and transform the coordinates of the driver's pupil center in the camera coordinate system to the interior rearview mirror coordinate system in a transformation posture between the camera coordinate system and the interior rearview mirror coordinates obtained by pre-calibration to obtain first position information.

[0022] On the other hand, an embodiment of the present application provides an automatic adjustment system for a rearview mirror inside a vehicle, the system comprising:

[0023] A camera for capturing a facial image of the driver, and a first processor connected to the camera;

[0024] A signal transmitter disposed at a position corresponding to the calibration point, at least two signal receivers fixed around the interior rearview mirror, and a second processor connected to the signal transmitter and the signal receiver;

[0025] and a rotating mechanism for controlling the rotation of the interior rearview mirror, a controller communicatively connected to the rotating mechanism, and the controller communicatively connected to the first processor and the second processor;

[0026] After triggering the automatic adjustment function of the interior rearview mirror, the first processor controls the camera to capture the driver's facial image and sends it to the first processor. The first processor determines the first position information based on the received facial image and sends it to the controller; the second processor controls the signal transmitter to transmit a signal outward, the signal receiver determines the strength of the received signal to determine the relative position between the calibration point and the signal transmitter, and then determines the third position information and sends it to the controller; the controller rotates the interior rearview mirror based on the above-mentioned automatic adjustment method of the interior rearview mirror.

[0027] In some embodiments of the present invention, after the interior rearview mirror stops rotating for a set period of time, the automatic adjustment function of the interior rearview mirror is automatically turned off, and the interior rearview mirror is restored to an initial state defined by the vehicle.

[0028] On the other hand, an embodiment of the present application provides a vehicle, on which the above-mentioned automatic adjustment system for an interior rearview mirror is integrated.

[0029] The automatic adjustment method for the interior rearview mirror provided by the present invention adaptively adjusts the interior rearview mirror according to the calibration points set by the user, so that the driver can observe the activities in the designated area of ​​the vehicle without manual adjustment by the driver, which greatly improves the user experience and also improves the safety of the vehicle during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 A flow chart of a method for automatically adjusting a rearview mirror inside a vehicle provided by an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of generating a sight line reflection line provided by an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the rotation of the interior rearview mirror provided by an embodiment of the present invention;

[0034] Figure 4A schematic diagram of the structure of an automatic adjustment system for an interior rearview mirror provided by an embodiment of the present invention;

[0035] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those of ordinary skill in the art.

[0038] Figure 1 This is a flow chart of a method for automatically adjusting a rearview mirror in a vehicle provided by an embodiment of the present invention. The method is specifically as follows:

[0039] (1) determining first position information of the driver's eyes and second position information of the center of the interior rearview mirror, and determining a sight line incident line of the interior rearview mirror based on the first position information and the second position information;

[0040] (2) Generate a sight reflection line of the sight incident line, and detect whether the sight reflection line passes through a preset calibration point. If the detection result is no, continue to rotate the rearview mirror and return to step (1). If the detection result is yes, stop rotating the rearview mirror; wherein the calibration point is set at the center of the user's expected field of view.

[0041] In an embodiment of the present invention, the first position information, the second position information and the third position information of the calibration point are in the same coordinate system. The present invention takes the center point of the interior rearview mirror as the origin, the horizontal direction of the plane where the interior rearview mirror is located as the x-axis, the vertical direction as the y-axis, and the direction perpendicular to the horizontal and vertical directions as the z-axis to establish an interior rearview mirror coordinate system, determine the coordinates of the first position information, the second position information and the third position information in the interior rearview mirror coordinate system, and use coordinates (x1, y1, z1), coordinates (x2, y2, z2) and coordinates (x3, y3, z3) to represent them respectively, determine the line of sight incident line from the point where the first position information of the line of sight is located to the point where the second position information of the line of sight is located, determine the normal of the line of sight incident line, the normal is a straight line perpendicular to the horizontal center of the plane where the interior rearview mirror is located and passes through the point where the second position information of the interior rearview mirror is located, and then obtain the line of sight reflection line corresponding to the line of sight incident line

[0042] In an embodiment of the present invention, a method for adjusting an interior rearview mirror based on a line of sight reflection line includes:

[0043] Determine the third position information of the calibration point, detect whether the calibration point is located on the straight line where the sight reflection line is located, if the calibration point is not located on the straight line where the sight reflection line is located, continue to rotate the interior rearview mirror, if it is detected that the calibration point is located on the straight line where the sight reflection line is located, stop the rotation of the interior rearview mirror.

