Intelligent integrated optimization method of electronic rearview mirror for backing-up assistance

Abstract

The invention discloses an electronic rearview mirror intelligent integrated optimization method for backing-up assistance. The method comprises the steps that a to-be-detected vehicle is positioned to obtain real-time vehicle position information, obstacles around the to-be-detected vehicle are detected to obtain surrounding obstacle information, and a backing-up assistance marking graph is drawn according to the real-time vehicle position information and the surrounding obstacle information; classifying obstacles around the to-be-detected vehicle to obtain obstacle classification information, and obtaining predicted reversing path information of the to-be-detected vehicle according to the reversing obstacle marking graph, the real-time vehicle position information and the surrounding obstacle information; detecting the road condition of the predicted reversing path information to obtain reversing road condition parameter information, detecting the physical condition of a member on the to-be-detected vehicle to obtain member basic body parameter information, and judging the gentle reversing demand of the to-be-detected vehicle according to the reversing road condition parameter information and the member basic body parameter information to obtain a reversing gentle demand coefficient W; the electronic rearview mirror has the effect of improving the vehicle reversing efficiency of the electronic rearview mirror for reversing assistance.

Description

Technical Field

[0001] The present application relates to the technical field of electronic rearview mirrors, and in particular to an intelligent integrated optimization method for electronic rearview mirrors used for reversing assistance. Background Art

[0002] At present, traditional vehicle rearview mirrors rely on mirror reflection, so that the driver can clearly identify the vehicle behind the car to be tested. However, during the use of traditional rearview mirrors, there are many blind spots, and it is difficult to detect obstacles in the blind spots, which are prone to scratches. With the development of science and technology, the emergence of electronic rearview mirrors has provided great convenience for people's daily lives. Electronic rearview mirrors are indirect vision devices that obtain a specified field of view through a system composed of cameras and monitors. They include high-definition cameras, digital visual processing systems, safety systems, liquid crystal displays and other electronic equipment. They are a new type of rearview mirror that can replace traditional optical rearview mirrors.

[0003] The existing optimization method of electronic rearview mirrors for reversing assistance refers to the use of high-definition resolution cameras and wide-angle lenses to capture a wider and clearer field of view, obtain reversing field of view images, identify obstacles in the reversing field of view images, and when the distance to the obstacle is too close, issue a voice alarm to let the driver know the dangerous situation of reversing so that adjustments can be made. However, the existing optimization method of electronic rearview mirrors for reversing assistance does not take into account the driving experience of the driver and the riding experience of the vehicle occupants. The vehicle reversing efficiency of the vehicle rearview mirror used for reversing assistance is low and there is room for improvement. Summary of the invention

[0004] In order to improve the vehicle reversing efficiency of a vehicle rearview mirror used for reversing assistance, the present application provides an intelligent integrated optimization method for an electronic rearview mirror used for reversing assistance.

[0005] In the first aspect, the present application provides an intelligent integrated optimization method for an electronic rearview mirror for reverse assist, which adopts the following technical solutions: An intelligent integrated optimization method for an electronic rearview mirror for backing assistance, comprising: The vehicle to be tested is positioned to obtain real-time vehicle position information, obstacles around the vehicle to be tested are detected in real time based on the electronic rearview mirror to obtain surrounding obstacle information, and a reversing auxiliary marking map is drawn according to the real-time vehicle position information and surrounding obstacle information; Obstacle classification information is obtained by classifying obstacles around the vehicle to be tested according to the surrounding obstacle information, and a reverse path is planned according to the reverse obstacle marking map, the real-time vehicle position information and the surrounding obstacle information to obtain predicted reverse path information of the vehicle to be tested; Predicting the road condition of the reversing path information based on the electronic rearview mirror to obtain reversing road condition parameter information, detecting the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, judging the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members to obtain the reversing smooth demand coefficient W, and determining the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain the maximum reversing speed information; According to the predicted reversing path information of the vehicle to be tested, the road conditions contacted by each tire of the vehicle to be tested are detected to obtain tire road condition parameter information of each tire, and based on the tire road condition parameter information of each tire, the additional braking force applied to each tire when the vehicle to be tested brakes during the reversing process is determined to obtain tire auxiliary braking force information ORM of each tire; Reverse according to the predicted reversing path information of the vehicle to be tested. When the vehicle to be tested deviates from the reversing path when reversing, a reversing path alarm signal is output. When braking, the tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested. The speed of the vehicle to be tested during the reversing process is detected to obtain real-time reversing speed information. If the real-time reversing speed is greater than or equal to the maximum reversing speed information, a reversing speed alarm signal is output. When the reversing path alarm signal or the reversing speed alarm signal is received, a voice broadcast operation is performed.

[0006] Preferably, the position of the vehicle to be tested is located in real time to obtain real-time vehicle position information, and the real-time vehicle position information is cached; Acquire an electronic rearview mirror and establish a signal connection link between the electronic rearview mirror and the vehicle to be tested, wherein the electronic rearview mirror includes a camera unit and a distance measuring unit; Obstacles around the vehicle to be tested are photographed by the camera unit to obtain image information around the vehicle, and whether there are obstacles around the vehicle to be tested is determined based on the image information around the vehicle, and if there are obstacles, an obstacle existence result is output; After receiving the obstacle existence result, the obstacles around the vehicle to be tested are screened based on the image information taken around the vehicle to obtain the surrounding obstacle information; Based on the distance measuring unit and the surrounding obstacle information, the distance between the obstacles around the vehicle to be tested and the vehicle to be tested is detected in real time to obtain real-time obstacle distance information; Based on the real-time obstacle distance information and the real-time vehicle position information, the real-time position of each obstacle around the vehicle to be tested is determined to obtain the real-time obstacle position information of each obstacle; Based on the image information taken around the vehicle, determine whether there is a marking line around the vehicle to be tested. If there is a marking line, obtain the relative position between the vehicle to be tested and the marking line according to the image information taken around the vehicle, and determine the position of the marking line around the vehicle to be tested to obtain the marking line position information; Draw a reversing auxiliary sign based on real-time vehicle position information, real-time obstacle position information and marking line position information; The reversing assistance sign is displayed in real time on the display screen of the vehicle to be tested.

