Rearview mirror regulation and control method based on driver posture perception and related device

Abstract

The invention discloses a rearview mirror regulation and control method based on driver posture perception and a related device. The method comprises the steps that when it is detected that the posture of a driver changes in a reversing scene, sensor data of a target vehicle are obtained, and sight included angles between the eyes of the driver and two rearview mirrors are calculated according to the heights of the rearview mirrors, the heights of the eyes of the driver and the distances between the eyes of the driver and the two rearview mirrors; according to the included angle between the left sight line and the right sight line and a set sensitivity factor, correction factors corresponding to the two rearview mirrors are calculated respectively; after basic turning angles of the left rearview mirror and the right rearview mirror are calculated according to the transverse distances between the left rearview mirror and the obstacle and between the right rearview mirror and the obstacle, respective correction factors are used for angle correction; and adjusting the corresponding rearview mirrors to turn downwards by using the corrected adjusting angles respectively. Therefore, asymmetric regulation and control processing of the rearview mirror is realized, the man-machine adaptability is enhanced, the regulation and control accuracy and timeliness of the rearview mirror are improved, and the driving safety is ensured.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, specifically to the fields of vehicle automatic control and rearview mirror adjustment, and particularly to a rearview mirror adjustment method and related device based on driver posture perception. Background Art

[0002] During the process of driving a vehicle, the rearview mirror is an important tool for the driver to observe the situation behind and on the sides of the vehicle. Especially during operations such as reversing, the function of the rearview mirror tilting downwards can help the driver better observe the surrounding environment of the vehicle. However, the traditional vehicle rearview mirror tilting downwards function usually adopts fixed-angle adjustment or a single control logic based on the distance to obstacles, and there are many defects:

[0003] Neglect of perspective asymmetry: Since the driver is located on the left side of the vehicle, there are significant differences in the viewing angles of the left and right rearview mirrors, resulting in uneven coverage of the left and right fields of view and affecting driving safety.

[0004] Influence of driving posture: Personalized factors such as the position of the driver's seat and the inclination angle of the backrest that affect the driver's posture will significantly affect the rearview mirror field of view, and the human-machine adaptability is poor.

[0005] Therefore, there is an urgent need to find a rearview mirror adjustment solution that can be adaptively adjusted according to the driver's posture and vehicle environment to improve driving safety and comfort. Summary of the Invention

[0006] This application provides a rearview mirror adjustment method and related device based on driver posture perception to solve the problem that the existing rearview mirror adjustment solutions neglect perspective asymmetry and the driver's posture, and cannot perform differential adjustment on the left and right rearview mirrors, resulting in inaccurate rearview mirror adjustment and poor human-machine adaptability.

[0007] The technical solutions are as follows:

[0008] In a first aspect, a rearview mirror adjustment method based on driver posture perception is provided, including:

[0009] When it is detected that the driver's posture changes, obtain the sensor data of the target vehicle, where the sensor data at least includes: the height of the rearview mirror, the height of the driver's eyes, the first oblique distance between the driver's eyes and the left rearview mirror, the second oblique distance between the driver's eyes and the right rearview mirror, the first horizontal distance between the left rearview mirror and the left obstacle, and the second horizontal distance between the right rearview mirror and the right obstacle;

[0010] According to the height of the rearview mirror, the height of the driver's eyes, the first oblique distance, and the second oblique distance, calculate the first line-of-sight angle between the driver's eyes and the left rearview mirror and the second line-of-sight angle between the driver's eyes and the right rearview mirror;

[0011] Based on the first line-of-sight angle and the second line-of-sight angle, as well as the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror, calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively;

[0012] Based on the first lateral distance and the second lateral distance, calculate the basic flipping angles of the left rearview mirror and the right rearview mirror respectively;

[0013] Use the first correction factor to correct the basic flipping angle of the left rearview mirror to obtain the first adjustment angle, and use the second correction factor to correct the basic flipping angle of the right rearview mirror to obtain the second adjustment angle; the first adjustment angle and the second adjustment angle are different;

[0014] Control the left rearview mirror to flip downward by the first adjustment angle in the initialization plane, and control the right rearview mirror to flip downward by the second adjustment angle in the initialization plane respectively.

[0015] In a possible implementation manner, calculate the first line-of-sight angle between the driver's eyes and the left rearview mirror and the second line-of-sight angle between the driver's eyes and the right rearview mirror according to the rearview mirror height, the driver's eye height, the first oblique distance, and the second oblique distance, specifically including:

[0016] Calculate the first line-of-sight angle through the following formula:

[0017]

[0018] where H mirror is the rearview mirror height, H eye is the driver's eye height, and L left is the first oblique distance;

[0019] Calculate the second line-of-sight angle through the following formula:

[0020]

[0021] where H mirror is the rearview mirror height, H eye is the driver's eye height, and L right is the first oblique distance.

