Control method and device of electronic rearview mirror, electronic equipment and storage medium

Abstract

The invention discloses a control method and device of an electronic rearview mirror, electronic equipment and a storage medium. The control method of the electronic rearview mirror is used for the vehicle and comprises the steps that a first image of the electronic rearview mirror in a first state is obtained; acquiring a switching signal for switching the vehicle from the first driving state to a second driving state; obtaining a mapping relation according to the switching signal; controlling the electronic rearview mirror to be switched from the first state to a second state according to the mapping relation; and acquiring a second image of the electronic rearview mirror in the second state. The first image is acquired according to the first state of the electronic rearview mirror, or the second image is acquired according to the second state of the electronic rearview mirror, so that the electronic rearview mirror can provide more information for a driver or a passenger, and the driving safety is improved.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to a control method, device, electronic device, and storage medium for an electronic rearview mirror. Background Art

[0002] Compared with traditional physical mirrors, electronic rearview mirrors have the advantages of a wider field of view, reduced blind spots, automatic light compensation, less affected by the environment, etc., and can effectively reduce wind resistance and wind noise, achieving energy conservation and emission reduction. China promulgated the "Performance and Installation Requirements for Indirect Vision Devices of Motor Vehicles" with the national standard number GB 15084-2022 on December 29, 2022, and it was officially implemented on July 1, 2023, providing an opportunity for domestic electronic exterior rearview mirrors to be "installed on vehicles". The electronic rearview mirror can capture the surrounding scenes at the rear of the vehicle through a camera and then present them in real time on the display screen inside the vehicle for the driver to view, improving driving safety. Summary of the Invention

[0003] At least one embodiment of the present disclosure provides a control method for an electronic rearview mirror, an electronic rearview mirror device, a vehicle device, an electronic device, and a storage medium.

[0004] At least one embodiment of the present disclosure provides a control method for an electronic rearview mirror for a vehicle, including: obtaining a first image of the electronic rearview mirror in a first state; obtaining a switching signal for the vehicle to switch from a first driving state to a second driving state; obtaining a mapping relationship according to the switching signal; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; obtaining a second image of the electronic rearview mirror in the second state.

[0005] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes at least one camera.

[0006] For example, according to at least one embodiment of the present disclosure, the at least one camera includes a first camera and a second camera located on the same side of the vehicle; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling at least one of the first camera and the second camera to move to change the distance between the center lines of the first camera and the second camera.

[0007] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a connection unit; the connection unit is telescopically connected between the first camera and the second camera to change the distance between the center lines.

[0008] For example, according to at least one embodiment of the present disclosure, the switching signal includes at least one of a steering signal, a vehicle slope driving signal, a vehicle speed signal, and a lane change signal, and the mapping relationship includes at least one of a mapping relationship between a steering amplitude and the center connection distance, a mapping relationship between a current slope and the center connection distance, a mapping relationship between a current speed and the center connection distance, and a mapping relationship between a lane change distance and the center connection distance.

[0009] For example, according to at least one embodiment of the present disclosure, the steering amplitude includes a steering wheel rotation angle or a tire steering angle, and the steering wheel rotation angle or the tire steering angle is positively correlated with the center connection distance.

[0010] For example, according to at least one embodiment of the present disclosure, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling at least one of the first camera and the second camera to rotate a first preset rotation angle, and the first preset rotation angle is negatively correlated with the center connection distance.

[0011] For example, according to at least one embodiment of the present disclosure, the at least one camera includes a first camera and a second camera; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling at least one of the first camera and the second camera to move so that the electronic rearview mirror switches from the first state to the second state.

[0012] For example, according to at least one embodiment of the present disclosure, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the first camera and the second camera to move synchronously or separately so that the electronic rearview mirror switches from the first state to the second state.

[0013] For example, according to at least one embodiment of the present disclosure, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the at least one camera to rotate to change the rotation angle of the at least one camera.

[0014] For example, according to at least one embodiment of the present disclosure, the switching signal includes a vehicle slope driving signal; the mapping relationship includes: a mapping relationship between the current slope of the vehicle and a second preset rotation angle; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the camera to rotate the second preset rotation angle.

[0015] For example, according to at least one embodiment of the present disclosure, the switching signal includes a vehicle speed signal; the mapping relationship includes: the mapping relationship between the current speed of the vehicle and a third preset rotation angle; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the camera to rotate by the third preset rotation angle.

[0016] For example, according to at least one embodiment of the present disclosure, the switching signal includes a steering signal; the mapping relationship includes: the mapping relationship between the steering amplitude of the vehicle and a fourth preset rotation angle; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the camera to rotate by the fourth preset rotation angle.

[0017] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a first camera and a second camera on the same side of the vehicle; the switching signal includes a lane change signal; the mapping relationship includes: the mapping relationship between the lane change distance and the working state; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: in response to the lane change distance being greater than a preset lane change distance, changing the first camera from the working state to the non - working state, and changing the second camera from the non - working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

[0018] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a first camera and a second camera on the same side of the vehicle; the switching signal includes a lane change signal; the mapping relationship includes: the mapping relationship between the lane change distance and the working state; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: in response to the lane change distance being greater than a preset lane change distance, keeping the first camera in the working state, and changing the second camera from the non - working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

[0019] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a left camera located on the left side of the vehicle and a right camera located on the right side of the vehicle, and the switching signal includes a lane change signal; the mapping relationship includes: a mapping relationship between the steering amplitude and a fifth preset rotation angle when the switching signal is a left turn signal; a mapping relationship between the steering amplitude and a sixth preset rotation angle when the switching signal is a right turn signal; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: when the steering signal is a left turn signal, controlling the left camera to rotate the fifth preset rotation angle; when the steering signal is a right turn signal, controlling the right camera to rotate the sixth preset rotation angle.

[0020] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a left camera located on the left side of the vehicle and a right camera located on the right side of the vehicle, and the switching signal includes a steering signal; the mapping relationship includes: a mapping relationship between the steering amplitude and a seventh preset rotation angle when the switching signal is a left turn signal; a mapping relationship between the steering amplitude and an eighth preset rotation angle when the switching signal is a right turn signal; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: when the steering signal is a left turn signal, controlling the left camera to rotate the seventh preset rotation angle; when the steering signal is a right turn signal, controlling the right camera to rotate the eighth preset rotation angle.

[0021] For example, according to at least one embodiment of the present disclosure, the method further includes: determining that the switching signal is the left turn signal or the right turn signal based on the steering wheel rotation direction or the tire steering direction.

[0022] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes at least two cameras; obtaining a first image of the electronic rearview mirror in the first state includes: respectively obtaining at least two first sub-images of the at least two cameras in the first state; performing a fusion process on the at least two first sub-images to obtain the first image; obtaining a second image of the electronic rearview mirror in the second state includes: respectively obtaining at least two second sub-images of the at least two cameras in the second state; performing a fusion process on the at least two second sub-images to obtain the second image.

[0023] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a first camera and a second camera; the electronic rearview mirror is configured to satisfy at least one of the following conditions: the first camera is configured to obtain an input image, and the input image includes the first image and the second image; the second camera is configured to detect abnormal information.

[0024] For example, according to at least one embodiment of the present disclosure, the method further includes: issuing an alarm reminder in response to the second camera detecting the abnormal information; wherein, the alarm reminder includes at least one of a voice information reminder and a screen display reminder.

[0025] For example, according to at least one embodiment of the present disclosure, the screen display reminder includes at least one of the following: adjusting the edge light emission brightness of the input image; adjusting the edge brightness change frequency of the input image.

[0026] For example, according to at least one embodiment of the present disclosure, the first image is different from the second image.

[0027] For example, according to at least one embodiment of the present disclosure, the method further includes: obtaining a screen offset amount of the electronic rearview mirror when switching from the first state to the second state; determining an overlapping area between the first image and the second image based on the screen offset amount; marking the overlapping area on the second image.

[0028] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a camera and a camera bracket; the camera bracket is used to connect to the vehicle; the mapping relationship includes: the mapping relationship between the rotation angle of the camera bracket and the rotation angle of the camera; wherein, the rotation angle of the camera bracket is negatively correlated with the rotation angle of the camera.

[0029] At least one embodiment of the present disclosure provides an electronic rearview mirror device for a vehicle, including: an acquisition module configured to obtain a first image of the electronic rearview mirror in a first state; an acquisition module configured to obtain a switching signal for the vehicle to switch from a first driving state to a second driving state; a mapping module configured to obtain a mapping relationship according to the switching signal; a switching module configured to control the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; the acquisition module is further configured to obtain a second image of the electronic rearview mirror in the second state.

[0030] At least one embodiment of the present disclosure provides an electronic rearview mirror device, including: a first camera and a second camera located on the same side of the vehicle, at least one of the first camera and the second camera being configured to obtain an input image; a display device configured to display the input image.

[0031] For example, according to at least one embodiment of the present disclosure, the rearview mirror device further includes a connection unit; the connection unit is telescopically connected between the first camera and the second camera.

[0032] For example, according to at least one embodiment of the present disclosure, the first camera is configured to acquire an input image, and the second camera is configured to detect abnormal information.

[0033] At least one embodiment of the present disclosure provides a vehicle device, including: a vehicle; an electronic rearview mirror device as described in any one of the above, connected to the vehicle; wherein, the electronic rearview mirror device further includes a camera bracket, and at least one of the first camera and the second camera is mounted on the camera bracket; at least one of the first camera, the second camera, and the camera bracket is configured to be movable relative to the vehicle.

[0034] At least one embodiment of the present disclosure provides an electronic device, including: a memory that non-transiently stores computer-executable instructions; a processor configured to run the computer-executable instructions, wherein when the computer-executable instructions are run by the processor, the control method of the electronic rearview mirror as described in any one of the above is implemented.

[0035] At least one embodiment of the present disclosure provides a non-transient computer-readable storage medium, wherein the non-transient computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the control method of the electronic rearview mirror as described in any one of the above is implemented.