[0007] Preferably, according to the surrounding obstacle information and the real-time obstacle position information, the mobility of each obstacle around the vehicle to be tested is determined to obtain the obstacle mobility performance information; Classifying obstacles around the vehicle to be tested according to the obstacle movement performance information to obtain obstacle classification information, wherein the obstacle classification information includes mobile obstacles and fixed obstacles; Detect obstacle-related parameter information of obstacles around the vehicle to be tested based on the obstacle classification result. If the obstacle is a mobile obstacle, obtain mobile obstacle parameter information, the mobile obstacle parameter information includes mobile obstacle position information, obstacle movement speed information and obstacle movement direction information. If the obstacle is a fixed obstacle, obtain fixed obstacle parameter information, the fixed obstacle parameter information includes fixed obstacle position information and fixed obstacle scale information. The mobile obstacle parameter information and the fixed obstacle parameter information are combined to form obstacle-related parameter information; According to the image information taken around the vehicle, the open area around the vehicle to be tested is obtained to obtain the open area information around the vehicle; Based on the position information of the marking lines in the reversing auxiliary marking map and the information of the open area around the vehicle, the open area around the vehicle to be tested is preliminarily screened to obtain the first divided reversing available area; According to the fixed obstacle position information and the fixed obstacle scale information in the fixed obstacle parameter information, the first divided reversing available area of ​​the vehicle to be tested is screened again to obtain a second divided reversing available area; According to the moving obstacle position information, obstacle moving speed information and obstacle moving direction information in the moving obstacle parameter information, it is determined whether the moving trajectory of the moving obstacle within the set reversing time passes through the second divided reversing available area, if so, the second divided reversing available area is screened again to obtain the vehicle reversing available area, if not, the second divided reversing available area is the vehicle reversing available area; Based on the available area for vehicle reversing and the real-time vehicle position information, the reversing path of the vehicle to be tested is planned to obtain the predicted reversing path information of the vehicle to be tested.

[0008] Preferably, based on the predicted reversing path information of the vehicle to be tested and the image information taken around the vehicle, the road condition of the predicted reversing path information of the vehicle to be tested is detected in real time to obtain reversing road condition parameter information, wherein the reversing road condition parameter information includes terrain flatness information and road surface slipperiness information; According to the terrain flatness information, the influence of the terrain flatness on the smooth reversing requirement when the vehicle to be tested performs a reversing operation based on the predicted reversing path information is determined to obtain a terrain flatness requirement influence coefficient AR; According to the road slipperiness information, the influence of the road slipperiness on the smooth reversing requirement when the vehicle to be tested performs a reversing operation based on the predicted reversing path information is determined to obtain a road slipperiness requirement influence coefficient AH; Based on the demand impact coefficient AR for flat terrain and the demand impact coefficient AH for slippery road conditions, the demand impact function for smooth road conditions is Calculation is performed to determine the impact of road conditions on the smooth reversing demand when the vehicle under test performs a reversing operation based on the predicted reversing path information, and the road condition smooth demand impact coefficient AHK is obtained, where a1 and a2 are proportional factors and are both greater than 0.

[0009] Preferably, basic physical parameter information of each member on the vehicle to be tested is obtained, wherein the basic physical parameter information of each member includes information on illness of the member and information on motion sickness of the member; According to the member's illness information, if there is an illness in the vehicle, the illness severity of the sick member is obtained to obtain the member illness severity information of each sick member. If there are multiple sick members, the maximum value of the member illness severity information of each sick member is taken to obtain the member illness severity parameter information. If there is only one sick member, the member illness severity information of the sick member is the member illness severity parameter information. According to the member illness severity parameter information, the influence of the sick member on the vehicle to be tested on the demand for the smooth reversing of the vehicle to be tested is judged to obtain the sick member demand influence coefficient BH. If there is an illness in the vehicle, the sick member demand influence coefficient BH is 0. According to the member motion sickness information, if there is motion sickness in the vehicle, the motion sickness severity of the member is obtained to obtain the member motion sickness degree information of each member; if there are multiple members who are motion sick, the maximum value of the member motion sickness degree information of each member is taken to obtain the member motion sickness severity parameter information; if there is only one member who is motion sick, the member motion sickness degree information of the member is the member motion sickness severity parameter information; according to the member motion sickness severity parameter information, the influence of the members who are motion sick on the demand for the smooth reversing of the vehicle to be tested is judged to obtain the motion sickness member demand influence coefficient BY; if there is motion sickness in the vehicle, the motion sickness member demand influence coefficient BY is 0; Based on the demand impact coefficient BH of sick members and the demand impact coefficient BY of motion sick members, based on the member smooth demand impact function Calculation is performed to determine the influence of the vehicle occupants' demand for smooth reversing when the vehicle under test performs a reversing operation based on the predicted reversing path information, and the member smooth reversing demand influence coefficient BYR is obtained, where b1 and b2 are proportional factors and are both greater than 0.

[0010] Preferably, according to the road condition smooth demand influence coefficient AHK and the member smooth demand influence coefficient BYR, based on the smooth demand relationship function Calculate and determine the degree of demand for smooth reversing of the vehicle under test based on the predicted reversing path information during the reversing process, and obtain the reversing smooth demand coefficient W, where: , is the proportional factor and is greater than 0; The maximum reversing speed information is obtained by determining the maximum reversing speed of the vehicle to be tested when reversing based on the predicted reversing path information according to the reversing smoothness demand coefficient W.

[0011] Preferably, based on the predicted reversing path information of the vehicle to be tested, the road condition of each tire of the vehicle to be tested is detected in real time to obtain tire road condition parameter information of each tire, and the tire road condition parameter information of each tire includes tire terrain flatness information of each tire, tire road surface slippery information of each tire, and tire contact road surface material information of each tire; According to the tire terrain flatness information of each tire, determine the influence of the flatness of the terrain where the tires are located on the braking performance of each tire of the vehicle under test when the vehicle under test performs a braking operation during reversing, and obtain the terrain flatness braking influence coefficient CT; According to the tire-road slippery information of each tire, the influence of the slippery degree of the road surface on which the tire is located on the braking performance of each tire of the vehicle under test is determined when the vehicle under test performs a braking operation during the reversing process, and the slippery road braking influence coefficient CH is obtained; According to the tire contact road material information of each tire, the friction performance of the road material that the tire contacts when the vehicle to be tested brakes during the reversing process is determined to obtain the tire-road friction coefficient of each tire; According to the tire-road friction coefficient of each tire, the influence of the friction of the road surface contacted by the tire on the braking performance of each tire of the vehicle under test is determined when the vehicle under test is braking during the reversing process, and the road friction braking influence coefficient CM is obtained; Based on the braking influence coefficient CT of flat terrain, the braking influence coefficient CH of wet road surface and the braking influence coefficient CM of road friction, the tire braking relationship function Calculation is performed to determine the additional braking force applied to each tire when the vehicle to be tested performs a braking operation during the reversing process, and tire auxiliary braking force information ORM of each tire is obtained.

[0012] Preferably, a reversing operation is performed on the vehicle to be tested according to the predicted reversing path information of the vehicle to be tested, and a reversing path alarm signal is output when the reversing process of the vehicle to be tested deviates from the reversing path; When the vehicle to be tested brakes during the reversing process, the tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested; The reversing speed of the vehicle to be tested is detected in real time during the reversing process to obtain real-time reversing speed information, and the real-time reversing speed information is compared with the maximum reversing speed information. If the real-time reversing speed is greater than or equal to the maximum reversing speed information, a reversing speed alarm signal is output; Sending a reversing path warning signal and a reversing speed warning signal to a user terminal based on a wireless communication module; When a reversing path warning signal or a reversing speed warning signal is received, a voice broadcast operation is performed in the vehicle to be tested.