[0022] In a possible implementation manner, based on the first line-of-sight angle and the second line-of-sight angle, as well as the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror, calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively, specifically including:

[0023] Calculate the first correction factor through the following formula:

[0024]

[0025] where, θ eye_left is the first line-of-sight angle, θ eye_right is the second line-of-sight angle, and α is the first sensitivity factor;

[0026] Calculate the second correction factor through the following formula:

[0027]

[0028] where, β is the second sensitivity factor.

[0029] In a possible implementation manner, based on the first lateral distance and the second lateral distance, calculate the basic flipping angles of the left rearview mirror and the right rearview mirror respectively, specifically including:

[0030] For any one of the first lateral distance and the second lateral distance, perform the following operations:

[0031] If this lateral distance is not less than the long-distance critical threshold, determine that the flipping angle of the rearview mirror on the corresponding side of this lateral distance is the first fixed flipping angle, and the first fixed flipping angle can provide the driver with a basic field of view;

[0032] If this lateral distance is between the long-distance critical threshold and the short-distance critical threshold, calculate the flipping angle of the rearview mirror on the corresponding side of this lateral distance based on the following formula:

[0033]

[0034] where, a is the first fixed flipping angle, b is the second fixed flipping angle, d1 is the long-distance critical threshold, d2 is the short-distance critical threshold, and d is the lateral distance;

[0035] If this lateral distance is not greater than the short-distance critical threshold, determine that the flipping angle of the rearview mirror on the corresponding side of this lateral distance is the second fixed flipping angle, and the second fixed flipping angle can provide the driver with the maximum field of view.

[0036] In a possible implementation manner, the sensor data further includes: the first height of the left obstacle and the second height of the right obstacle; then the method further includes:

[0037] Calculate the first adjustment factor for the corresponding left rearview mirror based on the first height respectively, and calculate the second adjustment factor for the corresponding right rearview mirror based on the second height;

[0038] Accordingly, based on the first line-of-sight angle and the second line-of-sight angle, as well as the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror, calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively, specifically including:

[0039] Based on the first line-of-sight angle and the second line-of-sight angle, as well as the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror, and the first adjustment factor and the second adjustment factor, calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively.

[0040] In a second aspect, a rearview mirror adjustment device based on driver posture perception is provided, including:

[0041] An acquisition module, configured to acquire sensor data of the target vehicle when it is detected that the driver's posture changes, where the sensor data at least includes: the height of the rearview mirror, the height of the driver's eyes, the first oblique distance between the driver's eyes and the left rearview mirror, the second oblique distance between the driver's eyes and the right rearview mirror, the first lateral distance between the left rearview mirror and the left obstacle, and the second lateral distance between the right rearview mirror and the right obstacle;

[0042] A first calculation module, configured to calculate the first line-of-sight angle between the driver's eyes and the left rearview mirror and the second line-of-sight angle between the driver's eyes and the right rearview mirror according to the height of the rearview mirror, the height of the driver's eyes, the first oblique distance, and the second oblique distance;

[0043] A second calculation module, configured to calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively based on the first line-of-sight angle and the second line-of-sight angle, as well as the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror;

[0044] A third calculation module, configured to calculate the basic flipping angle of the left rearview mirror and the basic flipping angle of the right rearview mirror respectively based on the first lateral distance and the second lateral distance;

[0045] A correction module, configured to respectively use the first correction factor to correct the basic flipping angle of the left rearview mirror to obtain a first adjustment angle, and use the second correction factor to correct the basic flipping angle of the right rearview mirror to obtain a second adjustment angle; the first adjustment angle and the second adjustment angle are different;

[0046] An adjustment module, configured to respectively control the left rearview mirror to flip downward by the first adjustment angle in the initialization plane, and control the right rearview mirror to flip downward by the second adjustment angle in the initialization plane.

[0047] In a third aspect, an electronic device is provided, including:

[0048] at least one processor; and

[0049] a memory communicatively connected to the at least one processor; wherein,

[0050] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the methods of the above-described aspects and any possible implementation manners.

[0051] In a fourth aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the methods of the above-described aspects and any possible implementation manners.

[0052] In a fifth aspect, a computer program product is provided, including a computer program, and the computer program implements the methods of the above-described aspects and any possible implementation manners when executed by a processor.

[0053] In a sixth aspect, an autonomous vehicle is provided, including the above-described electronic device.

