Automatic driving auxiliary rearview mirror and control method thereof

Abstract

The invention belongs to the technical field of intelligent network connection automobiles, and particularly relates to an automatic driving auxiliary rearview mirror and a control method thereof.The automatic driving auxiliary rearview mirror comprises a shell, a frame is arranged on the upper side of the shell, a glass plate is installed on the lower side of the frame, a screen is installed on the lower side of the glass plate, a polarizing film is arranged between the screen and the glass plate, and an integrated control circuit board is arranged in the shell; the integrated control circuit board is provided with a screen flat cable; an automobile data recorder video processing chip, an intelligent driving chip and a storage card slot are integrated on the integrated control circuit board; the functions of the automobile rearview mirror can be more comprehensive, and the function that L2-level auxiliary driving is more efficient in different road driving environments can be achieved. Meanwhile, the device has the advantages of being convenient to install, small and exquisite and the like, has more diversified function changes, and can make vehicles originally supporting L2 more efficient.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent connected vehicles, and particularly relates to an automatic driving auxiliary rearview mirror and a control method thereof. Background Art

[0002] Currently, with the rapid development of intelligent and connected technologies, intelligent connected vehicles (ICVs) are becoming a core direction for the transformation and upgrading of the global automotive industry due to their breakthrough advantages in safety, convenience, and traffic efficiency. As a key component of intelligent driving systems, rearview mirrors with intelligent driving functions can effectively overcome the limitations of traditional optical rearview mirrors by integrating perception, computing, and communication technologies, becoming a key vehicle for improving vehicle environmental perception capabilities. Because these smart rearview mirrors involve the integration of cutting-edge technologies such as artificial intelligence, vehicle-road collaboration, and edge computing, their research and development requires interdisciplinary collaborative innovation and in-depth collaboration within the industry chain. For automotive companies, seizing this technological advantage is of great significance to building a future smart travel ecosystem.

[0003] The rearview mirror commonly referred to generally refers to a mirror used to display the blind spots on both sides and rear of the vehicle, assisting the driver to understand the driving status of the vehicles on the side and rear. Therefore, compared with traditional rearview mirrors, smart driving rearview mirrors are more environmentally friendly, energy-saving and economical, and will have a good development trend in the present and near future.

[0004] While existing vehicle rearview mirror systems can provide basic rearward visibility, their optical reflective structures have blind spots and lack dynamic environmental perception, making them unable to adapt to the diverse needs of intelligent driving scenarios. Therefore, we propose an autonomous driving assisted rearview mirror that makes vehicle rearview mirrors more comprehensive and enables L2 assisted driving to be more efficient in various road driving environments. It also features advantages such as easy installation and compact size, allowing for more diverse functional variations, making vehicles that already support L2 even more efficient. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic driving auxiliary rearview mirror and a control method thereof, so as to solve the problems raised in the background technology.

[0006] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows:

[0007] An automated driving auxiliary rearview mirror comprises a housing, a frame provided on the upper side of the housing, a glass plate mounted on the lower side of the frame, a screen mounted on the lower side of the glass plate, a polarizing film provided between the screen and the glass plate, an integrated control circuit board provided within the housing, a screen cable provided on the integrated control circuit board, and a screen cable interface matching the screen cable provided on the screen.

[0008] The integrated control circuit board integrates a driving recorder video processing chip, an intelligent driving chip and a storage card slot;

[0009] Two cameras distributed on the left and right are installed in the housing, a smart driving camera cable is provided between the left camera and the integrated control circuit board, and a driving recorder camera cable is provided between the right camera and the integrated control circuit board;

[0010] The integrated control circuit board is provided with a power data interface;

[0011] The camera is provided with a camera mounting base, the camera mounting base is provided with camera base mounting screws, and the camera is provided with camera mounting screws.

[0012] The camera is a 3D depth-of-field camera.

[0013] The intelligent driving chip can realize L2 level assisted driving function.

[0014] The power data interface is connected to a power data line, the power data line is connected to a converter, and the converter is connected to a vehicle communication harness.