[0044] Alternatively, determine the third position information of the calibration point, generate an expected line of sight reflection line radiating from the center of the rearview mirror through the calibration point, and detect whether the line of sight reflection line corresponding to the current line of sight incident line coincides with the expected line of sight reflection line. If the two coincide, stop the rotation of the rearview mirror; if the two do not coincide, continue to rotate the rearview mirror.

[0045] Combination Figure 2 The formation process of the line of sight incident line and its corresponding line of sight reflection line is described in detail. Point A1 is the first position point corresponding to the first position information, that is, the center of the driver's pupil. Point A2 is the origin of the inner rearview mirror coordinate system, that is, the center of the mirror surface of the inner rearview mirror. Point A3 is the set calibration point. First, the straight line L2 where points A1 and A2 are located is determined, which is the line of sight incident line. Then, the normal line L4 is determined, and then the line of sight reflection line L3 of the line of sight incident line is generated. Among them, the expected line of sight reflection line is L1. The fitting methods of straight line L1, straight line L2, straight line L3 and straight line L4 are all existing technologies, and the present invention will not repeat them again. The inner rearview mirror rotates in the plane where the x-axis and y-axis are located along the center point of the mirror surface to control Figure 2 After the rearview mirror in the picture is rotated clockwise for a certain angle, the posture of the rearview mirror is as follows: Figure 3 shown.

[0046] In an embodiment of the present invention, the calibration point is mainly used for posture correction of the interior rearview mirror. It is a preset point set by the user, generally set at the center of the driver's desired field of view. The method for determining the third position information corresponding to the calibration point is as follows: a signal transmitter is set at the location of the calibration point, and at least two signal receivers for receiving the signal transmitted by the signal transmitter are set in the vehicle end, and one of the signal receivers is selected as the main signal receiver. The main signal receiver needs to be calibrated before use, and the position information of the main signal receiver in the interior rearview mirror coordinate system is calibrated as the fourth position information; the signal transmitter transmits a signal outward, and the relative position of the signal transmitter and the main signal receiver is determined based on the signal strength of the received signal of each signal receiver, and the third position information of the calibration point is determined based on the fourth position information of the main signal receiver.

[0047] In an embodiment of the present invention, the driver observes the situation inside the vehicle through the rearview mirror. Therefore, the first position point corresponding to the first position information may be the pupil center of one eye of the driver. In order to avoid simplifying the adjustment process of the rearview mirror, the first position information includes the position information of the pupil centers of both eyes in the rearview mirror. The first position information of the left eye is (x1l, y1l, z1l), and the first position information of the right eye is (x1r, y1r, z1r). The line of sight incident ray emitted from the pupil center of the left eye to the point where the second position information is located is called the first line of sight incident ray, and the line of sight incident ray emitted from the pupil center of the right eye to the point where the second position information is located is called the second line of sight incident ray. The first line of sight reflection line corresponding to the first line of sight incident ray and the second line of sight reflection line corresponding to the second line of sight incident ray are determined respectively. In the process of adjusting the rearview mirror, if the calibration point is located on the first line of sight reflection line or the second line of sight reflection line, the rotation of the rearview mirror is stopped, or if the current first line of sight reflection line or the second line of sight reflection line of the rearview mirror coincides with the expected line of sight reflection line, the rotation of the rearview mirror is stopped.