[0054] The beneficial effects of the technical solution provided by this application at least include:

[0055] As can be seen from the above technical solution, when it is detected in a reverse scenario that the driver's posture changes, the sensor data of the target vehicle is acquired, and then, according to the rearview mirror height, the driver's eye height, and the distances between the driver's eyes and the two rearview mirrors respectively, the line-of-sight angles between the driver's eyes and the two rearview mirrors are calculated; then, according to the left and right line-of-sight angles and the set sensitivity factor, the correction factors for the corresponding two rearview mirrors are calculated respectively; after calculating the basic flipping angles of the left and right rearview mirrors according to the lateral distances between the left and right rearview mirrors and the obstacles respectively, the angle correction is performed using the respective correction factors; finally, the corrected adjustment angles are used to control the corresponding rearview mirrors to flip down respectively. Thus, fully considering the perspective difference caused by the asymmetry of the driver's perspective, the asymmetric adjustment processing of the left and right rearview mirrors is realized, and the dynamic adjustment according to the driver's posture is performed, significantly enhancing the human-machine adaptability, improving the accuracy and timeliness of the rearview mirror adjustment, and further providing a safe and reliable driving vision for the driver and ensuring driving safety.

[0056] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of this application, nor is it used to limit the scope of this application. Other features of this application will become easily understood through the following description. Brief Description of the Drawings

[0057] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0058] Figure 1 It is a schematic diagram of the steps of a rearview mirror adjustment method based on driver posture perception provided by an embodiment of the present application.

[0059] Figure 2 It is a schematic diagram of the rearview mirror adjustment process based on driver posture perception provided by an embodiment of the present application.

[0060] Figure 3 It is a structural block diagram of a rearview mirror adjustment device based on driver posture perception provided by an embodiment of the present application.

[0061] Figure 4 It is a block diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0062] The following describes exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding. It should be considered that they are only exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described here without departing from the scope and spirit of the present application. Similarly, for clarity and conciseness, the description below omits the description of well-known functions and structures.

[0063] Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0064] It should be noted that the terminal devices involved in the embodiments of the present application may include, but are not limited to, intelligent devices such as mobile phones, personal digital assistants (PDAs), wireless handheld devices, and tablet computers (Tablet Computers); display devices may include, but are not limited to, devices with display functions such as personal computers and televisions.

[0065] In addition, the term "and / or" in this text is merely a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this text generally represents an "or" relationship between the associated objects before and after.

[0066] In view of the problem that the existing rearview mirror adjustment scheme ignores the perspective asymmetry and the driver's posture, and thus cannot differentially adjust the left and right rearview mirrors, resulting in inaccurate rearview mirror adjustment and poor human-machine adaptability. This application proposes a rearview mirror adjustment based on driver posture perception. Its main inventive concept lies in: when it is detected that the driver's posture changes in the reverse scenario, obtaining the sensor data of the target vehicle, and then calculating the line-of-sight angles between the driver's eyes and the two rearview mirrors respectively according to the rearview mirror height, the driver's eye height, and the distances between the driver's eyes and the two rearview mirrors; thereafter, calculating the correction factors for the corresponding two rearview mirrors respectively according to the left and right line-of-sight angles and the set sensitivity factor; after calculating the basic flipping angles of the left and right rearview mirrors respectively with respect to the lateral distances from the obstacles, using their respective correction factors for angle correction; finally, using the corrected adjustment angles to adjust the corresponding rearview mirrors to flip downward respectively. Thus, fully considering the perspective differences caused by the driver's perspective asymmetry, realizing the asymmetric adjustment processing of the left and right rearview mirrors, and dynamically adjusting according to the driver's posture, significantly enhancing the human-machine adaptability, improving the accuracy and timeliness of rearview mirror adjustment, and further providing a safe and reliable driving vision for the driver to ensure driving safety.

[0067] Refer to Figure 1 As shown, it is a schematic diagram of the steps of a rearview mirror adjustment method based on driver posture perception provided by an embodiment of this application. The execution subject of this rearview mirror flipping control method can be a rearview mirror adjustment device based on driver posture perception, and the rearview mirror adjustment device based on driver posture perception can be a hardware device or software module with functions such as computer processing and storage. For example, a computer, a tablet computer, a smart phone, a smart wearable device, an intelligent driving device, etc., or a software module integrated and installed in a similar hardware device.

[0068] As Figure 1 shown, this rearview mirror adjustment method based on driver posture perception may include the following steps:

[0069] Step 102: When it is detected that the driver's posture changes, obtain the sensor data of the target vehicle. The sensor data at least includes: the height of the rearview mirror, the height of the driver's eyes, the first diagonal distance between the driver's eyes and the left rearview mirror, the second diagonal distance between the driver's eyes and the right rearview mirror, the first lateral distance between the left rearview mirror and the left obstacle, and the second lateral distance between the right rearview mirror and the right obstacle.

[0070] The solution of this application is mainly applicable to the reverse driving scenario. When it is detected that the driver's posture changes, that is, when it is detected by the sensor that the position of the driver on the driver's seat changes, for example, the driver moves forward or backward, or tilts backward in coordination with the steering wheel angle, etc. (as long as it is detected that the height of the driver's eyes changes), the target vehicle can be triggered to obtain the sensor data. These sensor data can be collected, processed, and processed by a variety of sensors. This application defaults that the above-mentioned various types of sensor data can be directly obtained by the sensor.