[0036] For the control method, device, electronic device, and storage medium of the electronic rearview mirror according to the embodiments of the present disclosure, according to a switching signal indicating that the vehicle switches from a first driving state to a second driving state, a mapping relationship is obtained, and the electronic rearview mirror is adjusted according to the mapping relationship, so that the electronic rearview mirror switches from a first state to a second state. Thus, the first image obtained according to the first state of the electronic rearview mirror, or the second image obtained according to the second state of the electronic rearview mirror, can enable the electronic rearview mirror to provide more information to the driver or passenger, improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the present disclosure and do not limit the present disclosure.

[0038] Figure 1 It is a flowchart of a control method of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0039] Figure 2A and Figure 2B It is a schematic diagram of a camera of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0040] Figure 3 Schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0041] Figure 4A and Figure 4B Schematic diagram of different fields of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0042] Figure 5A Schematic diagram of a vehicle lane change.

[0043] Figure 5B Schematic diagram of the field of view of an electronic rearview mirror.

[0044] Figure 6 Schematic diagram of the field of view of the electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0045] Figure 7A and Figure 7B Schematic diagram of the operation of different cameras of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0046] Figure 8 Schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0047] Figure 9 Flowchart of a control method for an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0048] Figures 10A to 10D Schematic diagram of the state transition of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0049] Figure 11A and Figure 11B Schematic diagram of the state transition of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0050] Figure 12 Schematic block diagram of an electronic rearview mirror device provided by at least one embodiment of the present disclosure.

[0051] Figure 13 Schematic block diagram of an electronic device provided by at least one embodiment of the present disclosure.

[0052] Figure 14 Schematic diagram of a non-transitory computer-readable storage medium provided by at least one embodiment of the present disclosure. Detailed implementation manners

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present disclosure in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present disclosure.

[0054] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure shall have the ordinary meaning as understood by those of ordinary skill in the art to which the present disclosure pertains. The terms "first", "second", and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are only used to distinguish different components. The terms "including" or "comprising" and the like mean that the elements or items appearing before the term cover the elements or items listed after the term and their equivalents, without excluding other elements or items.

[0055] Features such as "vertical", "parallel", and "same" used in the present disclosure include the strict "vertical", "parallel", "same" and other features, as well as cases with certain errors such as "substantially vertical", "substantially parallel", "substantially same", etc. Considering the measurement and errors associated with the measurement of a specific quantity (i.e., the limitations of the measurement system), it means within the acceptable deviation range for a specific value determined by those of ordinary skill in the art. The "center" in the embodiments of the present disclosure may include the position strictly located at the geometric center and the approximate center position within a small area around the geometric center. For example, "substantially" can mean within one or more standard deviations, or within 10% or 5% of the value.

[0056] An electronic rearview mirror (Camera Monitor System, CMS), also known as a camera monitoring system, can capture the field of view by a camera, send signals through an electronic control unit (ECU) for further processing, and provide the field of view for the driver by a display screen. Compared with an optical rearview mirror, the electronic rearview mirror can provide a wider field of view, such as a 10% increase, reduce the blind spot of the field of view, and improve the driving and riding safety of the vehicle. In addition, the electronic rearview mirror can also be adjusted according to the driver's needs, for example, it can additionally display additional information and control the picture. Moreover, the electronic rearview mirror has less wind resistance, thus being able to reduce fuel consumption.

[0057] For example, vehicles can be divided into three major categories: M - class, N - class, and O - class. M - class vehicles include passenger cars, pickup trucks, and multi - purpose vehicles (MPV); N - class vehicles include trucks; and O - class vehicles include trailers and semi - trailers.

[0058] Class M vehicles can also be divided into Class M1 vehicles, Class M2 vehicles, and Class M3 vehicles. Class M1 vehicles refer to passenger vehicles that include at least 3 or 4 wheels, have a maximum gross mass exceeding 1 ton, and have no more than 8 passenger seats excluding the driver's seat. Class M2 vehicles refer to passenger vehicles that include at least 3 or 4 wheels, have a maximum gross mass not exceeding 5 tons, and have more than 8 passenger seats excluding the driver's seat. Class M3 vehicles refer to passenger vehicles that include at least 3 or 4 wheels and have a maximum gross mass exceeding 5 tons.

[0059] Class N vehicles can also be divided into Class N1 vehicles, Class N2 vehicles, and Class N3 vehicles. Class N1 vehicles refer to freight vehicles with a maximum design gross mass not exceeding 3,500 kg. Class N2 vehicles refer to freight vehicles with a maximum design gross mass exceeding 3,500 kg but not exceeding 12,000 kg. Class N3 vehicles refer to freight vehicles with a maximum design gross mass exceeding 12,000 kg.

[0060] Class O vehicles can also be divided into Class O1 vehicles, Class O2 vehicles, and Class O3 vehicles. Class O1 vehicles refer to trailers with a maximum design gross mass not exceeding 750 kg. Class O2 vehicles refer to trailers with a maximum design gross mass exceeding 750 kg but not exceeding 3,500 kg. Class O3 vehicles refer to trailers with a maximum design gross mass exceeding 3,500 kg but not exceeding 10,000 kg.

[0061] In addition, for indirect vision devices of different types of vehicles, different mirrors can be selected according to standards. For example, the mirrors include: Class I mirrors (interior mirrors), Class II and Class III mirrors (main exterior mirrors), Class IV mirrors (wide-angle exterior rearview mirrors), Class V mirrors (blind spot exterior rearview mirrors), Class VI mirrors (front view mirrors), Class VII mirrors (mirrors used for at least L-class vehicles with a partially enclosed cab). It can be understood that in addition to the above mirrors, other mirror installations can also be selected according to requirements.

[0062] In the research, the inventors of the present disclosure found that the adjustment method of electronic rearview mirrors is very limited and it is difficult to adjust in real time for different situations in different scenarios, resulting in it being difficult for drivers or passengers to obtain sufficient information through electronic rearview mirrors.

[0063] At least one embodiment of the present disclosure provides a control method for an electronic rearview mirror for a vehicle, including: obtaining a first image of the electronic rearview mirror in a first state; obtaining a switching signal for the vehicle to switch from a first driving state to a second driving state; obtaining a mapping relationship according to the switching signal; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; obtaining a second image of the electronic rearview mirror in the second state.

[0064] At least one embodiment of the present disclosure provides an electronic rearview mirror device for a vehicle, including: an acquisition module configured to obtain a first image of the electronic rearview mirror in a first state; an acquisition module configured to obtain a switching signal when the vehicle switches from a first driving state to a second driving state; a mapping module configured to obtain a mapping relationship according to the switching signal; a switching module configured to control the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; and the acquisition module is further configured to obtain a second image of the electronic rearview mirror in the second state.

[0065] At least one embodiment of the present disclosure provides an electronic rearview mirror device, including: a first camera and a second camera located on the same side of the vehicle, at least one of the first camera and the second camera being configured to obtain an input image; and a display device configured to display the input image.

[0066] At least one embodiment of the present disclosure provides a vehicle device, including: a vehicle; an electronic rearview mirror device connected to the vehicle; wherein, the electronic rearview mirror device further includes a camera bracket, at least one of the first camera and the second camera being mounted on the camera bracket; and at least one of the first camera, the second camera, and the camera bracket being configured to be movable relative to the vehicle.

[0067] At least one embodiment of the present disclosure provides an electronic device, including: a memory storing computer-executable instructions non-transiently; a processor configured to run the computer-executable instructions, wherein, when the computer-executable instructions are run by the processor, the control method of the electronic rearview mirror according to any one of the above is implemented.

[0068] At least one embodiment of the present disclosure provides a non-transient computer-readable storage medium, wherein the non-transient computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the control method of the electronic rearview mirror according to any one of the above is implemented.

[0069] The control method, device, electronic device, and storage medium of the electronic rearview mirror provided by at least one embodiment of the present disclosure obtain a mapping relationship according to a switching signal when the vehicle switches from a first driving state to a second driving state, and adjust the electronic rearview mirror according to the mapping relationship, so that the electronic rearview mirror switches from a first state to a second state. Thus, the first image obtained according to the first state of the electronic rearview mirror, or the second image obtained according to the second state of the electronic rearview mirror, can enable the electronic rearview mirror to provide more information to the driver or passenger, improving driving safety.

[0070] The control method, device, electronic device, and storage medium of the electronic rearview mirror will be described below with reference to the accompanying drawings and through some embodiments.

[0071] Figure 1Flow chart of a control method for an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0072] Referring to Figure 1 , the control method for the electronic rearview mirror provided by at least one embodiment of the present disclosure can be used for a vehicle, and the method includes the following steps S110 to S150.

[0073] S110. Obtain a first image of the electronic rearview mirror in a first state.

[0074] S120. Obtain a switching signal for the vehicle to switch from a first driving state to a second driving state.

[0075] S130. Obtain a mapping relationship according to the switching signal.

[0076] S140. Control the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship.

[0077] S150. Obtain a second image of the electronic rearview mirror in the second state.

[0078] As Figure 1 shown, according to the switching signal for the vehicle to switch from the first driving state to the second driving state, a mapping relationship is obtained, and the electronic rearview mirror is adjusted according to the mapping relationship, so that the electronic rearview mirror switches from the first state to the second state. Thus, the first image obtained according to the first state of the electronic rearview mirror or the second image obtained according to the second state of the electronic rearview mirror can enable the electronic rearview mirror to provide more information to the driver or passenger, improving driving safety.

[0079] As Figure 1 shown, for example, in step S110, the electronic rearview mirror may include a display screen disposed inside the vehicle to display the first image through the display screen. For example, the display screen may be embedded in the vehicle body.

[0080] As Figure 1As shown, for example, in step S120, the vehicle switches from the first driving state to the second driving state, which means that the driving behavior state of the vehicle changes. The switching signal refers to the signal emitted when the driving behavior state changes. For example, the switching signal can be emitted when the vehicle starts or brakes. For example, the switching signal can be emitted when the vehicle switches between a straight - driving state and a turning state. For example, the switching signal can be emitted when the vehicle goes uphill or downhill. Correspondingly, the switching signal can also be emitted when the vehicle switches from driving on a slope to driving on a flat road. For example, the switching signal can be emitted when the vehicle switches between a straight - driving state and a lane - changing state. For example, the switching signal can be emitted when the vehicle accelerates or decelerates. For example, the switching signal can be emitted when the vehicle turns right while going uphill. For example, the switching signal can be emitted when the vehicle decelerates while going downhill. Of course, there can also be other driving - state switches, and the present disclosure does not limit this.