[0048] In the embodiment of the present invention, the first position information is the position of the pupil center of the driver's eye in the inner rearview mirror coordinate system, and the determination process thereof is specifically as follows:

[0049] Acquire a facial image of the driver, determine the position of the eyes in the image coordinate system where the facial image is located based on the facial image, determine the transformation posture (including position and posture) between the camera coordinate system and the image coordinate system based on the intrinsic and extrinsic parameters of the camera, transform the image coordinates of the driver's pupil center in the image coordinate system to the camera coordinate system, and transform the coordinates of the driver's pupil center in the camera coordinate system to the rearview mirror coordinate system in the transformation posture between the camera coordinate system and the rearview mirror coordinates obtained by pre-calibration, so as to obtain the first position information.

[0050] It should be noted that since the driver's facial movements may result in only one pupil center being extracted from the captured facial image, the rearview mirror is adjusted based on the first position information of the pupil center. When the pupil centers of both eyes are extracted from the captured facial image, the rearview mirror is adjusted based on the first sight line incident ray and the second sight line incident ray formed by the pupil centers of the two eyes.

[0051] The automatic adjustment method for the interior rearview mirror provided by the present invention adaptively adjusts the interior rearview mirror according to the calibration points set by the user, so that the driver can observe the activities in the designated area of ​​the vehicle without manual adjustment by the driver, which greatly improves the user experience and also improves the safety of the vehicle during driving.

[0052] Figure 4The structural diagram of the automatic adjustment system of the interior rearview mirror provided by the embodiment of the present invention is shown for the convenience of description, and only the part related to the embodiment of the present invention is shown. The system includes:

[0053] A camera for capturing a facial image of the driver, and a first processor connected to the camera;

[0054] A signal transmitter disposed at a position corresponding to the calibration point, at least two signal receivers fixed around the interior rearview mirror, and a second processor connected to the signal transmitter and the signal receiver;

[0055] and a rotating mechanism for controlling the rotation of the interior rearview mirror, a controller communicatively connected to the rotating mechanism, and the controller communicatively connected to the first processor and the second processor;

[0056] After the automatic adjustment function of the rearview mirror is triggered, the first processor controls the camera to capture the driver's facial image and sends it to the first processor. The first processor determines the first position information based on the received facial image and sends it to the controller; the second processor controls the signal transmitter to transmit a signal outward, and the signal receiver determines the strength of the received signal to determine the relative position between the calibration point and the signal transmitter, and then determines the third position information and sends it to the controller; the controller rotates the rearview mirror based on the above-mentioned automatic adjustment method for the rearview mirror, and stops the rotation of the rearview mirror after detecting that the line of sight of the rearview mirror passes through the calibration point. After the rearview mirror stops rotating for a certain period of time, the automatic adjustment function of the rearview mirror is automatically turned off, and the rearview mirror returns to the initial state defined by the vehicle. The automatic adjustment function of the rearview mirror needs to be manually triggered by the user. Before the automatic adjustment function of the rearview mirror is triggered, the rearview mirror is in the initial state set by the system.

[0057] An embodiment of the present invention also provides a vehicle, which is integrated with the above-mentioned automatic adjustment system for an interior rearview mirror. The driver can activate the automatic adjustment function of the interior rearview mirror according to his own needs. The automatic adjustment system for the interior rearview mirror adaptively adjusts the interior rearview mirror according to the calibration points set by the user, so that the driver can observe activities in a designated area in the vehicle, thereby greatly improving the user's driving experience.

[0058] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the present application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only.

[0059] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for automatically adjusting a rearview mirror inside a vehicle, characterized in that: The method specifically comprises the following steps: (1) determining first position information of the driver's eyes and second position information of the center of the interior rearview mirror, and determining a sight line incident line of the interior rearview mirror based on the first position information and the second position information; (2) Generate a sight reflection line of the sight incident line, and detect whether the sight reflection line passes through a preset calibration point. If the detection result is no, continue to rotate the rearview mirror and return to step (1). If the detection result is yes, stop rotating the rearview mirror, wherein the calibration point is set at the center of the user's expected field of view.