[0071] In the solution of this application, the sensors involved may include: DMS cameras, seat sensors, etc.

[0072] Step 104: Calculate the first line-of-sight angle between the driver's eyes and the left rearview mirror and the second line-of-sight angle between the driver's eyes and the right rearview mirror according to the rearview mirror height, the driver's eye height, the first diagonal distance, and the second diagonal distance.

[0073] In the solution of this application, a line-of-sight model between the driver's eyes and the left and right rearview mirrors can be established to assist in calculating the first line-of-sight angle and the second line-of-sight angle. Taking the center of the two eyes as the position of the driver's eyes and the center of the rearview mirror as the position of each rearview mirror, since the driver's seat is generally set on one side, for example, the left side, the line-of-sight angles formed by the driver's eyes and the left and right rearview mirrors are also different.

[0074] Optionally, the first line-of-sight angle is calculated by the following formula:

[0075]

[0076] where H mirror is the height of the rearview mirror, H eye is the height of the driver's eyes, and L left is the first diagonal distance;

[0077] The second line-of-sight angle is calculated by the following formula:

[0078]

[0079] where H mirror is the height of the rearview mirror, H eye is the height of the driver's eyes, and Lright is the first oblique distance.

[0080] Step 106: Based on the first line-of-sight angle and the second line-of-sight angle, as well as the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror, calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively.

[0081] Since the driver's seat is on one side, resulting in a difference in the line-of-sight angles between the driver's eyes and the left and right rearview mirrors, it also determines that the left and right rearview mirrors cannot be flipped at the same adjustment angle. Therefore, it is necessary to determine the correction factors for the left and right rearview mirrors respectively based on the determined line-of-sight angles to compensate for the excessive flipping adjustment caused by different line-of-sight angles.

[0082] Optionally, the present application calculates the first correction factor through the following formula:

[0083]

[0084] where θ eye_left is the first line-of-sight angle, θ eye_right is the second line-of-sight angle, and α is the first sensitivity factor;

[0085] The second correction factor is calculated through the following formula:

[0086]

[0087] where β is the second sensitivity factor.

[0088] In the solution of the present application, the first sensitivity factor α can take a value of 0.3, and the second sensitivity factor β can take a value of 0.5; actually, the values of the sensitivity factors can be determined according to multiple factors such as vehicle models, vehicle sizes, and rearview mirror sizes. The values here are only used as examples for illustration and are not limited thereto.

[0089] It should be noted that the first correction factor K left can also be set with constraint conditions. For example, its value is restricted to be between 0.8 and 1.2, that is, K left = [0.8, 1.2]; the second correction factor K right can also be set with constraint conditions. For example, its value is restricted to be between 1 and 1.5, that is, K right = [1, 1.5].

[0090] Optionally, in the solution of the present application, the sensor data further includes: the first height of the left obstacle and the second height of the right obstacle; after the correction factors of the left and right rearview mirrors are determined respectively, the first adjustment factor corresponding to the left rearview mirror can be calculated based on the first height, and the second adjustment factor corresponding to the right rearview mirror can be calculated based on the second height.

[0091] In specific implementation, the types of the left and right obstacles can be determined first according to the set threshold height. Among them, the set threshold height can be 0.3, or other values, which can be specifically determined according to vehicle models, rearview mirror heights, etc.

[0092] If the determined heights of the left and right obstacles are higher than the threshold height, it is determined that the corresponding obstacles are high obstacles, and the adjustment factors of the left and right rearview mirrors can be calculated through the following formula:

[0093]

[0094] where H obs_left is the height of the left obstacle, and H obs_right is the height of the right obstacle.

[0095] If the determined heights of the left and right obstacles are not higher than the threshold height, it is determined that the corresponding obstacles are low obstacles, and the adjustment factors of the left and right rearview mirrors can be calculated through the following formula:

[0096]

[0097] where H obs_left is the height of the left obstacle, and H obs_right is the height of the right obstacle.

[0098] Further, after the adjustment factors are determined, the correction factors need to be recalculated.

[0099] For high obstacles, the correction factors can be re-determined through the following formula specifically:

[0100]

[0101] For low obstacles, the correction factors can be re-determined through the following formula specifically:

[0102]

[0103] Step 108: Calculate the basic flip angles of the left rearview mirror and the right rearview mirror respectively based on the first lateral distance and the second lateral distance.