[0081] As Figure 1 shown, for example, in step S130, different mapping relationships can be obtained according to different switching signals. For example, the switching signal can be emitted when the vehicle is switched from the first driving state to the second driving state according to the operations of the driver or passengers, and thus the mapping relationship can be obtained.

[0082] As Figure 1 shown, for example, in step S140, the electronic rear - view mirror switches from the first state to the second state, which can be a state change that can be distinguished by the naked eye. For example, it can be a state switch of the electronic rear - view mirror caused by the movement of some structures in the electronic rear - view mirror. For example, it can be a state switch of the electronic rear - view mirror caused by a change in the image displayed in the electronic rear - view mirror. Of course, the electronic rear - view mirror can also switch from the first state to the second state due to a change that cannot be distinguished by the naked eye, and the present disclosure does not limit this.

[0083] As Figure 1 shown, for example, in step S150, the second image can be displayed on the display screen in the electronic rear - view mirror. For example, the first image can be the same as or different from the second image.

[0084] In some examples, the electronic rearview mirror includes at least one camera. For example, the electronic rearview mirror may include one camera and obtain a first image or a second image through one camera. For example, the electronic rearview mirror may include multiple cameras, so as to obtain a larger field of view, reduce blind spots through multiple cameras, and provide more information to the driver or passenger through the first image or the second image obtained by the multiple cameras. Moreover, by setting multiple cameras, it is also possible to simultaneously monitor multiple lanes. For example, multiple cameras may be set on at least one side of the vehicle. For example, multiple cameras may be set on both the left and right sides of the vehicle. The present disclosure does not limit this.

[0085] For example, the electronic rearview mirror may obtain an input image through a camera and display the first image on a display screen. The first image may be a part of the input image. For example, during the process of the electronic rearview mirror switching from the first state to the second state, the camera may not perform any action, but another part of the input image may be retrieved through an algorithm, so that the display screen displays a second image different from the first image. For example, the camera may obtain an input image with a larger field of view, and only display the part of the image that the user may be interested in on the display screen.

[0086] For example, when there is one camera, the camera may be an image sensor. For example, the camera may be a photosensitive sensor or a charge coupled device (CCD) camera. For example, when there are two or more cameras, one of the cameras may be set as the main camera, and at least one of the other cameras may be set as a CCD camera. For example, when there are two or more cameras, at least two cameras may be set as different types of cameras to achieve blind spot coverage.

[0087] Figure 2A and Figure 2B is a schematic diagram of a camera of an electronic rearview mirror provided by at least one embodiment of the present disclosure. Figure 2A and Figure 2B The difference is that Figure 2B the distance between the two cameras in Figure 2A is different from the distance between the two cameras in

[0088] Such as Figure 2A and Figure 2BAs shown, in some examples, at least one camera includes a first camera 100 and a second camera 200 located on the same side of the vehicle 300. For example, the first camera 100 and the second camera 200 can be disposed on the left side of the vehicle 300. For example, the first camera 100 and the second camera 200 can be disposed on the right side of the vehicle 300. For example, the first camera can be set to one or multiple. For example, the second camera can be set to one or multiple. For example, the first camera and the second camera can be cameras of the same type (e.g., both are CCD cameras), or can be cameras of different types (e.g., the first camera is a CCD camera and the second camera is an infrared camera).

[0089] Reference Figures 1 to 2B , according to the mapping relationship, controlling the electronic rearview mirror to switch from the first state to the second state, that is, step S140, may include: controlling at least one of the first camera 100 and the second camera 200 to move to change the distance between the center connection lines of the first camera 100 and the second camera 200. Thus, different fields of view can be obtained by changing the distance between the center connection lines of the first camera 100 and the second camera 200, thereby reducing the blind area. For example, the first camera 100 can be controlled to move towards or away from the second camera 200, thereby changing the center connection line distance. For example, the second camera 200 can be controlled to move towards or away from the first camera 100, thereby changing the center connection line distance. For example, the first camera 100 and the second camera 200 can be controlled to move towards each other or away from each other, thereby changing the center connection line distance.

[0090] Reference Figures 1 to 2B , for example, the first camera 100 can be a camera located outside the second camera 200, and the second camera 200 is located between the vehicle 300 and the first camera 100. When the driver needs to pay attention to the situation in the area close to the vehicle body of the vehicle 300, the second camera 200 can be controlled to move towards the vehicle 300, thereby changing the field of view of the second camera 200. When the driver needs to pay attention to the situation in the area with a larger field of view, the first camera 100 can be controlled to move away from the vehicle 300, thereby obtaining a larger field of view. Of course, the first camera 100 and the second camera 200 can also move according to different situations, and the present disclosure does not limit this.

[0091] In some examples, the electronic rearview mirror includes a connection unit. The connection unit is telescopically connected between the first camera and the second camera to change the distance between the center connection lines. For example, the connection unit can respond to the switching signal and change the distance between the center connection lines according to the obtained mapping relationship. For example, the connection unit can be a telescopic connector.

[0092] In some examples, the switching signal includes at least one of a turn signal, a vehicle slope driving signal, a vehicle speed signal, and a lane change signal. According to different switching signals, different mapping relationships can be obtained, so as to switch the state of the electronic rearview mirror. Of course, the switching signal may also include other switching signals, and the present disclosure does not limit this. It can be understood that the acquisition of the switching signal can be obtained through sensors on the vehicle, or through images obtained by a camera, or through a user's control instruction, and the present disclosure does not limit this.

[0093] For example, the turn signal can be a signal when the vehicle is turning, or a signal when the vehicle is about to turn. For example, the turn signal can be a signal when a straight-running vehicle is turning. For example, the turn signal can be a signal when the vehicle is about to turn while waiting for a red light.

[0094] For example, the vehicle slope driving signal can be a signal when the vehicle is driving on a sloped road condition. For example, the vehicle slope driving signal can be a signal when the vehicle is going uphill. For example, the vehicle slope driving signal can be a signal when the vehicle is going downhill. For example, the slope of the current road condition can be obtained through an on-vehicle level or an on-vehicle inclinometer.

[0095] For example, the vehicle speed signal can be a signal when the vehicle is driving at different vehicle speeds. For example, the vehicle speed signal can be a signal when the vehicle is accelerating. For example, the vehicle speed signal can be a signal when the vehicle is decelerating. For example, the vehicle speed signal can be a signal when the vehicle is driving at a constant speed.

[0096] For example, the lane change signal can be a signal when the vehicle is changing lanes. For example, it can be a signal when the vehicle is merging from the right lane to the left lane, or a signal when the vehicle is merging from the left lane to the right lane.

[0097] In some examples, the mapping relationship includes at least one of the mapping relationship between the turning amplitude and the center line distance, the mapping relationship between the current slope and the center line distance, the mapping relationship between the current speed and the center line distance, and the lane change distance and the center line distance. For example, according to the turn signal, the mapping relationship between the turning amplitude and the center line distance can be obtained. For example, according to the vehicle slope driving signal, the mapping relationship between the current slope and the center line distance can be obtained. For example, according to the vehicle speed signal, the mapping relationship between the current speed and the center line distance can be obtained. For example, according to the lane change signal, the mapping relationship between the lane change distance and the center line distance can be obtained.

[0098] In some examples, the steering amplitude includes the steering wheel rotation angle or the tire steering angle. For example, the larger the steering wheel rotation angle, the greater the steering amplitude. For example, the larger the tire steering angle, the greater the steering amplitude. For example, the magnitudes of the steering wheel rotation angle and the tire steering angle may not distinguish between clockwise rotation and counterclockwise rotation. For example, when the steering wheel rotates 30° clockwise and 30° counterclockwise, the steering amplitudes can be regarded as the same. The steering wheel rotation angle or the tire steering angle is positively correlated with the distance of the center line connection. For example, the larger the steering wheel rotation angle or the tire steering angle, the greater the distance of the center line connection. For example, the smaller the steering wheel rotation angle or the tire steering angle, the smaller the distance of the center line connection.

[0099] When the steering wheel rotation angle or the tire steering angle is larger, the distance of the center line connection between the first camera and the second camera increases, which can provide a larger field of view for the driver. For example, the first camera can be a camera located outside the second camera, and the first camera can be adjusted to move away from the second camera (that is, move away from the vehicle body), so that the picture information captured by the first camera is larger, making the blind spot of vision smaller, which is beneficial to driving safety.

[0100] For example, in response to the vehicle slope driving signal, it can be determined that the vehicle is in the uphill driving state or the downhill driving state. For example, when the vehicle is driving uphill, the speed of the vehicle will slow down accordingly, and the driver needs to observe the road conditions and the traffic conditions around the vehicle more accurately to ensure the stable driving of the vehicle uphill. Adjusting the distance of the center line connection between the first camera and the second camera according to the current slope can provide a larger field of view for the driver, help the driver judge the steepness and curvature of the slope, and avoid accidents caused by poor vision. In addition, when driving uphill, more space and time are usually required to complete overtaking or lane change. By adjusting the distance of the center line connection between the first camera and the second camera, it is also possible to prevent traffic conflicts and dangerous driving behaviors due to limited vision.

[0101] For example, when the vehicle is driving downhill, the speed of the vehicle is relatively fast. Adjusting the distance of the center line connection between the first camera and the second camera according to the current slope is beneficial for the driver to observe the road conditions. In addition, obtaining a larger field of view through the adjustment of the distance between the first camera and the second camera can help the driver better observe the road surface conditions, especially possible potholes, road surface damage, obstacles, etc., so as to make driving adjustments in time and avoid accidents or vehicle damage caused by poor road conditions.

[0102] For example, in response to a vehicle speed signal, it can be determined whether the vehicle is in a high-speed driving state or a low-speed driving state. For example, when the vehicle is driving at a high speed, the vehicle speed is very fast, and the vehicles and road conditions behind change more rapidly. By adjusting the distance between the center lines of the first camera and the second camera according to the current speed of the vehicle, it can help the driver observe the pursuit situation of the vehicle behind more clearly, make timely decisions on overtaking or lane changing, and reduce potential safety hazards caused by blind spots.