[0013] In the second aspect, the present application provides an intelligent integrated optimization system for an electronic rearview mirror for reverse assist, which adopts the following technical solutions: An intelligent integrated optimization system for electronic rearview mirrors for backing assistance, comprising: The obstacle detection module is configured to locate the vehicle to be tested to obtain real-time vehicle position information, detect obstacles around the vehicle to be tested in real time based on the electronic rearview mirror to obtain surrounding obstacle information, and draw a reversing auxiliary marking map according to the real-time vehicle position information and surrounding obstacle information; A reversing path planning module is configured to classify obstacles around the vehicle to be tested according to the surrounding obstacle information to obtain obstacle classification information, and to plan a reversing path according to the reversing obstacle marking map, the real-time vehicle position information and the surrounding obstacle information to obtain predicted reversing path information of the vehicle to be tested; A reversing parameter determination module is configured to obtain reversing road condition parameter information based on the road condition predicted by the electronic rearview mirror for reversing path information, detect the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, determine the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members to obtain a reversing smooth demand coefficient W, and determine the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain maximum reversing speed information; A tire braking analysis module is configured to detect the road conditions contacted by each tire of the vehicle under test according to the predicted reversing path information of the vehicle under test to obtain tire road condition parameter information of each tire, and determine the additional braking force applied to each tire when the vehicle under test brakes during the reversing process based on the tire road condition parameter information of each tire to obtain tire auxiliary braking force information ORM of each tire; The reversing alarm monitoring module is configured to reverse according to the predicted reversing path information of the vehicle to be tested. When the vehicle to be tested deviates from the reversing path when reversing, a reversing path alarm signal is output. When braking, the tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested. The speed of the vehicle to be tested during the reversing process is detected to obtain real-time reversing speed information. If the real-time reversing speed is greater than or equal to the maximum reversing speed information, a reversing speed alarm signal is output. When a reversing path alarm signal or a reversing speed alarm signal is received, a voice broadcast operation is performed.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: 1. The reversing road condition parameter information is obtained by detecting and predicting the road condition of the reversing path information. The influence of the terrain flatness on the smooth reversing demand is determined according to the terrain flatness information in the reversing road condition parameter information, and the terrain flatness demand influence coefficient AR is obtained. The influence of the road slipperiness on the smooth reversing demand is determined according to the road slipperiness information in the reversing road condition parameter information, and the road slipperiness demand influence coefficient AH is obtained. The road condition smoothness demand influence coefficient AHK is obtained according to the terrain flatness demand influence coefficient AR and the road slipperiness demand influence coefficient AH, thereby improving the detection accuracy of the influence of the road condition on the reversing smooth demand of the vehicle to be tested. The influence of the member illness on the smooth reversing demand is determined according to the member illness information of each member on the vehicle to be tested, and the sick member demand influence coefficient BH is obtained. The influence of member motion sickness on the demand for smooth reversing is determined based on the member motion sickness information, and the member motion sickness demand influence coefficient BY is obtained. The member smooth demand influence coefficient BYR is obtained based on the sick member demand influence coefficient BH and the motion sickness member demand influence coefficient BY, thereby improving the detection accuracy of the influence of the members on the tested vehicle on the smooth reversing demand. The reversing smooth demand coefficient W is obtained based on the road condition smooth demand influence coefficient AHK and the member smooth demand influence coefficient BYR, thereby improving the detection accuracy of the demand for smooth reversing of the tested vehicle during the reversing process. The maximum reversing speed information is determined based on the reversing smooth demand coefficient W, thereby improving the detection accuracy of the maximum reversing speed information, improving the comfort of the members on the vehicle during the reversing process, and thereby improving the vehicle reversing efficiency of the electronic rearview mirror used for reversing assistance. 2. Using the terrain flatness information of each tire, determine the influence of the flatness of the terrain on the braking performance of each tire of the vehicle to be tested, and obtain the terrain flatness braking influence coefficient CT. According to the tire road slippery information of each tire, determine the influence of the slippery degree of the road surface on the braking performance of each tire of the vehicle to be tested, and obtain the road slippery braking influence coefficient CH. According to the tire contact road material information of each tire, determine the influence of the friction of the road surface contacted by the tire on the braking performance of each tire of the vehicle to be tested, and obtain the road friction braking influence coefficient CM. Then, according to the terrain flatness braking influence coefficient CT, determine the influence of the slippery degree of the road surface on the braking performance of each tire of the vehicle to be tested, and obtain the road slippery braking influence coefficient CH. , road slippery braking influence coefficient CH and road friction braking influence coefficient CM are used to judge the additional braking force applied to each tire when the vehicle to be tested performs braking operation during reversing, and the tire auxiliary braking force information ORM of each tire is obtained. When the vehicle to be tested performs braking operation during reversing, the additional braking force applied to each tire is analyzed respectively according to the situation of each tire, thereby improving the vehicle smoothness when the vehicle to be tested performs braking operation during reversing, improving the sense of safety of the vehicle occupants, and further improving the vehicle reversing efficiency of the electronic rearview mirror used for reversing assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of an intelligent integrated optimization method of an electronic rearview mirror for reverse assisting in this embodiment; Figure 2 This is a module schematic diagram of an intelligent integrated optimization system for electronic rearview mirrors used for reversing assistance, which is mainly embodied in this embodiment.

[0016] Figure numerals: 1. Obstacle detection module; 2. Reversing path planning module; 3. Reversing parameter determination module; 4. Tire braking analysis module; 5. Reversing alarm monitoring module. DETAILED DESCRIPTION

[0017] The present application is further described in detail below in conjunction with the accompanying drawings.

[0018] The embodiment of the present application discloses an intelligent integrated optimization method for an electronic rearview mirror for reversing assistance.

[0019] An intelligent integrated optimization method for an electronic rearview mirror for backing assistance comprises the following steps: Reference Figure 1 Step S1, locate the vehicle to be tested to obtain real-time vehicle position information, detect obstacles around the vehicle to be tested in real time based on the electronic rearview mirror to obtain surrounding obstacle information, and draw a reversing auxiliary marking map based on the real-time vehicle position information and surrounding obstacle information. Step S1 specifically includes the following sub-steps: Step S11, real-time positioning of the position of the vehicle to be tested is performed to obtain real-time vehicle position information, and the real-time vehicle position information is cached.

[0020] Step S12, obtaining an electronic rearview mirror and establishing a signal connection link between the electronic rearview mirror and the vehicle to be tested, wherein the electronic rearview mirror includes a camera unit and a distance measuring unit.