[0104] If the lateral distance is not less than the long-distance critical threshold, determine the flipping angle of the rearview mirror on the corresponding side of the lateral distance as the first fixed flipping angle, and the first fixed flipping angle can provide the driver with a basic field of view. For example, the long-distance critical threshold can be 1 m, and the first fixed flipping angle is 10°; if the lateral distance is greater than or equal to 1 m, determine the flipping angle of the rearview mirror on the corresponding side of the lateral distance as 10°.

[0105] If the lateral distance is between the long-distance critical threshold and the short-distance critical threshold, calculate the flipping angle of the rearview mirror on the corresponding side of the lateral distance based on the following formula:

[0106]

[0107] where a is the first fixed flipping angle, b is the flipping factor, d1 is the long-distance critical threshold, d2 is the short-distance critical threshold, and d is the lateral distance. For example, the long-distance critical threshold can be 1 m, the short-distance critical threshold is 0.5, the first fixed flipping angle a is 12°, and the flipping factor b is 13°; if the lateral distance is less than 0.8 and greater than 0.4, determine the flipping angle of the rearview mirror on the corresponding side of the lateral distance according to the above formula.

[0108] If the lateral distance is not greater than the short-distance critical threshold, determine the flipping angle of the rearview mirror on the corresponding side of the lateral distance as the second fixed flipping angle, and the second fixed flipping angle can provide the driver with the maximum field of view. For example, if the lateral distance is less than 0.5 m, determine the flipping angle of the rearview mirror on the corresponding side of the lateral distance as a + b = 25°.

[0109] Based on the above situations, determine the basic flipping angles of the left and right rearview mirrors respectively. If the lateral distances of the two are the same, the calculated basic flipping angles are the same; if the lateral distances of the two are different, the calculated basic flipping angles are different.

[0110] Step 110: Respectively use the first correction factor to correct the basic flipping angle of the left rearview mirror to obtain the first adjustment angle, and use the second correction factor to correct the basic flipping angle of the right rearview mirror to obtain the second adjustment angle; the first adjustment angle and the second adjustment angle are different.

[0111] After that, multiply the basic flipping angles of the left and right rearview mirrors by their respective corresponding correction factors to obtain their respective corresponding adjustment angles.

[0112] Step 112: Respectively control the left rearview mirror to flip downward by the first adjustment angle in the initialization plane, and control the right rearview mirror to flip downward by the second adjustment angle in the initialization plane.

[0113] After calculating the adjustment angle, the adjustment angle is sent to the vehicle controller to facilitate the flipping of the corresponding rearview mirror. Here, the adjustment angle can be flipped downward based on the initialization plane. In fact, it can also be flipped left and right when the downward flip condition is met.

[0114] Refer to Figure 2 As shown, it is a schematic diagram of the rearview mirror adjustment process based on driver posture perception provided by the embodiment of the present application.

[0115] In this reverse scenario, the driver's seat of the target vehicle is on the left and centered. The obstacles on both sides are low flower beds.

[0116] Obtain sensor parameters:

[0117] In the sensor parameters, the height of the rearview mirror is 1.1 m, the height of the driver's eyes is 1.2 m, the first oblique distance between the driver's eyes and the left rearview mirror is 0.7 m, the second oblique distance between the driver's eyes and the right rearview mirror is 1.5 m, the first horizontal distance between the left rearview mirror and the left flower bed is 0.6 m, the second horizontal distance between the right rearview mirror and the right flower bed is 0.6 m, and the height of the flower bed is 0.15.

[0118] Calculate the viewing angles on both the left and right sides:

[0119]

[0120] Calculate the dynamic correction factor:

[0121]

[0122] Obstacle height compensation:

[0123]

[0124] Calculate the basic flipping angle:

[0125]

[0126] Obtain the adjusted angle after correction:

[0127] θ left = θ left基 *(K left + K left低 ) = 20

[0128] θ right = θ right基 *(K right + K right低 ) = 33

[0129] Automatically adjust the flipping angles of the rearview mirrors on both the left and right sides.

[0130] Since the left-side adjustment angle is within the restricted angle range, that is, between 12° and 25°, the left-side rearview mirror is adjusted at 20°. The right-side adjustment angle exceeds 25°, so the maximum adjustment angle of 25° is selected for its adjustment.