[0103] When the vehicle is driving at a low speed, although the vehicle speed is slow, the road conditions are usually more complex, such as a congested road or a narrow road. By adjusting the distance between the center lines of the first camera and the second camera according to the current speed of the vehicle, the driver can obtain a larger field of view, so as to observe the surrounding vehicles and pedestrians more clearly, avoid traffic conflicts or accidents. In addition, a larger field of view can also help the driver better observe the conditions on both sides of the road. Especially when parking or reversing, the driver can observe the conditions around the vehicle more clearly and reduce the risk of collision.

[0104] For example, in response to a lane change signal, the lane change distance of the vehicle can be determined. For example, when changing lanes, the lane change distance can be determined by the number of lanes. For example, by adjusting the distance between the center lines of the first camera and the second camera, the control of the number of monitored lanes can be realized, thereby improving the safety and convenience of driving.

[0105] Figure 3 Schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0106] Reference Figure 3, in some examples, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling at least one of the first camera 101 and the second camera 201 to rotate a first preset rotation angle, and the first preset rotation angle is negatively correlated with the distance of the center connection line. For example, the first camera 101 can be controlled to rotate the first preset rotation angle, the second camera 201 can also be controlled to rotate the first preset rotation angle, or the first camera 101 and the second camera 201 can be simultaneously controlled to rotate the first preset rotation angle, and the present disclosure does not limit this. The first preset rotation angle is negatively correlated with the distance of the center connection line, that is, the larger the distance of the center connection line, the smaller the first preset rotation angle; conversely, the smaller the distance of the center connection line, the larger the first preset rotation angle. When the distance between the first camera 101 and the second camera 201 is relatively small, the field of view overlap range between the first camera 101 and the second camera 201 is relatively large. By adjusting the rotation of at least one of the first camera 101 and the second camera 201, the field of view overlap range of the first camera 101 and the second camera 201 can be made smaller, increasing the field of view range jointly obtained by the first camera 101 and the second camera 201, thereby reducing the blind area. Of course, when the first camera 101 and the second camera 201 are working simultaneously, the rotation angles of the first camera 101 and the second camera 201 can also be controlled to make the field of view overlap range between them smaller.

[0107] Reference Figure 1 , in some examples, at least one camera includes a first camera and a second camera; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling at least one of the first camera and the second camera to move so that the electronic rearview mirror switches from the first state to the second state. For example, the first camera can be controlled to move, the second camera can be controlled to move, or the first camera and the second camera can be controlled to move. For example, the first camera may be fixedly connected to the vehicle, and the second camera is controlled to move. For example, the second camera may be fixedly connected to the vehicle, and the first camera is controlled to move. For example, both the first camera and the second camera can be controlled to move. Thus, it is possible to adapt to different user needs and adjust the field of view range of the electronic rearview mirror.

[0108] Reference Figure 1, in some examples, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling the first camera and the second camera to move synchronously or separately so that the electronic rearview mirror switches from the first state to the second state. For example, the first camera may be a camera located on the left side of the vehicle, and the second camera may be a camera located on the right side of the vehicle. For example, both the first camera and the second camera may be disposed on the left side of the vehicle, or both may be disposed on the right side of the vehicle. For example, the first camera and the second camera may be controlled to move synchronously. For example, the first camera and the second camera may be controlled separately. For example, the first camera and the second camera may be controlled to rotate clockwise by 45° simultaneously. For example, the first camera and the second camera may be controlled to rotate simultaneously, with the first camera rotating by 30° and the second camera rotating by 60°. For example, during the process of controlling the first camera to move away from the vehicle, the second camera may be controlled to move away from the vehicle. Of course, the first camera and the second camera may also be synchronously or separately controlled in other ways, and the present disclosure does not make any limitations.

[0109] Reference Figure 1 , in some examples, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling at least one camera to rotate to change the rotation angle of at least one camera. For example, the electronic rearview mirror may include one camera, and the electronic rearview mirror may be switched from the first state to the second state by rotating one camera. For example, the electronic rearview mirror may include multiple cameras, and the electronic rearview mirror may be switched from the first state to the second state by controlling one or more of the multiple cameras to rotate. For example, the camera may be fixed to the vehicle, and the camera is a spherical camera, thus having at least four degrees of freedom (up, down, left, and right), which facilitates rotation.

[0110] Reference Figures 1 to 2B , for example, the electronic rearview mirror may further include a camera bracket 10 connected to the vehicle 300, and the camera bracket 10 may include a polymer material. For example, the driver may control the lens in the spherical camera to achieve offset in four degrees of freedom through a display screen. Specifically, a signal transmission line may be buried in the camera bracket, or a control circuit may be designed in the total control system of the vehicle. For example, the camera may be rotatably connected to the camera bracket. Of course, the camera may also be fixed to the camera bracket, and the camera bracket may be rotatably connected to the vehicle.

[0111] Figure 4A and Figure 4B are schematic diagrams of different fields of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0112] Reference 4A andFigure 4B In some examples, the switching signal includes a vehicle slope driving signal. The mapping relationship may include: the mapping relationship between the current slope of the vehicle and the second preset rotation angle. Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling the camera to rotate by the second preset rotation angle. For example, according to the vehicle slope driving signal, the mapping relationship between the current slope of the vehicle and the second preset rotation angle can be obtained, so as to control the camera to rotate by the second preset rotation angle.

[0113] For example, according to the current slope of the vehicle, it can be determined whether the vehicle is in an uphill driving state or a downhill driving state, so as to determine the second preset rotation angle. For example, the current slope of the vehicle can be determined according to an in-vehicle level or an in-vehicle inclinometer. Refer to Figure 4A and Figure 4B , taking the vehicle going uphill as an example, when the camera is not adjusted, the center line of the camera's field of view is basically parallel to the ground, thus losing a larger field of view, and most of the field of view will show the ground conditions. When a vehicle comes quickly from a distance behind, especially when the driver of the vehicle behind is negligent (such as inattentive, fatigued driving, etc.), if the driver of the vehicle on the slope fails to observe the vehicle behind in time, there may be a potential accident hazard of vehicle collision. By controlling the camera to rotate upward (such as Figure 4B shown), it is possible to facilitate the driver to see more rearward images.

[0114] For example, in response to the vehicle being in an uphill driving state, the second preset rotation angle for making the camera rotate upward can be determined. For example, in response to the vehicle being in a downhill driving state, the second preset rotation angle for making the camera rotate downward can be determined. Thus, it is possible to facilitate the driver to see more rearward images. For example, when the vehicle is going uphill and turning right at the same time, the camera can be controlled to rotate upward and to the right, so as to facilitate seeing more images in the upper right and rearward directions.

[0115] For example, the current slope of the vehicle may be positively correlated with the second preset rotation angle. For example, the greater the current slope of the vehicle, the greater the second preset rotation angle, so as to automatically adjust the camera. Of course, other relationships between the current slope of the vehicle and the second preset rotation angle can also be set, and the present disclosure does not limit this.

[0116] Refer to Figure 1, in some examples, the switching signal includes a vehicle speed signal. The mapping relationship may include: the mapping relationship between the current speed of the vehicle and a third preset rotation angle. Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling the camera to rotate by the third preset rotation angle. For example, according to the vehicle speed signal, the mapping relationship between the current speed of the vehicle and the third preset rotation angle can be obtained, so as to control the camera to rotate by the third preset rotation angle.

[0117] For example, a reference speed can be preset in advance. In response to the current vehicle speed being greater than or equal to the reference speed, the third preset rotation angle for the camera to rotate upward can be determined according to the current vehicle speed. When the current vehicle speed is greater than or equal to the reference speed, it can be regarded that the vehicle is driving at a high speed, and the driver pays less attention to the ground. The camera can be rotated upward to obtain more rearward images. For example, in response to the current vehicle speed being less than the reference speed, the third preset rotation angle for the camera to rotate downward can be determined according to the current vehicle speed. When the current vehicle speed is less than the reference speed, it can be regarded that the vehicle is driving at a low speed. For example, the vehicle may be preparing to stop. At this time, the driver pays more attention to the ground, and the camera can be rotated downward to obtain more ground images.

[0118] Reference Figure 1 , in some examples, the switching signal includes a steering signal. The mapping relationship may include: the mapping relationship between the steering amplitude of the vehicle and a fourth preset rotation angle. Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling the camera to rotate by the fourth preset rotation angle. For example, according to the steering signal, the mapping relationship between the steering amplitude of the vehicle and the fourth preset rotation angle can be obtained, so as to control the camera to rotate by the fourth preset rotation angle.

[0119] For example, the steering amplitude includes the steering wheel rotation angle or the tire steering angle. For example, the steering wheel rotation angle or the tire steering angle is positively correlated with the fourth preset rotation angle. For example, the larger the steering wheel rotation angle or the tire steering angle, the larger the fourth preset rotation angle. For example, the smaller the steering wheel rotation angle or the tire steering angle, the smaller the fourth preset rotation angle.

[0120] When the steering wheel rotation angle or the tire steering angle is larger, the rotation angle of the camera is larger, which can provide a larger field of view for the driver, so that the picture information captured by the camera is larger, and the blind area of vision is smaller, which is beneficial to driving safety.

[0121] Reference Figure 1, in some examples, the electronic rearview mirror includes a left camera located on the left side of the vehicle and a right camera located on the right side of the vehicle, and the switching signal includes a lane change signal. The mapping relationship includes: the mapping relationship between the steering amplitude and the fifth preset rotation angle when the switching signal is a left turn signal; the mapping relationship between the steering amplitude and the sixth preset rotation angle when the switching signal is a right turn signal. Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, includes: when the steering signal is a left turn signal, controlling the left camera to rotate by the fifth preset rotation angle; when the steering signal is a right turn signal, controlling the right camera to rotate by the sixth preset rotation angle.

[0122] For example, when the vehicle changes lanes to the left, it can be determined as a left turn signal based on the steering wheel rotation angle or the tire steering angle, so as to control the rotation of the left camera. For example, when the vehicle changes lanes to the right, it can be determined as a right turn signal based on the steering wheel rotation angle or the tire steering angle, so as to control the rotation of the right camera.