2. The method for automatically adjusting the interior rearview mirror of a vehicle as claimed in claim 1, characterized in that: The specific method for detecting whether the line of sight reflection line passes through the calibration point is as follows: Determine the third position information of the calibration point, detect whether the calibration point is located on the straight line where the line of sight reflection line is located, and if so, determine whether the line of sight reflection line passes through the calibration point.

3. The method for automatically adjusting the interior rearview mirror of a vehicle as claimed in claim 1, characterized in that: The specific method for detecting whether the line of sight reflection line passes through the calibration point is as follows: Determine the third position information of the calibration point, generate an expected sight reflection line emitted from the center of the rearview mirror and passing through the calibration point, detect whether the sight reflection line corresponding to the current sight incident line coincides with the expected sight reflection line, and if the two coincide, determine whether the sight reflection line passes through the calibration point.

4. The method for automatically adjusting the interior rearview mirror of a vehicle as claimed in claim 2 or 3, characterized in that: The third location information determination method is specifically as follows: A signal transmitter is arranged at the location of the calibration point, and at least two signal receivers are arranged in the vehicle end for receiving the signal transmitted by the signal transmitter, and the fourth position information of the main signal receiver is calibrated, and the main signal receiver is one of the signal receivers; The signal transmitter transmits a signal outward, determines the relative position of the signal transmitter and the main signal receiver based on the signal strength of the signal received by each signal receiver, and determines the third position information of the calibration point based on the fourth position information.

5. The method for automatically adjusting the interior rearview mirror of a vehicle as claimed in claim 1, characterized in that: The first position information includes position information of at least one pupil center of the driver.

6. The method for automatically adjusting the interior rearview mirror of a vehicle as claimed in claim 5, characterized in that: When the first position information includes the position information of the driver's two pupil centers, two sight line incident rays and sight line reflection lines of the two sight line incident rays are generated based on the position information of the two pupil centers. When the calibration point is located on one of the sight line reflection lines, it is determined whether the sight line reflection line passes through the calibration point.

7. The method for automatically adjusting the interior rearview mirror of a vehicle as claimed in claim 5 or 6, characterized in that: The specific process of determining the first location information is as follows: Acquire a facial image of the driver, determine the position of the eyes in the image coordinate system where the facial image is located based on the facial image, transform the image coordinates of the driver's pupil center in the image coordinate system to the camera coordinate system, and transform the coordinates of the driver's pupil center in the camera coordinate system to the interior rearview mirror coordinate system in a transformation posture between the camera coordinate system and the interior rearview mirror coordinates obtained by pre-calibration to obtain first position information.

8. An automatic adjustment system for a rearview mirror inside a vehicle, characterized in that: The system comprises: A camera for capturing a facial image of the driver, and a first processor connected to the camera; A signal transmitter disposed at a position corresponding to the calibration point, at least two signal receivers fixed around the interior rearview mirror, and a second processor connected to the signal transmitter and the signal receiver; and a rotating mechanism for controlling the rotation of the interior rearview mirror, a controller communicatively connected to the rotating mechanism, and the controller communicatively connected to the first processor and the second processor; After triggering the automatic adjustment function of the interior rearview mirror, the first processor controls the camera to capture the driver's facial image and sends it to the first processor. The first processor determines first position information based on the received facial image and sends it to the controller; the second processor controls the signal transmitter to transmit a signal outward, and the signal receiver determines the strength of the received signal to determine the relative position between the calibration point and the signal transmitter, and then determines the third position information and sends it to the controller; the controller rotates the interior rearview mirror based on the automatic adjustment method for the interior rearview mirror as described in any one of claims 1 to 7.

9. The automatic adjustment system for the interior rearview mirror of a vehicle as claimed in claim 8, characterized in that: After the interior rearview mirror stops rotating for a set period of time, the automatic adjustment function of the interior rearview mirror is automatically turned off and the interior rearview mirror returns to the initial state defined by the vehicle.

10. A vehicle, characterized in that: The vehicle is integrated with the automatic adjustment system for the interior rearview mirror as claimed in claim 8 or 9.

Images