[0131] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0132] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0133] Figure 3 shows a structural block diagram of a rearview mirror adjustment device based on driver posture perception provided by an embodiment of the present application, as Figure 3As shown in the figure. The rearview mirror adjustment device 300 based on driver posture perception in this embodiment may include an acquisition module 301, a first calculation module 302, a second calculation module 303, a third calculation module 304, a correction module 305, and an adjustment module 306. Among them, the acquisition module 301 is used to acquire the sensor data of the target vehicle when it detects that the driver's posture changes. The sensor data at least includes: the height of the rearview mirror, the height of the driver's eyes, the first oblique distance between the driver's eyes and the left rearview mirror, the second oblique distance between the driver's eyes and the right rearview mirror, the first lateral distance between the left rearview mirror and the left obstacle, and the second lateral distance between the right rearview mirror and the right obstacle. The first calculation module 302 is used to calculate the first line-of-sight angle between the driver's eyes and the left rearview mirror and the second line-of-sight angle between the driver's eyes and the right rearview mirror according to the height of the rearview mirror, the height of the driver's eyes, the first oblique distance, and the second oblique distance. The second calculation module 303 is used to calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively based on the first line-of-sight angle, the second line-of-sight angle, the first sensitivity factor set for the left rearview mirror, and the second sensitivity factor set for the right rearview mirror. The third calculation module 304 is used to calculate the basic flip angle of the left rearview mirror and the basic flip angle of the right rearview mirror respectively based on the first lateral distance and the second lateral distance. The correction module 305 is used to correct the basic flip angle of the left rearview mirror with the first correction factor to obtain the first adjustment angle, and correct the basic flip angle of the right rearview mirror with the second correction factor to obtain the second adjustment angle; the first adjustment angle and the second adjustment angle are different. The adjustment module 306 is used to control the left rearview mirror to flip down by the first adjustment angle in the initialization plane, and control the right rearview mirror to flip down by the second adjustment angle in the initialization plane.

[0134] It should be noted that part or all of the rearview mirror adjustment device based on driver posture perception in this embodiment may be an application located on the local terminal, or may also be a plug-in or software development kit (SDK) and other functional units set in the application located on the local terminal, or may also be a processing engine located in the network-side server, or may also be a distributed system located on the network side. For example, the processing engine or distributed system in the network-side autonomous driving platform, etc. This embodiment does not make special limitations on this.

[0135] It can be understood that the application may be a native application installed on the local terminal, or may also be a web application of the browser on the local terminal. This embodiment does not make limitations on this.

[0136] Optionally, in a possible implementation of this embodiment, when calculating the first line-of-sight angle between the driver's eye and the left rearview mirror and the second line-of-sight angle between the driver's eye and the right rearview mirror according to the rearview mirror height, the driver's eye height, the first oblique distance, and the second oblique distance, the first calculation module 302 specifically calculates the first line-of-sight angle through the following formula:

[0137]

[0138] where H mirror is the rearview mirror height, H eye is the driver's eye height, and L left is the first oblique distance;

[0139] The second line-of-sight angle is calculated through the following formula:

[0140]

[0141] where H mirror is the rearview mirror height, H eye is the driver's eye height, and L right is the first oblique distance.

[0142] Optionally, in a possible implementation of this embodiment, when calculating the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror based on the first line-of-sight angle, the second line-of-sight angle, the first sensitivity factor set for the left rearview mirror, and the second sensitivity factor set for the right rearview mirror, the second calculation module 303 specifically uses the following formula to calculate the first correction factor:

[0143]

[0144] where θ eye_left is the first line-of-sight angle, θ eye_right is the second line-of-sight angle, and α is the first sensitivity factor;

[0145] The second correction factor is calculated through the following formula:

[0146]

[0147] where β is the second sensitivity factor.

[0148] Optionally, in a possible implementation of this embodiment, when calculating the basic flip angle of the left rearview mirror and the basic flip angle of the right rearview mirror based on the first lateral distance and the second lateral distance, the third calculation module 304 specifically performs the following operations for any one of the first lateral distance and the second lateral distance:

[0149] If the lateral distance is not less than the long-distance critical threshold, determine that the flipping angle of the rearview mirror on the corresponding side of the lateral distance is the first fixed flipping angle, and the first fixed flipping angle can provide a basic field of view for the driver;

[0150] If the lateral distance is between the long-distance critical threshold and the short-distance critical threshold, calculate the flipping angle of the rearview mirror on the corresponding side of the lateral distance based on the following formula:

[0151]

[0152] where a is the first fixed flipping angle, b is the second fixed flipping angle, d1 is the long-distance critical threshold, d2 is the short-distance critical threshold, and d is the lateral distance;

[0153] If the lateral distance is not greater than the short-distance critical threshold, determine that the flipping angle of the rearview mirror on the corresponding side of the lateral distance is the second fixed flipping angle, and the second fixed flipping angle can provide the maximum field of view for the driver.

[0154] Optionally, in a possible implementation of this embodiment, the sensor data further includes: the first height of the left obstacle and the second height of the right obstacle; then the device further includes: a fourth calculation module; the fourth calculation module is configured to calculate a first adjustment factor corresponding to the left rearview mirror based on the first height and a second adjustment factor corresponding to the right rearview mirror based on the second height, respectively;

[0155] Accordingly, when calculating the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror based on the first line-of-sight angle, the second line-of-sight angle, the first sensitivity factor set for the left rearview mirror, and the second sensitivity factor set for the right rearview mirror, the third calculation module is specifically configured to calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror based on the first line-of-sight angle, the second line-of-sight angle, the first sensitivity factor set for the left rearview mirror, the second sensitivity factor set for the right rearview mirror, the first adjustment factor, and the second adjustment factor.