[0021] Step S13, based on the camera unit, the obstacles around the vehicle to be tested are photographed to obtain the image information around the vehicle, and based on the image information around the vehicle, it is determined whether there are obstacles around the vehicle to be tested, and if there are obstacles, an obstacle existence result is output.

[0022] Step S14, after receiving the obstacle existence result, the obstacles around the vehicle to be tested are screened based on the image information captured around the vehicle to obtain the surrounding obstacle information.

[0023] Step S15: Based on the distance measuring unit and the surrounding obstacle information, the distance between the obstacles around the vehicle to be tested and the vehicle to be tested is detected in real time to obtain real-time obstacle distance information.

[0024] Step S16, based on the real-time obstacle distance information and the real-time vehicle position information, determine the real-time position of each obstacle around the vehicle to be tested to obtain the real-time obstacle position information of each obstacle.

[0025] Step S17, based on the image information taken around the vehicle, determine whether there is a marking line around the vehicle to be tested. If there is a marking line, obtain the relative position between the vehicle to be tested and the marking line according to the image information taken around the vehicle, and determine the position of the marking line around the vehicle to be tested to obtain the marking line position information.

[0026] Step S18, drawing a reversing auxiliary sign map based on the real-time vehicle position information, the real-time obstacle position information and the marking line position information.

[0027] Step S19: displaying the reversing assistance sign in real time on the display screen of the vehicle to be tested.

[0028] Reference Figure 1 , step S2, classifying the obstacles around the vehicle to be tested according to the surrounding obstacle information to obtain obstacle classification information, planning the reversing path according to the reversing obstacle marking map, the real-time vehicle position information and the surrounding obstacle information to obtain the predicted reversing path information of the vehicle to be tested. Step S2 specifically includes the following sub-steps: Step S21, judging the mobility of obstacles around the vehicle to be tested according to the surrounding obstacle information and the real-time obstacle position information to obtain obstacle mobility performance information.

[0029] Step S22: classifying obstacles around the vehicle to be tested according to the obstacle movement performance information to obtain obstacle classification information, where the obstacle classification information includes mobile obstacles and fixed obstacles.

[0030] Step S23, based on the obstacle classification result, obstacle-related parameter information of the obstacles around the vehicle to be tested is detected. If it is a mobile obstacle, the mobile obstacle parameter information is obtained, and the mobile obstacle parameter information includes mobile obstacle position information, obstacle movement speed information, and obstacle movement direction information. If it is a fixed obstacle, the fixed obstacle parameter information is obtained, and the fixed obstacle parameter information includes fixed obstacle position information and fixed obstacle scale information. The mobile obstacle parameter information and the fixed obstacle parameter information are combined to form obstacle-related parameter information.

[0031] Step S24, acquiring the open area around the vehicle to be tested based on the captured image information around the vehicle to obtain the open area information around the vehicle.

[0032] Step S25 , based on the position information of the marking lines in the reversing auxiliary marking image and the information of the open area around the vehicle, a preliminary screening is performed on the open area around the vehicle to be tested to obtain a first divided reversing available area.

[0033] Step S26: According to the fixed obstacle position information and the fixed obstacle scale information in the fixed obstacle parameter information, the first divided reversing available area of ​​the vehicle to be tested is screened again to obtain a second divided reversing available area, that is, the area with fixed obstacles in the first divided reversing available area is screened and deleted to obtain the second divided reversing available area.

[0034] Step S27, based on the moving obstacle position information, obstacle moving speed information and obstacle moving direction information in the moving obstacle parameter information, determine whether the moving trajectory of the moving obstacle within the set reversing time passes through the second divided reversing available area; if so, the second divided reversing available area is screened again to obtain the vehicle reversing available area; if not, the second divided reversing available area is the vehicle reversing available area.

[0035] Step S28, planning the reversing path of the vehicle to be tested based on the available reversing area of ​​the vehicle and the real-time vehicle position information to obtain predicted reversing path information of the vehicle to be tested.

[0036] Reference Figure 1 , step S3, based on the road condition of the electronic rearview mirror to predict the reversing path information, obtain the reversing road condition parameter information, detect the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, determine the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members, and obtain the reversing smooth demand coefficient W, and determine the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain the maximum reversing speed information. Step S3 specifically includes the following sub-steps: Step A1, based on the predicted reversing path information of the vehicle to be tested and the image information captured around the vehicle, the road condition of the predicted reversing path information of the vehicle to be tested is detected in real time to obtain reversing road condition parameter information, the reversing road condition parameter information includes terrain flatness information and road surface slipperiness information.

[0037] Step A2: according to the terrain flatness information, determine the influence of the terrain flatness on the smooth reversing requirement when the vehicle to be tested performs a reversing operation based on the predicted reversing path information to obtain a terrain flatness requirement influence coefficient AR. The higher the terrain flatness information, the smaller the terrain flatness requirement influence coefficient AR.

[0038] Step A3, according to the road slipperiness information, determine the road slipperiness influence on the smooth reversing requirement when the vehicle to be tested performs a reversing operation based on the predicted reversing path information, and obtain a road slipperiness demand influence coefficient AH. The higher the road slipperiness information, the greater the road slipperiness demand influence coefficient AH.

[0039] Step A4: Based on the terrain flatness demand impact coefficient AR and the road slippery demand impact coefficient AH, a smooth road condition demand impact function is generated. Calculation is performed to determine the impact of road conditions on the smooth reversing demand when the vehicle under test performs a reversing operation based on the predicted reversing path information, and the road condition smooth demand impact coefficient AHK is obtained, where a1 and a2 are proportional factors and are both greater than 0.

[0040] Step S3 also includes the following sub-steps: Step B1, obtaining basic physical parameter information of each member on the vehicle to be tested, wherein the basic physical parameter information of each member includes information on illness and motion sickness of the member.

[0041] Step B2, based on the member's illness information, if any member on the vehicle is ill, the illness severity of the sick member is obtained to obtain the member illness severity information of each sick member; if there are multiple sick members, the maximum value of the member illness severity information of each sick member is taken to obtain the member illness severity parameter information; if there is only one sick member, the member illness severity information of the sick member is the member illness severity parameter information; based on the member illness severity parameter information, the influence of the sick member on the vehicle to be tested on the demand for smooth reversing of the vehicle to be tested is judged to obtain the sick member demand influence coefficient BH; if any member on the vehicle is ill, the sick member demand influence coefficient BH is 0.