[0123] Figure 5A is a schematic diagram of a vehicle changing lanes, Figure 5B is a schematic diagram of the field of view of an electronic rearview mirror. Figure 6 is a schematic diagram of the field of view of the electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0124] Refer to Figure 1 、 Figure 5A and Figure 5B , when the vehicle needs to change lanes to the left, it is usually necessary to observe the situation of the left rear lane. Correspondingly, when it needs to change lanes to the right, it is necessary to observe the situation of the right rear lane. Taking the width of each lane as 3.5 meters as an example, as Figure 5B shown, the field of view width of some rearview mirrors is difficult to cover two or more lanes completely. When the vehicle changes multiple lanes to the left, since the situation of multiple lanes cannot be seen, the vehicle can only merge into the left side lane by lane, with low merging efficiency, causing road congestion and increasing the risk of traffic accidents at the same time. Refer to Figure 6 , in the embodiment of the present disclosure, when the steering signal is a left turn signal, by controlling the left camera to rotate by the fifth preset rotation angle, a larger field of view on the left side can be obtained, and the driver can see the situation of more lanes, thus facilitating the driver to improve the merging efficiency. For example, when the steering signal is a right turn signal, the right camera can be controlled to rotate by the fifth preset rotation angle, so as to facilitate merging to the right.

[0125] For example, multiple left cameras can be set on the left side of the vehicle. For example, multiple right cameras can be set on the right side of the vehicle. Thus, multiple cameras can achieve simultaneous monitoring of multiple lanes and can also control the number of monitored lanes.

[0126] In some examples, the electronic rearview mirror includes a left camera located on the left side of the vehicle and a right camera located on the right side of the vehicle, and the switching signal includes a steering signal; the mapping relationship includes: the mapping relationship between the steering amplitude and the seventh preset rotation angle when the switching signal is a left-turn signal; the mapping relationship between the steering amplitude and the eighth preset rotation angle when the switching signal is a right-turn signal; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: when the steering signal is a left-turn signal, controlling the left camera to rotate by the seventh preset rotation angle; when the steering signal is a right-turn signal, controlling the right camera to rotate by the eighth preset rotation angle.

[0127] For example, when the steering signal is a left-turn signal, the vehicle is turning or about to turn left, and there will be a blind spot in a part of the left rear of the vehicle. By adjusting the viewing angle of the left camera, this blind spot can be compensated, helping the driver observe vehicles, pedestrians, etc. in the right rear, thereby improving driving safety. For example, the left camera can be deflected downward to the left to more clearly see the obstacles on the left ground. Of course, when the steering signal is a left-turn signal, the right camera can also be controlled to rotate to see more of the right field of view. Correspondingly, when the steering signal is a right-turn signal, the blind spot can be reduced by adjusting the viewing angle of the right camera. Of course, when the steering signal is a left-turn signal, the viewing angle of the left camera can also be adjusted, and the present disclosure does not limit this.

[0128] In some examples, the method further includes: determining whether the switching signal is a left-turn signal or a right-turn signal based on the steering wheel rotation direction or the tire steering direction. For example, it can be determined that the switching signal is a right-turn signal according to the clockwise rotation of the steering wheel. For example, it can be determined that the switching signal is a left-turn signal according to the counterclockwise rotation of the steering wheel. For example, it can be determined that the switching signal is a left-turn signal according to the tire turning to the left. For example, it can be determined that the switching signal is a right-turn signal according to the tire turning to the right.

[0129] Reference Figure 1, in some examples, the electronic rearview mirror includes a first camera and a second camera located on the same side of the vehicle. For example, both the first camera and the second camera can be located on the left side of the vehicle. For example, both the first camera and the second camera can be located on the right side of the vehicle. The switching signal includes a lane change signal, and the mapping relationship includes: the mapping relationship between the lane change distance and the working state. Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, can include: in response to the lane change distance being greater than a preset lane change distance, changing the first camera from the working state to the non-working state, and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state. During the vehicle lane change process, by alternately working the first camera and the second camera, on the one hand, energy consumption can be saved, and on the other hand, according to different requirements during the lane change process, a camera with a more suitable field of view can be selected to improve driving safety.

[0130] Figure 7A and Figure 7B is a working schematic diagram of different cameras of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0131] Reference Figure 7A and Figure 7B , for example, the second camera 202 can be a camera located outside the first camera 102, and the first camera 102 is located between the vehicle 300 and the second camera 202. During the straight driving process of the vehicle 300, the first camera 102 can be made to work. When the vehicle 300 needs to turn, change lanes or needs a wider field of view on the outside, the second camera 202 can be made to work and the first camera 102 can be made not to work, so as to obtain a larger field of view through the second camera 202 on the outside, expand the field of vision range, and the driver can more effectively observe the traffic information behind, so as to predict potential dangers in advance. For example, when changing lanes to the right and the lane change distance is greater than the preset lane change distance, the second camera 202 on the right side of the vehicle 300 can be controlled to replace the first camera 102 on the right side of the vehicle 300 to work, saving energy consumption while facilitating the driver to observe the traffic information on the right rear.

[0132] Reference Figure 1, in some examples, the electronic rearview mirror includes a first camera and a second camera on the same side of the vehicle, and the switching signal includes a lane change signal. The mapping relationship includes: the mapping relationship between the lane change distance and the working state. Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, includes: in response to the lane change distance being greater than the preset lane change distance, keeping the first camera in the working state and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state. For example, while the first camera is in the working state, in response to the lane change distance being greater than the preset lane change distance, the second camera can be controlled to work, so as to obtain a better field of view through the two cameras.

[0133] For example, the first camera can be a telephoto camera, and the second camera can be a wide-angle camera. A telephoto camera is a lens with a relatively narrow viewing angle and usually has a long focal length. Therefore, it can capture distant scenes. A wide-angle camera is a camera with a wide-angle function. The wide-angle camera has a short focal length and a large viewing angle, and can capture a large area of scenery within a short shooting distance range. For example, during the straight driving of the vehicle, a farther field of view can be obtained through the telephoto camera, and when the vehicle needs to change lanes, the wide-angle camera can be controlled to obtain a larger area of view.

[0134] It can be understood that the first camera and the second camera can also select different cameras to work or not work in response to different external environments, so as to maximize the utilization of the performance of different cameras. The present disclosure does not limit this.

[0135] For example, among the first camera and the second camera on the same side of the vehicle, the first camera can be located outside the second camera, that is, the second camera is located between the first camera and the vehicle. The second camera close to the vehicle can be set as the main camera, and the first camera can be set as the auxiliary camera. For example, the main picture in the first image or the second image can be obtained through the first camera, and the picture compensation can be performed through the second camera.

[0136] For example, the electronic rearview mirror can include a first camera and a second camera. The first camera can be set as the main camera, and the second camera can be set as the auxiliary camera. The first camera and the second camera can respectively implement different functions. For example, the first image or the second image can be obtained by the first camera, and the second camera can be controlled by the co-pilot to implement entertainment functions. For example, functions such as picture zoom, picture scaling, and vehicle recognition can be implemented through the second camera.

[0137] Reference Figure 1, in some examples, the electronic rearview mirror includes at least two cameras; obtaining the first image of the electronic rearview mirror in the first state, that is, step S110, includes: respectively obtaining at least two first sub-images of the at least two cameras in the first state; performing a fusion process on the at least two first sub-images to obtain the first image. Obtaining the second image of the electronic rearview mirror in the second state, that is, step S150, includes: respectively obtaining at least two second sub-images of the at least two cameras in the second state; performing a fusion process on the at least two second sub-images to obtain the second image. For example, when the at least two cameras are working simultaneously, by performing a fusion process on the images respectively obtained by the at least two cameras, it is possible to prevent the overlapping of the viewing angles between the cameras and the overlapping of the sub-images, which may affect the display of the image, and ensure that the display screen can display a complete image.

[0138] Figure 8 Schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0139] Reference Figure 8 , in some examples, the electronic rearview mirror includes a first camera 103 and a second camera 203. The electronic rearview mirror is configured to meet at least one of the following conditions: the first camera 103 is configured to obtain an input image, and the input image includes a first image and a second image; the second camera 203 is configured to detect abnormal information. It can be understood that Figure 8 only schematically shows that multiple cameras can be arranged on the same side of the vehicle, rather than limiting the relative positional relationship between the cameras. For example, the first camera can be an image sensor (Sensor). The first camera can be a photosensitive sensor or a CCD camera. For example, the second camera can be an infrared camera. It can be understood that the first camera and the second camera can also be other types of cameras or sensors, and the present disclosure does not limit this.

[0140] Taking the first camera as a CCD camera and the second camera as an infrared camera as an example for illustration. The second camera (infrared camera) can be only used to detect abnormal information and does not contribute to the image, so as to save resources such as computing power, and only plays a role when the infrared camera detects a risk (such as when a large vehicle is reversing). For example, during normal driving, the first camera can be controlled to obtain a first image or a second image, and the first image or the second image is displayed on the display screen in the electronic rearview mirror. At this time, the image obtained by the infrared camera may not be displayed on the display screen.

[0141] In some examples, the method further includes: in response to the second camera detecting abnormal information, issuing an alarm reminder; wherein the alarm reminder includes at least one of a voice message reminder and a screen display reminder. For example, when abnormal information appears outside the currently displayed screen of the display and within the working range of the infrared camera (for example, a child suddenly breaks into the working range of the infrared camera), the alarm reminder can be automatically triggered. For example, the driver can be warned through a voice message reminder. For example, a screen display reminder can be shown on the display screen to warn the driver.

[0142] In some examples, the screen display reminder includes at least one of the following: adjusting the edge glow brightness of the input image; adjusting the edge brightness change frequency of the input image. For example, adjusting the edge glow brightness of the input image can be to adjust the glow brightness of the peripheral area of the input image, thereby warning the driver without affecting the driver's viewing of the screen. For example, the abnormal information can include the distance between the abnormal factor and the vehicle, so that different intensities of brightness can be achieved according to different distances. For example, when the distance is closer, a brighter brightness can be displayed. For example, the flicker frequency of the input image can be adjusted. For example, when the distance is closer, the brightness change frequency can be made faster.