[0156] In this embodiment, when a change in the driver's posture is detected in a reverse scenario, sensor data of the target vehicle can be obtained. Then, according to the height of the rearview mirror, the height of the driver's eyes, and the distances between the driver's eyes and the two rearview mirrors respectively, the line-of-sight angles between the driver's eyes and the two rearview mirrors are calculated. After that, according to the left and right line-of-sight angles and the set sensitivity factor, the correction factors for the corresponding two rearview mirrors are calculated respectively. After calculating the basic flipping angles of the left and right rearview mirrors based on the lateral distances between the left and right rearview mirrors and the obstacle respectively, the angle correction is performed using their respective correction factors. Finally, the corrected adjustment angles are used to control the corresponding rearview mirrors to flip down respectively. Thus, fully considering the perspective differences caused by the asymmetry of the driver's perspective, the asymmetric adjustment of the left and right rearview mirrors is realized, and the dynamic adjustment according to the driver's posture significantly enhances the human-machine adaptability, improves the accuracy and timeliness of the rearview mirror adjustment, and further provides a safe and reliable driving vision for the driver to ensure driving safety.

[0157] An embodiment of the present application provides a computer-readable storage medium, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the method for adjusting the rearview mirror based on driver posture perception as described above.

[0158] An embodiment of the present application provides an electronic device, which includes a processor and a memory. At least one instruction is stored in the memory, and the instruction is loaded and executed by the processor to implement the method for adjusting the rearview mirror based on driver posture perception as described above.

[0159] An embodiment of the present application provides an autonomous vehicle, including the above-mentioned electronic device. Specifically, the autonomous vehicle can be a vehicle at L2 level and above.

[0160] In the technical solution of the present application, the collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0161] Figure 4 The schematic block diagram of an example electronic device 400 that can be used to implement the embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0162] As Figure 4 shown, the electronic device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0163] Multiple components in the electronic device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a magnetic disk, an optical disc, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the electronic device 400 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0164] The computing unit 401 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 401 executes the various methods and processes described above, such as the method for rearview mirror regulation based on driver posture perception. For example, in some embodiments, the method for rearview mirror regulation based on driver posture perception can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the computing unit 401, one or more steps of the method for rearview mirror regulation based on driver posture perception described above can be executed. Alternatively, in other embodiments, the computing unit 401 can be configured to execute the method for rearview mirror regulation based on driver posture perception in any other appropriate manner (e.g., by means of firmware).

[0165] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0166] The program code for implementing the methods of this application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing device, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on the remote machine or server.

[0167] In the context of this application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0168] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0169] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0170] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client - server relationship is created by computer programs running on the respective computers and having a client - server relationship with each other. The server can be a cloud server, or a server of a distributed system, or a server incorporating a blockchain.

[0171] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the disclosure of this application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution disclosed in this application can be achieved, and no limitation is imposed herein.

[0172] The above - mentioned specific implementation manners do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A rearview mirror adjustment method based on driver posture perception, characterized in that Including: When it is detected that the driver's posture changes, obtaining the sensor data of the target vehicle, where the sensor data at least includes: the height of the rearview mirror, the height of the driver's eyes, the first oblique distance between the driver's eyes and the left rearview mirror, the second oblique distance between the driver's eyes and the right rearview mirror, the first lateral distance between the left rearview mirror and the left obstacle, and the second lateral distance between the right rearview mirror and the right obstacle; Calculating a first line-of-sight angle between the driver's eyes and the left rearview mirror and a second line-of-sight angle between the driver's eyes and the right rearview mirror according to the height of the rearview mirror, the height of the driver's eyes, the first oblique distance, and the second oblique distance; Based on the first line-of-sight angle and the second line-of-sight angle, and a first sensitivity factor set for the left rearview mirror and a second sensitivity factor set for the right rearview mirror, calculating a first correction factor corresponding to the left rearview mirror and a second correction factor corresponding to the right rearview mirror respectively; Based on the first lateral distance and the second lateral distance, calculating a basic flipping angle of the left rearview mirror and a basic flipping angle of the right rearview mirror respectively; Respectively using the first correction factor to correct the basic flipping angle of the left rearview mirror to obtain a first adjustment angle, and using the second correction factor to correct the basic flipping angle of the right rearview mirror to obtain a second adjustment angle; the first adjustment angle and the second adjustment angle are different; Controlling the left rearview mirror to flip downward by the first adjustment angle in the initialization plane, and controlling the right rearview mirror to flip downward by the second adjustment angle in the initialization plane respectively.