[0042] Step B3, based on the member motion sickness information, if any member on the vehicle suffers from motion sickness, the motion sickness severity of the member is obtained to obtain the member motion sickness severity information of each member; if there are multiple members suffering from motion sickness, the maximum value of the member motion sickness severity information of each member suffering from motion sickness is taken to obtain the member motion sickness severity parameter information; if there is only one member suffering from motion sickness, the member motion sickness severity information of the member suffering from motion sickness is the member motion sickness severity parameter information; based on the member motion sickness severity parameter information, the influence of the motion sickness member on the vehicle to be tested on the demand for smooth reversing of the vehicle to be tested is judged to obtain the motion sickness member demand influence coefficient BY; if any member on the vehicle suffers from motion sickness, the motion sickness member demand influence coefficient BY is 0.

[0043] Step B4: Based on the member smooth demand impact function, the sick member demand impact coefficient BH and the motion sickness member demand impact coefficient BY are calculated. Calculation is performed to determine the influence of the vehicle occupants' demand for smooth reversing when the vehicle under test performs a reversing operation based on the predicted reversing path information, and the member smooth reversing demand influence coefficient BYR is obtained, where b1 and b2 are proportional factors and are both greater than 0.

[0044] Step S3 also includes the following sub-steps: Step C1: Based on the road condition smooth demand impact coefficient AHK and the member smooth demand impact coefficient BYR, based on the smooth demand relationship function Calculate and determine the degree of demand for smooth reversing of the vehicle under test based on the predicted reversing path information during the reversing process, and obtain the reversing smooth demand coefficient W, where: , are proportional factors and are all greater than 0.

[0045] Step C2, determining the maximum value of the reversing speed of the vehicle to be tested when reversing based on the predicted reversing path information according to the reversing smooth demand coefficient W to obtain the maximum reversing speed information. The larger the reversing smooth demand coefficient W, the smaller the maximum reversing speed.

[0046] In specific applications, the reversing road condition parameter information is obtained by detecting and predicting the road condition of the reversing path information, and the influence of the terrain flatness on the smooth reversing demand is judged according to the terrain flatness information in the reversing road condition parameter information to obtain the terrain flatness demand influence coefficient AR, and the influence of the road slipperiness on the smooth reversing demand is judged according to the road slipperiness information in the reversing road condition parameter information to obtain the road slippery demand influence coefficient AH, and the road smoothness demand influence coefficient AHK is obtained according to the terrain flatness demand influence coefficient AR and the road slippery demand influence coefficient AH, which improves the detection accuracy of the influence of the road condition on the smooth reversing demand of the vehicle to be tested, and the influence of the member illness on the smooth reversing demand is judged according to the member illness information of each member on the vehicle to be tested to obtain the sick member demand influence coefficient BH, and the sick member demand influence coefficient BH is obtained according to the sick member illness information of each member on the vehicle to be tested. The influence of member motion sickness on the demand for smooth reversing is judged based on member motion sickness information, and the motion sickness member demand influence coefficient BY is obtained. The member smooth demand influence coefficient BYR is obtained according to the sick member demand influence coefficient BH and the motion sickness member demand influence coefficient BY, which improves the detection accuracy of the influence of members on the tested vehicle on the smooth reversing demand. The reversing smooth demand coefficient W is obtained according to the road condition smooth demand influence coefficient AHK and the member smooth demand influence coefficient BYR, which improves the detection accuracy of the demand for smooth reversing of the tested vehicle during the reversing process. The maximum reversing speed information is determined according to the reversing smooth demand coefficient W, which improves the detection accuracy of the maximum reversing speed information, improves the comfort of members on the vehicle during the reversing process, and thereby improves the vehicle reversing efficiency of the electronic rearview mirror used for reversing assistance.

[0047] Reference Figure 1 , step S4, according to the predicted reversing path information of the vehicle to be tested, the road conditions of the road surface contacted by each tire of the vehicle to be tested are detected to obtain the tire road condition parameter information of each tire, and based on the tire road condition parameter information of each tire, the additional braking force applied to each tire during the reversing process of the vehicle to be tested is determined to obtain the tire auxiliary braking force information ORM of each tire. Step S4 specifically includes the following sub-steps: Step S41, based on the predicted reversing path information of the vehicle to be tested, the road condition of each tire of the vehicle to be tested is detected in real time to obtain tire road condition parameter information of each tire, and the tire road condition parameter information of each tire includes tire terrain flatness information of each tire, tire road surface slippery information of each tire, and tire contact road surface material information of each tire.

[0048] Step S42, according to the tire terrain flatness information of each tire, determine the influence of the flatness of the terrain where the tire is located on the braking performance of each tire of the vehicle to be tested when the vehicle to be tested performs a braking operation during the reversing process, and obtain a terrain flatness braking influence coefficient CT. The flatter the tire terrain flatness information of the tire, the smaller the terrain flatness braking influence coefficient CT of the tire.

[0049] Step S43, according to the tire-road slippery information of each tire, determine the influence of the slippery degree of the road surface on which the tire is located on the braking performance of each tire of the vehicle to be tested when the vehicle to be tested performs a braking operation during the reversing process, and obtain a slippery road braking influence coefficient CH. The slipperier the tire-road slippery information of the tire, the greater the slippery road braking influence coefficient CH of the tire.

[0050] Step S44, judging the friction performance of the road surface material that the tires contact when the vehicle to be tested brakes during the reversing process according to the tire contact road surface material information of each tire, and obtaining the tire-road surface friction coefficient of each tire.

[0051] Step S45, according to the tire-road friction coefficient of each tire, determine the influence of the friction of the road surface contacted by the tire on the braking performance of each tire of the vehicle under test when the vehicle under test performs a braking operation during the reversing process, and obtain the road surface friction braking influence coefficient CM. The greater the tire-road friction coefficient of each tire, the smaller the road surface friction braking influence coefficient CM of the tire.

[0052] Step S46: according to the braking influence coefficient of flat terrain CT, the braking influence coefficient of wet road surface CH and the braking influence coefficient of road surface friction CM, based on the tire braking relationship function Calculation is performed to determine the additional braking force applied to each tire when the vehicle to be tested performs a braking operation during the reversing process, and tire auxiliary braking force information ORM of each tire is obtained.

[0053] In specific applications, when the road conditions are complicated when the vehicle to be tested is reversing, the terrain flatness of the ground passed by the tires is different, the wetness of the road surface contacted by the tires is different, and the road surface materials contacted by the tires are different. Therefore, when braking during the reversing process, the braking effects of each tire are different, resulting in large differences in the stability of the vehicle to be tested during braking during the reversing process, and the riding experience of the occupants is poor. Therefore, the flatness of the terrain on each tire is judged through the tire terrain flatness information of each tire on the braking performance of each tire of the vehicle to be tested to obtain the flatness braking influence coefficient CT, the wetness of the road surface on the braking performance of each tire of the vehicle to be tested is judged according to the tire road surface slippery information of each tire to obtain the road surface slippery braking influence coefficient CH, and the tire contact information of each tire is used to determine the influence of the wetness of the road surface on the braking performance of each tire of the vehicle to be tested. The influence of the friction of the road surface contacted by the tire on the braking performance of each tire of the vehicle to be tested is judged based on the road surface material information to obtain the road surface friction braking influence coefficient CM, and then the additional braking force applied to each tire when the vehicle to be tested brakes during the reversing process is judged based on the terrain flatness braking influence coefficient CT, the road surface slippery braking influence coefficient CH and the road surface friction braking influence coefficient CM, to obtain the tire auxiliary braking force information ORM of each tire. When the vehicle to be tested brakes during the reversing process, the additional braking force applied to each tire is analyzed according to the situation of each tire, which improves the vehicle smoothness when the vehicle to be tested brakes during the reversing process, improves the riding experience of the vehicle occupants, and thus improves the reversing efficiency of the electronic rearview mirror used for reversing assistance.