[0015] A control method for an automated driving auxiliary rearview mirror, including a perception layer control method:

[0016] Capture road images with a camera and use a convolutional neural network to extract lane lines, shoulders, and obstacle features;

[0017] In continuous curves, the system combines the vehicle's current speed and steering angle to generate a smooth steering trajectory through the path planning module in the vehicle's autonomous driving system to avoid lane departure caused by sharp turns;

[0018] On urban roads, cameras are combined with neural networks to identify traffic lights, pedestrians and surrounding vehicles, and red light detection is achieved through color and shape features.

[0019] Adopt the technical solution of the present invention:

[0020] 1. A control method for an automated driving auxiliary rearview mirror, including a decision-making and control layer control method:

[0021] A PI controller is used to adjust the steering wheel torque to keep the vehicle centered along the planned path.

[0022] Adaptive cruise control (ACC) determines the distance to the vehicle ahead through radar and visual fusion, and automatically adjusts the throttle and brakes on steep slopes to maintain a safe following distance; the system can recognize red lights and stop automatically, but the driver still needs to lightly step on the accelerator to confirm passage when the light is green; changing lanes with the lights on relies on the vehicle's original blind spot monitoring function and sends lane change instructions via the CAN bus.

[0023] 2. A control method for an automated driving auxiliary rearview mirror, further comprising sensor and hardware control:

[0024] The camera uses a 3D depth-of-field camera, and the integrated control circuit board is connected to both ends of the camera. Data transmission is achieved through the intelligent driving camera cable and the driving recorder camera cable.

[0025] The integrated control circuit board contains an intelligent driving chip to realize L2 assisted driving function features;

[0026] A combination of binocular camera + millimeter-wave radar + IMU is used to build a 3D environmental model, accurately identify lane lines, vehicles, pedestrians and other targets, and predict their movement trajectories.

[0027] The rearview mirror using the technical solution of this invention can make the car rearview mirror more comprehensive and realize the function of L2 assisted driving more efficient in different road driving environments. It also has the advantages of easy installation and compactness, and has more diverse functional changes, which can make vehicles that originally support L2 more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention is further illustrated by means of the following non-limiting examples.

[0029] Figure 1 The figure is a schematic structural diagram of a rearview mirror with intelligent driving function according to the present invention.

[0030] The main component symbols are described as follows:

[0031] Frame 1, glass plate 2, polarizing film 3, screen 4, camera base mounting screws 5, camera mounting screws 6, camera mounting base 7, camera 8, housing 9, converter 10, vehicle communication wiring harness 11, screen cable 12, screen cable interface 13, smart driving camera cable 14, driving recorder camera cable 15, smart driving chip 16, driving recorder video processing chip 17, storage card slot 18, power data interface 19, power data cable 20, integrated control circuit board 21. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0033] like Figure 1As shown, an automatic driving auxiliary rearview mirror of the present invention includes a housing 9, a frame 1 is provided on the upper side of the housing 9, a glass plate 2 is installed on the lower side of the frame 1, a screen 4 is installed on the lower side of the glass plate 2, a polarizing film 3 is provided between the screen 4 and the glass plate 2, an integrated control circuit board 21 is provided in the housing 9, the integrated control circuit board 21 is provided with a screen cable 12, and the screen 4 is provided with a screen cable interface 13 matching the screen cable 12;

[0034] The integrated control circuit board 21 integrates the driving recorder video processing chip 17, the intelligent driving chip 16 and the storage card slot 18;

[0035] Two cameras 8 are installed in the housing 9. A smart driving camera cable 14 is provided between the left camera 8 and the integrated control circuit board 21. A driving recorder camera cable 15 is provided between the right camera 8 and the integrated control circuit board 21.

[0036] The integrated control circuit board 21 is provided with a power data interface 19;

[0037] The camera 8 is provided with a camera mounting base 7 , the camera mounting base 7 is provided with a camera base mounting screw 5 , and the camera 8 is provided with a camera mounting screw 6 .

[0038] Camera 8 is a 3D depth-of-field camera.

[0039] The intelligent driving chip 16 can realize L2 assisted driving function.