[0143] For example, the abnormal information can further include the relative position relationship between the abnormal factor and the vehicle, so that through this relative position relationship, warnings can be given at different positions in the input image. For example, the relative position relationship between the abnormal factor and the vehicle can be determined according to the position relationship between the second camera and the first camera. For example, when the second camera detects an abnormal factor in the lower right corner of the first camera, a screen display reminder can be issued corresponding to the lower right corner of the input image.

[0144] For example, a plurality of second cameras spaced apart from each other can be arranged circumferentially around a first camera. For example, a second camera can be arranged above, below, to the left, and to the right of the first camera respectively. For example, when the second camera above detects abnormal information, a warning can be given corresponding to the upper edge of the input image. For example, a first camera and a second camera can be provided, and the second camera can be controlled to perform periodic scanning circumferentially around the first camera.

[0145] For example, a slide rail can be arranged around the first camera, and the second camera can be arranged inside the slide rail. By controlling the periodic movement of the second camera inside the slide rail, periodic scanning of the second camera can be achieved. For example, it can be set that with the center line of the field of view of the first camera as the reference axis, the center of the second camera is set on this reference axis and behind the first camera. For example, the center line of the field of view of the second camera can be set to form an angle with the center line of the field of view of the first camera, so that the second camera can rotate around its center point to detect the periphery of the first camera. For example, during the rotation of the second camera, the relative position relationship between the abnormal factor and the vehicle can be determined to give a warning at the corresponding edge of the input picture.

[0146] For example, different control methods can be triggered according to different operations of the user (such as the driver, passengers, etc.). For example, in response to the driver not operating within the unit time threshold (for example, the driver fails to notice the alarm information), the vehicle can be emergently braked. For example, in response to the driver's touch operation on the display screen, the current input picture (such as the first image) on the display screen can be reconstructed to display a picture with a larger field of view (such as the second image), so that the abnormal factor is displayed in the reconstructed picture. For example, in response to the user's line of sight or fixation point concentrating on the input picture, the picture can be reconstructed. For example, the system can be informed by voice, and in response to the user's voice notification, the picture can be reconstructed. For example, the picture can be reconstructed by adjusting the focus of the camera. For example, the picture can be reconstructed by the method of virtual picture reconstruction, such as the method of splicing a CCD camera and an infrared camera.

[0147] For example, the display picture can be controlled to slowly move between the current picture (such as the first picture) and the picture after reconstruction that displays the abnormal factor. For example, without changing the focal length of the camera, the movement of the camera can be controlled, such as controlling the swing of the lens in the spherical camera.

[0148] For example, the abnormal object in the abnormal information can also be marked. For example, when an abnormal object appears in the input image obtained by the first camera displayed on the display screen, the abnormal object can be marked, so as to improve the visualization degree and more vividly remind the user. For example, after the display picture is reconstructed from the current picture, the abnormal object after reconstruction can be marked. For example, the abnormal object can be boxed and tracked.

[0149] In some examples, the first image is different from the second image. For example, when the display screen is initialized and started, the initial position of the camera can be adjusted by touching the display screen so that the camera remains in a position that conforms to the user's driving habit. For example, the first image can be an image obtained by the camera at the initial position. For example, based on some of the foregoing examples, the second image can be an image obtained after the camera moves, or an image obtained by reconstructing the picture based on the first image. For example, in response to a user's control instruction, the camera can be reset to obtain the first image.

[0150] For example, in combination with some of the foregoing examples, when the vehicle switches from the first driving state to the second driving state, it can be a state switch from turning to going straight, from a slope to a flat road, etc. In this case, the camera can also switch back from the current position to the initial state (for example, reset).

[0151] For example, in combination with some of the foregoing examples, when the camera in the electronic rearview mirror obtains abnormal information, the second image can be displayed on the display screen by reconstructing the picture. When the abnormal information disappears or the dangerous situation is lifted, the second image can be restored to the first image. For example, the picture can be reset by touching the display screen, or the picture can be automatically reset.

[0152] Figure 9 The flowchart of a control method for an electronic rearview mirror provided by at least one embodiment of the present disclosure. Figures 10A to 10D The schematic diagram of the state switch of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0153] Reference Figures 9 to 10D , in some examples, the method further includes the following steps S210 to S230.

[0154] Step S210: Obtain the picture offset when the electronic rearview mirror switches from the first state to the second state.

[0155] Step S220: Determine the overlapping area between the first image and the second image based on the picture offset.

[0156] Step S230: Mark the overlapping area on the second image.

[0157] The picture offset obtained through the electronic rearview mirror can determine the overlapping area between the first image S1 and the second image S2 displayed on the display screen. By marking this overlapping part on the second image S2, the user can know the offset of the second image S2 compared to the first image S1, so that the user can have a certain judgment and understanding of the degree to which the current picture (for example, the second image S2) deviates from the image at the initial position (for example, the first image S1).

[0158] ReferenceFigures 9 to 10D , for example, in step S210, the picture offset can be determined after the state of the electronic rearview mirror is switched. For example, after the camera 105 rotates at an angle, the corresponding field of view also changes, and the acquired image changes compared with that before the rotation, so that the picture offset can be determined according to the rotation angle of the camera 105. For example, when the camera moves or switches, the field of view will change accordingly, so that the picture offset can be determined according to the moving distance or switching method of the camera. For example, in combination with the foregoing example, the first image and the second image can also be different images (such as the first image and the second image) intercepted from the input image obtained by the camera through an algorithm when the camera does not move at all.

[0159] Reference Figures 9 to 10D , for example, in step S220, the offset degree of the second image S2 relative to the first image S1 can be determined according to the picture offset, so as to obtain the overlapping area. For example, the overlapping area between the first image S1 and the second image S2 can correspond to the overlapping area of the field of view before and after the rotation of the camera 105.

[0160] Reference Figures 9 to 10D , for example, in step S230, by marking the overlapping area, the user can more intuitively see the relationship between the second image S2 and the first image S1, so as to determine the current picture offset. For example, the boundary of the overlapping area can be obtained and marked on the second image S2. For example, a dashed box that coincides with the boundary of the overlapping area can be determined and the dashed box can be displayed at the position corresponding to the overlapping area on the second image S2. Of course, other methods can also be used to mark the overlapping area, such as dividing the overlapping area on the second image with a dashed line, and the present disclosure does not limit this.

[0161] Combined with the foregoing example, taking the switching signal as the vehicle slope driving signal as an example for illustration. Reference Figure 10A and Figure 10B , Figure 10A is the orientation of the camera when the vehicle is going straight. For example, the camera can be in the initial position at this time. For example, if the vehicle is determined to be in the uphill state according to the current slope, the camera 10 can be controlled to rotate upward by a second preset rotation angle (such as Figure 10B ), so that the electronic rearview mirror is switched from the first state to the second state to obtain a larger upper field of view. For example, Figure 10BThe camera 10 shown can be a spherical camera, and the gray area can represent the lens of the camera. Due to the change in the angle of the camera 10, the field of view of the camera 10 changes, and the first image S1 obtained by the electronic rearview mirror in the first state and the second image S2 obtained in the second state can be different, and the images displayed on the display screen of the electronic rearview mirror can be different. Thus, a dashed box can be displayed in the second image S2 so that the driver can have a certain judgment and understanding of the offset degree of the second image relative to the first image, thereby knowing the offset degree of the camera.

[0162] Combined with the foregoing example, taking the switching signal as the steering signal as an example for illustration. Refer to Figure 10A and Figure 10C , for example, the vehicle can determine that the switching signal is a right turn signal according to the steering wheel rotation angle to control the camera (or the lens of the camera) to rotate left by a fourth preset rotation signal (for example, deflect outward). At this time, the rectangular box can represent the second image S2 obtained by the electronic rearview mirror in the second state, and the dashed box can represent the first image S1 obtained by the electronic rearview mirror in the first state. The overlapping part between the dashed box and the rectangular box can represent the overlapping area between the first image S1 and the second image S2. It can be seen that by controlling the camera to rotate left, more rear views on the left side can be obtained, thereby reducing the blind area. Refer to Figure 10A and Figure 10D , by controlling the camera to rotate downward to the left, more lower left fields of view can be obtained.

[0163] Figure 11A and Figure 11B are schematic diagrams of the state switching of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0164] For example, the camera bracket 10 and the vehicle 300 can be connected by a rotating shaft 310. The present disclosure does not limit this. For example, the camera 105 and the camera bracket 10 in the electronic rearview mirror are located outside the vehicle. When the camera bracket 10 drives the camera 105 to move toward the vehicle 300, not only can the field of view of the camera 105 be adjusted as needed, but also the overall vehicle 300, the camera 105, and the camera bracket 10 can be made more smooth, reducing wind resistance, and being beneficial to preventing scratches in narrow lanes. It can be understood that a rotating shaft extending in a direction perpendicular to the ground can be added, and a rotating shaft extending in a direction parallel to the ground can also be added. Thus, according to actual needs, the camera can be adjustable in the left-right direction or the up-down direction.

[0165] In some examples, the electronic rearview mirror includes a camera and a camera bracket; the camera bracket is used to connect to a vehicle. The mapping relationship includes: the mapping relationship between the rotation angle of the camera bracket and the rotation angle of the camera. The rotation angle of the camera bracket is negatively correlated with the rotation angle of the camera. For example, when the vehicle is driving in a narrow lane, by controlling the camera bracket to rotate towards the direction close to the vehicle, that is, "bending" the whole of the camera bracket and the camera inward, the width of the whole formed by the vehicle and the electronic rearview mirror can be made smaller to prevent rubbing. At the same time, the rotation angle of the camera is negatively correlated with the rotation angle of the camera bracket, that is, the camera can rotate outward, so that when the input image obtained by the camera is displayed on the display screen, the first image of the electronic rearview mirror in the first state and the second image in the second state remain unchanged.

[0166] Figure 12 Schematic block diagram of an electronic rearview mirror device provided by at least one embodiment of the present disclosure.