[0054] Reference Figure 1 , step S5, reverse according to the predicted reversing path information of the vehicle to be tested, output a reversing path alarm signal when the vehicle to be tested deviates from the reversing path when reversing, apply the tire auxiliary braking force information ORM of each tire to the corresponding tire of the vehicle to be tested during braking, detect the speed of the vehicle to be tested during reversing to obtain real-time reversing speed information, output a reversing speed alarm signal if the real-time reversing speed is greater than or equal to the maximum reversing speed information, and perform a voice broadcast operation after receiving the reversing path alarm signal or the reversing speed alarm signal. Step S5 specifically includes the following sub-steps: Step S51 , performing a reversing operation on the vehicle to be tested according to the predicted reversing path information of the vehicle to be tested, and outputting a reversing path alarm signal when the reversing process of the vehicle to be tested deviates from the reversing path.

[0055] Step S52: When the vehicle to be tested brakes during the reversing process, the tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested.

[0056] Step S53, real-time detection of the reversing speed of the vehicle to be tested during the reversing process is performed to obtain real-time reversing speed information, and the real-time reversing speed information is compared with the maximum reversing speed information. If the real-time reversing speed is greater than or equal to the maximum reversing speed information, a reversing speed alarm signal is output.

[0057] Step S54: sending the reversing path warning signal and the reversing speed warning signal to the user terminal based on the wireless communication module.

[0058] Step S55, when the reversing path warning signal or the reversing speed warning signal is received, a voice broadcast operation is performed in the vehicle to be tested.

[0059] The embodiment of the present application also discloses an intelligent integrated optimization system for an electronic rearview mirror for reversing assistance.

[0060] Reference Figure 2 , an intelligent integrated optimization system for electronic rearview mirrors for reversing assistance, comprising: The obstacle detection module is configured to locate the vehicle to be tested to obtain real-time vehicle position information, detect obstacles around the vehicle to be tested in real time based on the electronic rearview mirror to obtain surrounding obstacle information, and draw a reversing auxiliary marking map based on the real-time vehicle position information and surrounding obstacle information.

[0061] The reversing path planning module is configured to classify obstacles around the vehicle to be tested according to the surrounding obstacle information to obtain obstacle classification information, and plan the reversing path according to the reversing obstacle marking map, real-time vehicle position information and surrounding obstacle information to obtain predicted reversing path information of the vehicle to be tested.

[0062] The reversing parameter determination module is configured to obtain reversing road condition parameter information based on the road condition predicted by the electronic rearview mirror to obtain the reversing path information, detect the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, determine the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members, and obtain the reversing smooth demand coefficient W, and determine the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain the maximum reversing speed information.

[0063] The tire braking analysis module is configured to detect the road conditions contacted by each tire of the vehicle to be tested according to the predicted reversing path information of the vehicle to be tested, obtain tire road condition parameter information of each tire, and determine the additional braking force applied to each tire when the vehicle to be tested brakes during the reversing process based on the tire road condition parameter information of each tire to obtain the tire auxiliary braking force information ORM of each tire.

[0064] The reversing alarm monitoring module is configured to reverse according to the predicted reversing path information of the vehicle to be tested. When the vehicle to be tested deviates from the reversing path when reversing, a reversing path alarm signal is output. When braking, the tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested. The speed of the vehicle to be tested during the reversing process is detected to obtain real-time reversing speed information. If the real-time reversing speed is greater than or equal to the maximum reversing speed information, a reversing speed alarm signal is output. When a reversing path alarm signal or a reversing speed alarm signal is received, a voice broadcast operation is performed.

[0065] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent integrated optimization method for an electronic rearview mirror for reverse assist, characterized in that: The following steps are involved: The vehicle to be tested is positioned to obtain real-time vehicle position information, obstacles around the vehicle to be tested are detected in real time based on the electronic rearview mirror to obtain surrounding obstacle information, and a reversing auxiliary marking map is drawn according to the real-time vehicle position information and surrounding obstacle information; Obstacle classification information is obtained by classifying obstacles around the vehicle to be tested according to the surrounding obstacle information, and a reverse path is planned according to the reverse obstacle marking map, the real-time vehicle position information and the surrounding obstacle information to obtain predicted reverse path information of the vehicle to be tested; Predicting the road condition of the reversing path information based on the electronic rearview mirror to obtain reversing road condition parameter information, detecting the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, judging the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members to obtain the reversing smooth demand coefficient W, and determining the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain the maximum reversing speed information; According to the predicted reversing path information of the vehicle to be tested, the road conditions contacted by each tire of the vehicle to be tested are detected to obtain tire road condition parameter information of each tire, and based on the tire road condition parameter information of each tire, the additional braking force applied to each tire when the vehicle to be tested brakes during the reversing process is determined to obtain tire auxiliary braking force information ORM of each tire; Reverse according to the predicted reversing path information of the vehicle to be tested. When the vehicle to be tested deviates from the reversing path when reversing, a reversing path alarm signal is output. When braking, the tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested. The speed of the vehicle to be tested during the reversing process is detected to obtain real-time reversing speed information. If the real-time reversing speed is greater than or equal to the maximum reversing speed information, a reversing speed alarm signal is output. When the reversing path alarm signal or the reversing speed alarm signal is received, a voice broadcast operation is performed.