[0040] The power data interface 19 is connected to a power data line 20 , the power data line 20 is connected to the converter 10 , and the converter 10 is connected to the vehicle communication harness 11 .

[0041] A polarizing film 3 is sandwiched between the glass plate 2 and the screen 4. The polarizing film 3 is used to reduce screen reflection and improve display clarity.

[0042] The integrated control circuit board 21 is the core component of the present invention, on which a variety of key chips and interfaces are integrated;

[0043] Intelligent driving chip and driving recorder video processing chip:

[0044] The front end of the driving recorder video processing chip 17 is equipped with an intelligent driving chip 16. The intelligent driving chip 16 is the key to realizing the L2 level assisted driving function. It is responsible for processing image data from the camera and performing tasks such as lane line recognition and obstacle detection.

[0045] Storage card slot and power data interface:

[0046] The integrated control circuit board 21 is also provided with a memory card slot 18 for inserting a memory card to save the video data recorded by the driving recorder.

[0047] The power data interface 19 is responsible for connecting the power supply and data transmission lines, providing power to the rearview mirror and transmitting data.

[0048] The integrated control circuit board 21 is connected to the camera 8 by a wiring method. Specifically, a smart driving camera wiring cable 14 is provided with the left first camera 8, and a driving recorder camera wiring cable 15 is provided with the left second camera 8.

[0049] Such a design enables the camera data to be transmitted to the integrated control circuit board 21 efficiently and stably.

[0050] Camera 8 is a 3D depth-of-field camera that can capture richer spatial information and improve the accuracy of environmental perception.

[0051] The camera 8 is provided with a camera mounting base 7, which is fixed to the vehicle via camera mounting screws 6 and camera base mounting screws 5 to ensure the stability and reliability of the camera.

[0052] The power data line 20 is connected to the converter 10, and the converter 10 is connected to other vehicle systems through the vehicle communication harness 11 to achieve data sharing and communication.

[0053] The screen cable 12 is provided with a screen cable interface 13 for connecting the screen and the integrated control circuit board to transmit display data.

[0054] A control method for an automated driving auxiliary rearview mirror, including a perception layer control method:

[0055] Visual recognition: Capture road images with a camera and use a convolutional neural network to extract lane lines, shoulders, and obstacle features:

[0056] Dynamic Path Generation: In continuous curves, the system combines the vehicle's current speed and steering angle to generate a smooth steering trajectory through the path planning module in the vehicle's autonomous driving system to avoid lane departures caused by sharp turns;

[0057] Multi-target detection: On urban roads, cameras are combined with neural networks to identify traffic lights, pedestrians, and surrounding vehicles, and red light detection is achieved through color and shape features.

[0058] A control method for an automated driving auxiliary rearview mirror, including a decision-making and control layer control method:

[0059] Lateral control: A PI controller is used to adjust the steering wheel torque to keep the vehicle centered along the planned path.

[0060] Longitudinal control: Adaptive cruise control (ACC) uses radar and vision to determine the distance to the vehicle ahead, automatically adjusting the throttle and brakes on steep slopes to maintain a safe following distance;

[0061] Traffic light response: The system can recognize red lights and automatically stop the car, but when the light turns green, the driver still needs to lightly press the accelerator to confirm the passage;

[0062] Lane changing logic: Changing lanes by turning on the lights relies on the vehicle's original blind spot monitoring function and sends lane change instructions through the CAN bus.

[0063] A control method for an automated driving auxiliary rearview mirror, including sensor and hardware control:

[0064] Camera configuration: Using a 3D depth-of-field camera, the integrated control circuit board is connected to both ends of the camera, and data transmission is achieved through the smart driving camera cable and the driving recorder camera cable.

[0065] Intelligent driving chip: The integrated control circuit board contains an intelligent driving chip to realize L2 assisted driving function features;

[0066] Multi-sensor fusion: Using a combination of binocular cameras, millimeter-wave radar, and IMU, a 3D environmental model is constructed to accurately identify targets such as lane lines, vehicles, and pedestrians, and predict their motion trajectories.