[0167] Refer to Figure 12 , at least one embodiment of the present disclosure provides an electronic rearview mirror device 600 for a vehicle. For example, the electronic rearview mirror device 600 may include an acquisition module 601, an acquisition module 602, a mapping module 603, and a switching module 604. These components are interconnected through a bus system and / or other forms of connection mechanisms (not shown). For example, these modules can be implemented by hardware (such as circuits), software modules, or any combination of the two, and the same applies to the following embodiments and will not be repeated. For example, these units can be implemented by a central processing unit (CPU), an image processing unit (GPU), a tensor processing unit (TPU), a field programmable gate array (FPGA), or other forms of processing units with data processing capabilities and / or instruction execution capabilities, as well as corresponding computer instructions. It should be noted that Figure 12 The components and structures of the electronic rearview mirror device 600 shown are exemplary and not restrictive. According to needs, the electronic rearview mirror device 600 may also have other components and structures.

[0168] Refer to Figure 12 , for example, the acquisition module 601 is configured to acquire the first image of the electronic rearview mirror in the first state.

[0169] Refer to Figure 12 , for example, the acquisition module 602 is configured to acquire a switching signal when the vehicle switches from the first driving state to the second driving state.

[0170] Refer to Figure 12 , for example, the mapping module 603 is configured to acquire a mapping relationship according to the switching signal.

[0171] Refer to Figure 12, for example, the switching module 604 is configured to control the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship.

[0172] Reference Figure 12 , for example, the acquisition module 601 is further configured to obtain a second image of the electronic rearview mirror in the second state.

[0173] Reference Figure 12 , for example, the acquisition module 601, the obtaining module 602, the mapping module 603, and the switching module 604 may include code and programs stored in the memory; the processor may execute the code and programs to implement some or all of the functions of the acquisition module 601, the obtaining module 602, the mapping module 603, and the switching module 604 as described above. For example, the acquisition module 601, the obtaining module 602, the mapping module 603, and the switching module 604 may be dedicated hardware devices used to implement some or all of the functions of the acquisition module 601, the obtaining module 602, the mapping module 603, and the switching module 604 as described above. For example, the acquisition module 601, the obtaining module 602, the mapping module 603, and the switching module 604 may be a circuit board or a combination of multiple circuit boards for implementing the functions as described above. In the embodiments of the present application, the combination of the one circuit board or multiple circuit boards may include: (1) one or more processors; (2) one or more non-transitory memories connected to the processor; and (3) firmware stored in the memory that can be executed by the processor.

[0174] Reference Figure 12 , it should be noted that the acquisition module 601 can be used to implement Figure 1 the steps S110 and S150 shown, the obtaining module 602 can be used to implement Figure 1 the step S120 shown, the mapping module 603 can be used to implement Figure 1 the step S130 shown, and the switching module 604 can be used to implement Figure 1 the step S140 shown. Therefore, for the specific description of the functions that the acquisition module 601, the obtaining module 602, the mapping module 603, and the switching module 604 can implement, reference can be made to the relevant descriptions of steps S110 to S150 in the embodiments of the control method of the electronic rearview mirror described above, and the repeated parts will not be elaborated. In addition, the electronic rearview mirror device 600 can achieve similar technical effects as the aforementioned control method of the electronic rearview mirror, which will not be elaborated here.

[0175] Reference Figure 12, It should be noted that in the embodiments of the present disclosure, the electronic rearview mirror device 600 may include more or fewer circuits or units, and the connection relationships between the respective circuits or units are not limited and may be determined according to actual needs. The specific composition manners of the respective circuits or units are not limited and may be composed of analog devices according to circuit principles, may be composed of digital chips, or may be composed in other applicable manners.

[0176] Reference Figure 12 , for example, the acquisition module 601, the obtaining module 602, the mapping module 603, and the switching module 604 may also implement more or further functions.

[0177] Reference Figure 12 , for example, the switching module 604 may also be configured to: control at least one of the first camera and the second camera to move to change the distance between the center connection lines of the first camera and the second camera.

[0178] Reference Figure 12 , for example, the switching module 604 may also be configured to: control at least one of the first camera and the second camera to rotate a first preset rotation angle, and the first preset rotation angle is negatively correlated with the distance between the center connection lines.

[0179] Reference Figure 12 , for example, the switching module 604 may also be configured to: control at least one of the first camera and the second camera to move so that the electronic rearview mirror switches from the first state to the second state.

[0180] Reference Figure 12 , for example, the switching module 604 may also be configured to: control the first camera and the second camera to move synchronously or separately so that the electronic rearview mirror switches from the first state to the second state.

[0181] Reference Figure 12 , for example, the switching module 604 may also be configured to: control at least one camera to rotate to change the rotation angle of at least one camera.

[0182] Reference Figure 12 , for example, the switching module 604 may also be configured to: control the camera to rotate a second preset rotation angle.

[0183] Reference Figure 12 , for example, the switching module 604 may also be configured to: control the camera to rotate a third preset rotation angle.

[0184] Reference Figure 12 , for example, the switching module 604 may also be configured to: control the camera to rotate a fourth preset rotation angle.

[0185] Reference Figure 12, for example, the switching module 604 can also be configured to: in response to the lane change distance being greater than a preset lane change distance, change the first camera from the working state to the non - working state, and change the second camera from the non - working state to the working state, so that the electronic rearview mirror is switched from the first state to the second state.

[0186] Reference Figure 12 , for example, the switching module 604 can also be configured to: in response to the lane change distance being greater than a preset lane change distance, keep the first camera in the working state, and change the second camera from the non - working state to the working state, so that the electronic rearview mirror is switched from the first state to the second state.

[0187] Reference Figure 12 , for example, the switching module 604 can also be configured to: when the steering signal is a left - turn signal, control the left - hand camera to rotate a fifth preset rotation angle; when the steering signal is a right - turn signal, control the right - hand camera to rotate a sixth preset rotation angle.

[0188] Reference Figure 12 , for example, the switching module 604 can also be configured to: when the steering signal is a left - turn signal, control the right - hand camera to rotate a seventh preset rotation angle; when the steering signal is a right - turn signal, control the left - hand camera to rotate an eighth preset rotation angle.

[0189] Reference Figure 12 , for example, the acquisition module 602 can also be configured to: respectively acquire at least two first sub - images of at least two cameras in the first state; perform a fusion process on the at least two first sub - images to obtain a first image.

[0190] Reference Figure 12 , for example, the acquisition module 602 can also be configured to: respectively acquire at least two second sub - images of at least two cameras in the second state; perform a fusion process on the at least two second sub - images to obtain a second image.

[0191] For example, the electronic rearview mirror device can also include an alarm module, and the alarm module can be configured to: in response to the second camera detecting abnormal information, issue an alarm reminder; wherein, the alarm reminder includes at least one of a voice information reminder and a screen display reminder.

[0192] For example, the electronic rearview mirror device can also include a marking module, and the marking module can be configured to: acquire the screen offset amount of the electronic rearview mirror switched from the first state to the second state; based on the screen offset amount, determine the overlapping area between the first image and the second image; mark the overlapping area on the second image.

[0193] At least one embodiment of the present disclosure provides an electronic rearview mirror device, including: a first camera and a second camera located on the same side of the vehicle, at least one of the first camera and the second camera being configured to acquire an input image; a display device configured to display the input image. For example, the first camera and the second camera can be provided on the left side of the vehicle. For example, the first camera and the second camera can be provided on the right side of the vehicle. For example, the first camera can be provided as one or multiple. For example, the second camera can be provided as one or multiple. For example, the first camera and the second camera can be of the same type of camera (e.g., both are CCD cameras), or can be of different types of cameras (e.g., the first camera is a CCD camera and the second camera is an infrared camera). For example, the first camera and the second camera can increase the field of view, and can also be set to different types to reduce the blind area. For specific reference, some of the foregoing examples can be referred to, and details will not be elaborated herein.

[0194] In some examples, the rearview mirror device further includes a connection unit; the connection unit is telescopically connected between the first camera and the second camera. By providing the connection unit, the distance of the center line connection between the first camera and the second camera can be adjusted through the connection unit to obtain different fields of view as needed.

[0195] In some examples, the first camera is configured to acquire an input image, and the second camera is configured to detect abnormal information. For example, the first camera can be an image sensor (Sensor). The first camera can be a photosensitive sensor or a CCD camera. For example, the second camera can be an infrared camera. It can be understood that the first camera and the second camera can also be other types of cameras or sensors, and the present disclosure does not limit this. For specific reference, the descriptions in some of the foregoing examples can be referred to, and details will not be elaborated herein.

[0196] At least one embodiment of the present disclosure provides a vehicle device, including: a vehicle and the electronic rearview mirror device in any of the foregoing examples. The electronic rearview mirror device is connected to the vehicle. The electronic rearview mirror device further includes a camera bracket, at least one of the first camera and the second camera being mounted on the camera bracket; at least one of the first camera, the second camera, and the camera bracket is configured to be movable relative to the vehicle. For example, when the vehicle device is driving in a narrow lane, by controlling the camera bracket to move towards the vehicle, the width of the vehicle device can be made smaller to prevent rubbing. At the same time, by controlling the camera to rotate outwards, when the input picture acquired by the camera is displayed on the display screen, the first image in the first state and the second image in the second state of the electronic rearview mirror can be kept unchanged.

[0197] Figure 13 It is a schematic block diagram of an electronic device provided by at least one embodiment of the present disclosure.

[0198] Reference Figure 13 Figure 13 , at least one embodiment of the present disclosure provides an electronic device 700. For example, the electronic device 700 includes a memory 701 and a processor 702. It should be noted that Figure 13 Figure 13 the components of the electronic device 700 shown are exemplary and not restrictive. According to actual application needs, the electronic device 700 may also have other components.

[0199] Reference Figure 13 Figure 13 , for example, the memory 701 non-transiently stores computer-executable instructions, and the processor 702 is configured to run the computer-executable instructions. When the computer-executable instructions are run by the processor 702, the control method of the electronic rearview mirror according to any of the above examples is implemented. For the specific implementation of each step of the control method of the electronic rearview mirror and the related explanatory content, reference can be made to the embodiments of the above image processing method, and the repeated parts will not be elaborated here.

[0200] Figure 14 Figure 14 This is a schematic diagram of a non-transient computer-readable storage medium provided by at least one embodiment of the present disclosure.

[0201] Reference Figure 14 Figure 14 , at least one embodiment of the present disclosure provides a non-transient computer-readable storage medium 800, wherein the non-transient computer-readable storage medium 800 stores computer-executable instructions 801, and when the computer-executable instructions 801 are executed by a processor, the control method of the electronic rearview mirror according to any of the above is implemented.