2. The intelligent integrated optimization method of an electronic rearview mirror for reverse assist according to claim 1, characterized in that: The steps of locating the vehicle to be tested to obtain real-time vehicle position information, detecting obstacles around the vehicle to be tested in real time based on the electronic rearview mirror to obtain surrounding obstacle information, and drawing a reversing auxiliary marking map according to the real-time vehicle position information and the surrounding obstacle information specifically include: Real-time positioning of the vehicle to be tested is performed to obtain real-time vehicle position information, and the real-time vehicle position information is cached; Acquire an electronic rearview mirror and establish a signal connection link between the electronic rearview mirror and the vehicle to be tested, wherein the electronic rearview mirror includes a camera unit and a distance measuring unit; Obstacles around the vehicle to be tested are photographed by the camera unit to obtain image information around the vehicle, and whether there are obstacles around the vehicle to be tested is determined based on the image information around the vehicle, and if there are obstacles, an obstacle existence result is output; After receiving the obstacle existence result, the obstacles around the vehicle to be tested are screened based on the image information taken around the vehicle to obtain the surrounding obstacle information; Based on the distance measuring unit and the surrounding obstacle information, the distance between the obstacles around the vehicle to be tested and the vehicle to be tested is detected in real time to obtain real-time obstacle distance information; Based on the real-time obstacle distance information and the real-time vehicle position information, the real-time position of each obstacle around the vehicle to be tested is determined to obtain the real-time obstacle position information of each obstacle; Based on the image information taken around the vehicle, determine whether there is a marking line around the vehicle to be tested. If there is a marking line, obtain the relative position between the vehicle to be tested and the marking line according to the image information taken around the vehicle, and determine the position of the marking line around the vehicle to be tested to obtain the marking line position information; Draw a reversing auxiliary sign based on real-time vehicle position information, real-time obstacle position information and marking line position information; The reversing assistance sign is displayed in real time on the display screen of the vehicle to be tested.

3. The intelligent integrated optimization method of an electronic rearview mirror for reverse assist according to claim 2, characterized in that: The steps of classifying obstacles around the vehicle to be tested according to the surrounding obstacle information to obtain obstacle classification information, and planning a reversing path according to the reversing obstacle marking map, the real-time vehicle position information and the surrounding obstacle information to obtain predicted reversing path information of the vehicle to be tested specifically include: According to the surrounding obstacle information and real-time obstacle position information, the mobility of each obstacle around the vehicle to be tested is determined to obtain the obstacle mobility performance information; Classifying obstacles around the vehicle to be tested according to the obstacle movement performance information to obtain obstacle classification information, wherein the obstacle classification information includes mobile obstacles and fixed obstacles; Detect obstacle-related parameter information of obstacles around the vehicle to be tested based on the obstacle classification result. If the obstacle is a mobile obstacle, obtain mobile obstacle parameter information, the mobile obstacle parameter information includes mobile obstacle position information, obstacle movement speed information and obstacle movement direction information. If the obstacle is a fixed obstacle, obtain fixed obstacle parameter information, the fixed obstacle parameter information includes fixed obstacle position information and fixed obstacle scale information. The mobile obstacle parameter information and the fixed obstacle parameter information are combined to form obstacle-related parameter information; According to the image information taken around the vehicle, the open area around the vehicle to be tested is obtained to obtain the open area information around the vehicle; Based on the position information of the marking lines in the reversing auxiliary marking map and the information of the open area around the vehicle, the open area around the vehicle to be tested is preliminarily screened to obtain the first divided reversing available area; According to the fixed obstacle position information and the fixed obstacle scale information in the fixed obstacle parameter information, the first divided reversing available area of ​​the vehicle to be tested is screened again to obtain a second divided reversing available area; According to the moving obstacle position information, obstacle moving speed information and obstacle moving direction information in the moving obstacle parameter information, it is determined whether the moving trajectory of the moving obstacle within the set reversing time passes through the second divided reversing available area, if so, the second divided reversing available area is screened again to obtain the vehicle reversing available area, if not, the second divided reversing available area is the vehicle reversing available area; Based on the available area for vehicle reversing and the real-time vehicle position information, the reversing path of the vehicle to be tested is planned to obtain the predicted reversing path information of the vehicle to be tested.

4. The intelligent integrated optimization method of an electronic rearview mirror for reverse assist according to claim 3, characterized in that: The steps of detecting and predicting the road condition of the reversing path information based on the electronic rearview mirror to obtain the reversing road condition parameter information, detecting the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, judging the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members to obtain the reversing smooth demand coefficient W, and determining the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain the maximum reversing speed information specifically include: Based on the predicted reversing path information of the vehicle to be tested and the image information captured around the vehicle, the road condition of the predicted reversing path information of the vehicle to be tested is detected in real time to obtain reversing road condition parameter information, wherein the reversing road condition parameter information includes terrain flatness information and road surface slipperiness information; According to the terrain flatness information, the influence of the terrain flatness on the smooth reversing requirement when the vehicle to be tested performs a reversing operation based on the predicted reversing path information is determined to obtain a terrain flatness requirement influence coefficient AR; According to the road slipperiness information, the influence of the road slipperiness on the smooth reversing requirement when the vehicle to be tested performs a reversing operation based on the predicted reversing path information is determined to obtain a road slipperiness requirement influence coefficient AH; Based on the demand impact coefficient AR for flat terrain and the demand impact coefficient AH for slippery road conditions, the demand impact function for smooth road conditions is Calculation is performed to determine the impact of road conditions on the smooth reversing demand when the vehicle under test performs a reversing operation based on the predicted reversing path information, and the road condition smooth demand impact coefficient AHK is obtained, where a1 and a2 are proportional factors and are both greater than 0.

5. The intelligent integrated optimization method of an electronic rearview mirror for reverse assist according to claim 4, characterized in that: The steps of detecting and predicting the road condition of the reversing path information based on the electronic rearview mirror to obtain reversing road condition parameter information, detecting the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, judging the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members to obtain the reversing smooth demand coefficient W, and determining the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain the maximum reversing speed information, further comprising: Obtaining basic physical parameter information of each member on the vehicle to be tested, wherein the basic physical parameter information of the member includes member illness information and member motion sickness information; According to the member's illness information, if there is an illness in the vehicle, the illness severity of the sick member is obtained to obtain the member illness severity information of each sick member. If there are multiple sick members, the maximum value of the member illness severity information of each sick member is taken to obtain the member illness severity parameter information. If there is only one sick member, the member illness severity information of the sick member is the member illness severity parameter information. According to the member illness severity parameter information, the influence of the sick member on the vehicle to be tested on the demand for the smooth reversing of the vehicle to be tested is judged to obtain the sick member demand influence coefficient BH. If there is an illness in the vehicle, the sick member demand influence coefficient BH is 0. According to the member motion sickness information, if there is motion sickness in the vehicle, the motion sickness severity of the member is obtained to obtain the member motion sickness degree information of each member; if there are multiple members who are motion sick, the maximum value of the member motion sickness degree information of each member is taken to obtain the member motion sickness severity parameter information; if there is only one member who is motion sick, the member motion sickness degree information of the member is the member motion sickness severity parameter information; according to the member motion sickness severity parameter information, the influence of the members who are motion sick on the demand for the smooth reversing of the vehicle to be tested is judged to obtain the motion sickness member demand influence coefficient BY; if there is motion sickness in the vehicle, the motion sickness member demand influence coefficient BY is 0; Based on the demand impact coefficient BH of sick members and the demand impact coefficient BY of motion sick members, based on the member smooth demand impact function Calculation is performed to determine the influence of the vehicle occupants' demand for smooth reversing when the vehicle under test performs a reversing operation based on the predicted reversing path information, and the member smooth reversing demand influence coefficient BYR is obtained, where b1 and b2 are proportional factors and are both greater than 0.