[0067] The combination of a forward-looking wide-angle camera and a telephoto dual camera enables multi-sensor fusion, improving the perception capability and decision-making accuracy of the autonomous driving system.

[0068] On complex road conditions, such as rural and urban roads, the combined use of the two can more accurately identify road environments, traffic signals, and obstacles, thereby improving the safety and efficiency of autonomous driving.

[0069] The combination of a front-facing wide-angle camera and a telephoto dual camera helps enhance the user's driving experience and safety by providing a more comprehensive field of view and more accurate object recognition.

[0070] The path planning module combines road imagery captured by the forward-facing wide-angle camera and telephoto dual cameras, along with the vehicle's current speed and steering angle, to generate a smooth steering trajectory. For example, on a continuous curve, the system can predict the curvature of the curve through the path planning module and adjust the steering angle in advance to keep the vehicle centered along the planned path and avoid lane departures caused by sharp turns.

[0071] Coping with Complex Road Conditions: On complex roads, such as rural and urban ones, the path planning module dynamically adjusts the driving path based on real-time road environment and obstacle information, ensuring safe and efficient passage. For example, when encountering congestion, construction areas, or traffic accidents, the path planning module can replan the driving route to avoid obstacles and ensure smooth arrival at the destination.

[0072] Path planning modules typically utilize advanced algorithms and models, such as the A* algorithm, Dijkstra's algorithm, and the Rapidly Exploring Random Tree (RRT) algorithm, combined with high-precision maps and real-time sensor data, to achieve efficient path planning. This improves driving efficiency by planning the optimal route, reducing unnecessary detours and waiting time. It also improves safety by dynamically adjusting the route in complex road conditions to avoid obstacles and dangerous areas, ensuring vehicle safety.

[0073] Optimize user experience: Improve user driving experience and satisfaction by providing a smooth and comfortable driving trajectory.

[0074] The PI controller is a classic linear controller that combines proportional control (P) and integral control (I) to adjust the system output so that it approaches or reaches the set value.

[0075] The PI controller is used to adjust the vehicle's steering wheel torque. When the vehicle deviates from the planned path, the PI controller quickly and accurately adjusts the steering wheel torque based on the size of the deviation error through a combination of proportional control and integral control to bring the vehicle back onto the planned path.

[0076] Adaptive cruise control is an intelligent cruise control system that uses sensors such as radar and cameras to sense the distance and speed of the vehicle in front in real time, and automatically adjusts the speed of the vehicle to maintain a safe following distance. The adaptive cruise system in this patent senses the distance and speed of the vehicle in front in real time through the fusion of radar and vision (camera).

[0077] The radar provides accurate distance and speed information, while the camera assists in identifying the type of vehicle in front, lane markings, etc., improving the system's perception capabilities;

[0078] The dashcam video processing chip and the intelligent driving chip in the integrated control circuit board jointly process sensor data and use algorithms to calculate the vehicle's adjusted speed and acceleration to implement the adaptive cruise control function.

[0079] Based on the calculation results of the control logic, the system sends instructions to the vehicle's throttle and brake systems through the vehicle's communication harness, automatically adjusting the vehicle's speed to maintain a safe distance from the vehicle ahead;

[0080] The rearview mirror system integrates multiple sensors such as a forward-looking wide-angle camera, a telephoto dual camera, and radar to perceive the road environment, vehicle status, and surrounding obstacles in real time.

[0081] Intelligent algorithm: By integrating the intelligent driving chip and the driving recorder video processing chip in the control circuit board, the system can process sensor data in real time and use intelligent algorithms such as convolutional neural networks and path planning algorithms to realize functions such as lane line recognition, obstacle detection, and path planning.

[0082] Actuator control: Based on the calculation results of the intelligent algorithm, the system sends instructions to the vehicle's throttle, brake and steering systems through the vehicle communication harness to achieve vehicle acceleration, deceleration and steering control.

[0083] Specific applications of L2 assisted driving functions:

[0084] Adaptive Cruise Control (ACC): On highways or in congested roads, the system can automatically adjust the vehicle speed to maintain a safe distance from the vehicle in front, reducing driver fatigue.