2. The method according to claim 1, characterized in that, Calculating a first line-of-sight angle between the driver's eyes and the left rearview mirror and a second line-of-sight angle between the driver's eyes and the right rearview mirror according to the height of the rearview mirror, the height of the driver's eyes, the first oblique distance, and the second oblique distance, specifically including: Calculating the first line-of-sight angle through the following formula: Among them, H mirror is the height of the rearview mirror, and H eye is the height of the driver's eyes, and L left is the first oblique distance; Calculating the second line-of-sight angle through the following formula: Among them, H mirror is the height of the rearview mirror, H eye is the height of the driver's eyes, L right is the first oblique distance.

3. The method according to claim 1, wherein Based on the first line-of-sight angle and the second line-of-sight angle, and a first sensitivity factor set for the left rearview mirror and a second sensitivity factor set for the right rearview mirror, calculating a first correction factor corresponding to the left rearview mirror and a second correction factor corresponding to the right rearview mirror respectively, specifically including: Calculating the first correction factor through the following formula: Among them, θ eye_left is the first line-of-sight angle, θ eye_right is the second line-of-sight angle, and α is the first sensitivity factor; Calculating the second correction factor through the following formula: Where β is the second sensitivity factor.

4. The method according to any one of claims 1 to 3, characterized in that, Based on the first lateral distance and the second lateral distance, calculating a basic flipping angle of the left rearview mirror and a basic flipping angle of the right rearview mirror respectively, specifically including: For any one of the first lateral distance and the second lateral distance, perform the following operations: If the lateral distance is not less than the long-distance critical threshold, determining that the flipping angle of the rearview mirror on the corresponding side of the lateral distance is a first fixed flipping angle, and the first fixed flipping angle can provide a basic field of view for the driver; If the lateral distance is between the long-distance critical threshold and the short-distance critical threshold, calculating the flipping angle of the rearview mirror on the corresponding side of the lateral distance based on the following formula: Wherein, a is the first fixed flipping angle, b is the second fixed flipping angle, d1 is the long-distance critical threshold, d2 is the short-distance critical threshold, and d is the lateral distance; If the lateral distance is not greater than the short-distance critical threshold, determine that the flipping angle of the rearview mirror on the corresponding side of the lateral distance is the second fixed flipping angle, and the second fixed flipping angle can provide the driver with the maximum field of view.

5. The method according to claim 4, wherein The sensor data further includes: the first height of the left obstacle and the second height of the right obstacle; then the method further includes: Calculate the first adjustment factor corresponding to the left rearview mirror based on the first height, and calculate the second adjustment factor corresponding to the right rearview mirror based on the second height; Correspondingly, based on the first line-of-sight angle and the second line-of-sight angle, and the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror, calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively, specifically including: Based on the first line-of-sight angle and the second line-of-sight angle, and the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror, and the first adjustment factor and the second adjustment factor, calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively.

6. A rearview mirror adjustment device based on driver posture perception, characterized in that, Includes: An acquisition module, configured to acquire sensor data of the target vehicle when it is detected that the driver's posture changes, and the sensor data at least includes: the rearview mirror height, the driver's eye height, the first oblique distance between the driver's eyes and the left rearview mirror, the second oblique distance between the driver's eyes and the right rearview mirror, and the first lateral distance between the left rearview mirror and the left obstacle, and the second lateral distance between the right rearview mirror and the right obstacle; A first calculation module, configured to calculate the first line-of-sight angle between the driver's eyes and the left rearview mirror and the second line-of-sight angle between the driver's eyes and the right rearview mirror according to the rearview mirror height, the driver's eye height, the first oblique distance, and the second oblique distance; A second calculation module, configured to calculate the first correction factor corresponding to the left rearview mirror and the second correction factor corresponding to the right rearview mirror respectively based on the first line-of-sight angle and the second line-of-sight angle, and the first sensitivity factor set for the left rearview mirror and the second sensitivity factor set for the right rearview mirror; A third calculation module, configured to calculate the basic flipping angle of the left rearview mirror and the basic flipping angle of the right rearview mirror respectively based on the first lateral distance and the second lateral distance; A correction module, configured to respectively use the first correction factor to correct the basic flipping angle of the left rearview mirror to obtain the first adjustment angle, and use the second correction factor to correct the basic flipping angle of the right rearview mirror to obtain the second adjustment angle; the first adjustment angle and the second adjustment angle are different; An adjustment module, configured to respectively control the left rearview mirror to flip downward by the first adjustment angle in the initialization plane, and control the right rearview mirror to flip downward by the second adjustment angle in the initialization plane.

7. An electronic device, including: At least one processor; And A memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1-5.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are for causing the computer to execute the method according to any one of claims 1-5.

9. A computer program product, comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-5.

10. An autonomous vehicle, comprising the electronic device according to claim 7.

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