6. The intelligent integrated optimization method of an electronic rearview mirror for reverse assist according to claim 5, characterized in that: The steps of detecting and predicting the road condition of the reversing path information based on the electronic rearview mirror to obtain reversing road condition parameter information, detecting the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, judging the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members to obtain the reversing smooth demand coefficient W, and determining the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain the maximum reversing speed information, further comprising: According to the road condition smooth demand impact coefficient AHK and member smooth demand impact coefficient BYR, based on the smooth demand relationship function Calculate and determine the degree of demand for smooth reversing of the vehicle under test based on the predicted reversing path information during the reversing process, and obtain the reversing smooth demand coefficient W, where: , is the proportional factor and is greater than 0; The maximum reversing speed information is obtained by determining the maximum reversing speed of the vehicle to be tested when reversing based on the predicted reversing path information according to the reversing smoothness demand coefficient W.

7. The intelligent integrated optimization method of an electronic rearview mirror for reverse assist according to claim 6, characterized in that: The steps of detecting the road conditions contacted by each tire of the vehicle to be tested according to the predicted reversing path information of the vehicle to be tested to obtain tire road condition parameter information of each tire, and determining the additional braking force applied to each tire when the vehicle to be tested brakes during the reversing process to obtain tire auxiliary braking force information ORM of each tire based on the tire road condition parameter information of each tire, specifically include: Based on the predicted reversing path information of the vehicle to be tested, the road condition of each tire of the vehicle to be tested is detected in real time to obtain tire road condition parameter information of each tire, and the tire road condition parameter information of each tire includes tire terrain flatness information of each tire, tire road surface slipperiness information of each tire, and tire contact road surface material information of each tire; According to the tire terrain flatness information of each tire, determine the influence of the flatness of the terrain where the tires are located on the braking performance of each tire of the vehicle under test when the vehicle under test performs a braking operation during reversing, and obtain the terrain flatness braking influence coefficient CT; According to the tire-road slippery information of each tire, the influence of the slippery degree of the road surface on which the tire is located on the braking performance of each tire of the vehicle under test is determined when the vehicle under test performs a braking operation during the reversing process, and the slippery road braking influence coefficient CH is obtained; According to the tire contact road material information of each tire, the friction performance of the road material that the tire contacts when the vehicle to be tested brakes during the reversing process is determined to obtain the tire-road friction coefficient of each tire; According to the tire-road friction coefficient of each tire, the influence of the friction of the road surface contacted by the tire on the braking performance of each tire of the vehicle under test is determined when the vehicle under test is braking during the reversing process, and the road friction braking influence coefficient CM is obtained; Based on the braking influence coefficient CT of flat terrain, the braking influence coefficient CH of wet road surface and the braking influence coefficient CM of road friction, the tire braking relationship function Calculation is performed to determine the additional braking force applied to each tire when the vehicle to be tested performs a braking operation during the reversing process, and tire auxiliary braking force information ORM of each tire is obtained.

8. The intelligent integrated optimization method of an electronic rearview mirror for reverse assist according to claim 7, characterized in that: Reversing is performed according to the predicted reversing path information of the vehicle to be tested, a reversing path alarm signal is output when the vehicle to be tested deviates from the reversing path when reversing, tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested during braking, the speed of the vehicle to be tested during reversing is detected to obtain real-time reversing speed information, and a reversing speed alarm signal is output if the real-time reversing speed is greater than or equal to the maximum reversing speed information, and a voice broadcast operation is performed after receiving the reversing path alarm signal or the reversing speed alarm signal, specifically including: Perform a reversing operation on the vehicle to be tested according to the predicted reversing path information of the vehicle to be tested, and output a reversing path alarm signal when the reversing process of the vehicle to be tested deviates from the reversing path; When the vehicle to be tested brakes during the reversing process, the tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested; The reversing speed of the vehicle to be tested is detected in real time during the reversing process to obtain real-time reversing speed information, and the real-time reversing speed information is compared with the maximum reversing speed information. If the real-time reversing speed is greater than or equal to the maximum reversing speed information, a reversing speed alarm signal is output; Sending a reversing path warning signal and a reversing speed warning signal to a user terminal based on a wireless communication module; When a reversing path warning signal or a reversing speed warning signal is received, a voice broadcast operation is performed in the vehicle to be tested.

9. An intelligent integrated optimization system for electronic rearview mirrors used for reversing assistance, characterized in that: The electronic rearview mirror intelligent integrated optimization system for backing assistance is used to implement the electronic rearview mirror intelligent integrated optimization method for backing assistance described in any one of claims 1 to 8, comprising: The obstacle detection module is configured to locate the vehicle to be tested to obtain real-time vehicle position information, detect obstacles around the vehicle to be tested in real time based on the electronic rearview mirror to obtain surrounding obstacle information, and draw a reversing auxiliary marking map according to the real-time vehicle position information and surrounding obstacle information; A reversing path planning module is configured to classify obstacles around the vehicle to be tested according to the surrounding obstacle information to obtain obstacle classification information, and to plan a reversing path according to the reversing obstacle marking map, the real-time vehicle position information and the surrounding obstacle information to obtain predicted reversing path information of the vehicle to be tested; A reversing parameter determination module is configured to obtain reversing road condition parameter information based on the road condition predicted by the electronic rearview mirror for reversing path information, detect the physical condition of the members on the vehicle to be tested to obtain the basic physical parameter information of the members, determine the demand of the vehicle to be tested for smooth reversing according to the reversing road condition parameter information and the basic physical parameter information of the members to obtain a reversing smooth demand coefficient W, and determine the maximum speed of the vehicle to be tested when reversing according to the reversing smooth demand coefficient W to obtain maximum reversing speed information; A tire braking analysis module is configured to detect the road conditions contacted by each tire of the vehicle under test according to the predicted reversing path information of the vehicle under test to obtain tire road condition parameter information of each tire, and determine the additional braking force applied to each tire when the vehicle under test brakes during the reversing process based on the tire road condition parameter information of each tire to obtain tire auxiliary braking force information ORM of each tire; The reversing alarm monitoring module is configured to reverse according to the predicted reversing path information of the vehicle to be tested. When the vehicle to be tested deviates from the reversing path when reversing, a reversing path alarm signal is output. When braking, the tire auxiliary braking force information ORM of each tire is applied to the corresponding tire of the vehicle to be tested. The speed of the vehicle to be tested during the reversing process is detected to obtain real-time reversing speed information. If the real-time reversing speed is greater than or equal to the maximum reversing speed information, a reversing speed alarm signal is output. When a reversing path alarm signal or a reversing speed alarm signal is received, a voice broadcast operation is performed.

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