[0202] Reference Figure 14 Figure 14 , for example, the memory may include any combination of one or more computer program products, and the computer program products may include various forms of computer-readable storage media 800, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, flash memory, etc. One or more computer-readable instructions may be stored on the computer-readable storage medium 800, and the processor may run the computer-readable instructions to implement various functions of the electronic device. Various application programs and various data, etc. may also be stored in the storage medium 800.

[0203] Reference Figure 14, for example, the processor can control other components in the electronic device to perform desired functions. The processor can be a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The central processing unit (CPU) can be of the X86 or ARM architecture, etc.

[0204] Reference Figure 14 , for example, the non-transitory computer-readable storage medium 800 stores computer-executable instructions 801, and when the computer-executable instructions 801 are executed by the processor, the image processing method according to any one of the above can be implemented.

[0205] Reference Figure 14 , for example, the storage medium 800 can be applied to the above-mentioned electronic device. For example, the storage medium 800 can include the memory in the electronic device.

[0206] Reference Figure 14 , for example, the description of the storage medium 800 can refer to the description of the memory in the embodiment of the electronic device, and the repeated parts will not be elaborated.

[0207] The above description is only for the preferred embodiments of the present disclosure and the description of the applied technical principles. Those skilled in the art should understand that the scope of the disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the present disclosure.

[0208] In addition, although the operations are depicted in a specific order, this should not be construed as requiring that the operations be performed in the specific order shown or in sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of a single embodiment can also be implemented in combination in a single embodiment. Conversely, the various features described in the context of a single embodiment can also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0209] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. On the contrary, the specific features and acts described above are merely example forms for implementing the claims.

[0210] The following points need to be noted:

[0211] (1) In the accompanying drawings of the embodiments of the present disclosure, only the structures related to the embodiments of the present disclosure are involved, and other structures can refer to the general design.

[0212] (2) Without conflict, the features in the same embodiment and different embodiments of the present disclosure can be combined with each other.

[0213] The above description is only an exemplary embodiment of the present disclosure and is not used to limit the protection scope of the present disclosure. The protection scope of the present disclosure is determined by the appended claims.

Claims

1. A control method for an electronic rearview mirror, used for a vehicle, comprising: Obtaining a first image of the electronic rearview mirror in a first state; Obtaining a switching signal for the vehicle to switch from a first driving state to a second driving state; Obtaining a mapping relationship according to the switching signal; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; Obtaining a second image of the electronic rearview mirror in the second state.

2. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes at least one camera.

3. The control method of the electronic rearview mirror according to claim 2, wherein, The at least one camera includes a first camera and a second camera located on the same side of the vehicle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling at least one of the first camera and the second camera to move to change the distance between the center lines of the first camera and the second camera.

4. The control method of the electronic rearview mirror according to claim 3, wherein, The electronic rearview mirror includes a connection unit; The connection unit is telescopically connected between the first camera and the second camera to change the distance between the center lines.

5. The control method of the electronic rearview mirror according to claim 3, wherein, The switching signal includes at least one of a steering signal, a vehicle slope driving signal, a vehicle speed signal, and a lane change signal, and the mapping relationship includes at least one of a mapping relationship between a steering amplitude and the distance between the center lines, a mapping relationship between a current slope and the distance between the center lines, a mapping relationship between a current speed and the distance between the center lines, and a mapping relationship between a lane change distance and the distance between the center lines.

6. The control method of the electronic rearview mirror according to claim 5, wherein, The steering amplitude includes a steering wheel rotation angle or a tire steering angle, and the steering wheel rotation angle or the tire steering angle is positively correlated with the distance between the center lines.

7. The control method of the electronic rearview mirror according to claim 5, wherein, Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling at least one of the first camera and the second camera to rotate a first preset rotation angle, and the first preset rotation angle is negatively correlated with the distance between the center lines.

8. The control method of the electronic rearview mirror according to claim 2, wherein, The at least one camera includes a first camera and a second camera; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling at least one of the first camera and the second camera to move so that the electronic rearview mirror switches from the first state to the second state.

9. The control method of the electronic rearview mirror according to claim 8, wherein, Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the first camera and the second camera to move synchronously or separately so that the electronic rearview mirror switches from the first state to the second state.

10. The control method of the electronic rearview mirror according to claim 2 or 3, wherein, Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the at least one camera to rotate to change the rotation angle of the at least one camera.

11. The control method of the electronic rearview mirror according to claim 10, wherein, The switching signal includes a vehicle slope driving signal; The mapping relationship includes: a mapping relationship between the current slope of the vehicle and a second preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the camera to rotate the second preset rotation angle.

12. The control method of the electronic rearview mirror according to claim 10, wherein, The switching signal includes a vehicle speed signal; The mapping relationship includes: the mapping relationship between the current speed of the vehicle and the third preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the camera to rotate by the third preset rotation angle.

13. The control method of the electronic rearview mirror according to claim 10, wherein, The switching signal includes a steering signal; The mapping relationship includes: the mapping relationship between the steering amplitude of the vehicle and the fourth preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the camera to rotate by the fourth preset rotation angle.

14. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes a first camera and a second camera on the same side of the vehicle; The switching signal includes a lane change signal; The mapping relationship includes: the mapping relationship between the lane change distance and the working state; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: In response to the lane change distance being greater than the preset lane change distance, changing the first camera from the working state to the non-working state, and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

15. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes a first camera and a second camera on the same side of the vehicle; The switching signal includes a lane change signal; The mapping relationship includes: the mapping relationship between the lane change distance and the working state; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: In response to the lane change distance being greater than the preset lane change distance, keeping the first camera in the working state, and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

16. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes a left camera on the left side of the vehicle and a right camera on the right side of the vehicle, The switching signal includes a lane change signal; The mapping relationship includes: In the case where the switching signal is a left turn signal, the mapping relationship between the steering amplitude and the fifth preset rotation angle; in the case where the switching signal is a right turn signal, the mapping relationship between the steering amplitude and the sixth preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: When the steering signal is a left turn signal, controlling the left camera to rotate by the fifth preset rotation angle; When the steering signal is a right turn signal, controlling the right camera to rotate by the sixth preset rotation angle.

17. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes a left camera on the left side of the vehicle and a right camera on the right side of the vehicle, The switching signal includes a steering signal; The mapping relationship includes: in the case where the switching signal is a left turn signal, the mapping relationship between the steering amplitude and the seventh preset rotation angle; in the case where the switching signal is a right turn signal, the mapping relationship between the steering amplitude and the eighth preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: When the turn signal is a left turn signal, control the left camera to rotate by the seventh preset rotation angle; When the turn signal is a right turn signal, control the right camera to rotate by the eighth preset rotation angle.

18. The control method of the electronic rearview mirror according to claim 17, further comprising: Determine that the switching signal is the left turn signal or the right turn signal based on the steering wheel rotation direction or the tire steering direction.

19. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes at least two cameras; Obtain a first image of the electronic rearview mirror in the first state, including: Respectively obtain at least two first sub-images of the at least two cameras in the first state; Perform a fusion process on the at least two first sub-images to obtain the first image; Obtain a second image of the electronic rearview mirror in the second state, including: Respectively obtain at least two second sub-images of the at least two cameras in the second state; Perform a fusion process on the at least two second sub-images to obtain the second image.

20. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes a first camera and a second camera; The electronic rearview mirror is configured to satisfy at least one of the following conditions: The first camera is configured to obtain an input image, and the input image includes the first image and the second image; The second camera is configured to detect abnormal information.

21. The control method of the electronic rearview mirror according to claim 20, further comprising: In response to the second camera detecting the abnormal information, issue an alarm reminder; Wherein, the alarm reminder includes at least one of a voice information reminder and a screen display reminder.

22. The control method of the electronic rearview mirror according to claim 21, wherein, The screen display reminder includes at least one of the following: Adjust the edge emission brightness of the input image; Adjust the edge brightness change frequency of the input image.

23. The control method of the electronic rearview mirror according to claim 1, wherein, The first image is different from the second image.

24. The control method of the electronic rearview mirror according to claim 23, further comprising: Obtain the screen offset amount of the electronic rearview mirror when switching from the first state to the second state; Based on the screen offset amount, determine the overlapping area between the first image and the second image; Mark the overlapping area on the second image.

25. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes a camera and a camera bracket; The camera bracket is used to connect to the vehicle; The mapping relationship includes: The mapping relationship between the rotation angle of the camera bracket and the rotation angle of the camera; Wherein, the rotation angle of the camera bracket is negatively correlated with the rotation angle of the camera.

26. An electronic rearview mirror device for a vehicle, comprising: An acquisition module, configured to obtain a first image of the electronic rearview mirror in the first state; An acquisition module, configured to obtain a switching signal for the vehicle to switch from a first driving state to a second driving state; A mapping module, configured to obtain a mapping relationship according to the switching signal; A switching module, configured to control the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; The acquisition module is further configured to obtain a second image of the electronic rearview mirror in the second state.

27. An electronic rearview mirror device, comprising: A first camera and a second camera on the same side of the vehicle, at least one of the first camera and the second camera being configured to acquire an input image; A display device configured to display the input image.

28. The electronic rearview mirror device according to claim 27, further comprising a connection unit; The connection unit is telescopically connected between the first camera and the second camera.

29. The electronic rearview mirror device according to claim 27, wherein the first camera is configured to acquire an input image, and the second camera is configured to detect abnormal information.

30. A vehicle device, comprising: A vehicle; The electronic rearview mirror device according to any one of claims 27-29, connected to the vehicle; wherein the electronic rearview mirror device further comprises a camera bracket, and at least one of the first camera and the second camera is mounted on the camera bracket; At least one of the first camera, the second camera, and the camera bracket is configured to be movable relative to the vehicle.

31. An electronic device, comprising: A memory that non-transiently stores computer-executable instructions; A processor configured to run the computer-executable instructions, wherein when the computer-executable instructions are run by the processor, the control method of the electronic rearview mirror according to any one of claims 1-25 is implemented.

32. A non-transitory computer-readable storage medium, wherein, The non-transient computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the control method of the electronic rearview mirror according to any one of claims 1-25 is implemented.

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