[0085] Lane Centering (ALC): By identifying lane lines with a forward-looking camera, the system can automatically adjust the steering wheel torque to keep the vehicle in the center of the lane, improving driving stability.

[0086] Automatic Emergency Braking (AEB): When a potential collision risk is detected, the system can automatically trigger emergency braking to avoid or mitigate the consequences of the collision.

[0087] Blind Spot Monitoring (BSD): The system monitors the blind spots behind the vehicle using radar or cameras. When a vehicle enters the blind spot, the system issues a warning to alert the driver.

[0088] Advantages of L2 assisted driving function:

[0089] Improved safety: Through real-time perception and intelligent decision-making, Level 2 assisted driving functions can significantly reduce traffic accidents caused by driver negligence or untimely response.

[0090] Improved convenience: In specific scenarios, the system can automatically control the vehicle's acceleration, deceleration, and steering, reducing the driver's burden and improving driving convenience.

[0091] Promote technological upgrading: The realization of L2 assisted driving functions lays the foundation for higher-level autonomous driving technology and promotes the intelligent and networked development of the automotive industry.

[0092] The rearview mirror using the technical solution of this invention can make the car rearview mirror more comprehensive and realize the function of L2 assisted driving more efficient in different road driving environments. It also has the advantages of easy installation and compactness, and has more diverse functional changes, which can make vehicles that originally support L2 more efficient.

[0093] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An automatic driving auxiliary rearview mirror, characterized in that: It includes a shell, a frame is provided on the upper side of the shell, a glass plate is installed on the lower side of the frame, a screen is installed on the lower side of the glass plate, a polarizing film is provided between the screen and the glass plate, an integrated control circuit board is provided in the shell, the integrated control circuit board is provided with a screen cable, and the screen is provided with a screen cable interface matching the screen cable; the integrated control circuit board integrates a driving recorder video processing chip, an intelligent driving chip and a storage card slot; two cameras distributed on the left and right are installed in the shell, a smart driving camera cable is provided between the left camera and the integrated control circuit board, and a driving recorder camera cable is provided between the right camera and the integrated control circuit board; the integrated control circuit board is provided with a power data interface.

2. The automatic driving assist rearview mirror according to claim 1, characterized in that: The camera is provided with a camera mounting base, the camera mounting base is provided with camera base mounting screws, and the camera is provided with camera mounting screws.

3. The automatic driving assist rearview mirror according to claim 1, characterized in that: The camera is a 3D depth-of-field camera.

4. The automatic driving auxiliary rearview mirror according to claim 1, characterized in that: The intelligent driving chip can realize L2 level assisted driving function.

5. The automatic driving auxiliary rearview mirror according to claim 1, characterized in that: The power data interface is connected to a power data line, the power data line is connected to a converter, and the converter is connected to a vehicle communication harness.

6. A control method for an automatic driving auxiliary rearview mirror, characterized in that: This includes a perception layer control method that uses a camera to capture road images and a convolutional neural network to extract lane lines, shoulders, and obstacle features. In continuous curves, the system combines the vehicle's current speed and steering angle, and generates a smooth steering trajectory through the path planning module in the vehicle's autonomous driving system to avoid lane departures caused by sharp turns; on urban roads, the visual camera combines with the neural network to identify traffic lights, pedestrians and surrounding vehicles, and realizes red light detection through color and shape features.

7. The control method of an automatic driving auxiliary rearview mirror according to claim 6, characterized in that: It also includes the decision-making and control layer control methods: using a PI controller to adjust the steering wheel torque to keep the vehicle centered along the planned path; Adaptive cruise control (ACC) determines the distance to the vehicle ahead through radar and visual fusion, and automatically adjusts the throttle and brakes on steep slopes to maintain a safe following distance; the system can recognize red lights and stop automatically, but the driver still needs to lightly step on the accelerator to confirm passage when the light is green; changing lanes with the lights on relies on the vehicle's original blind spot monitoring function and sends lane change instructions via the CAN bus.

8. The control method of the automatic driving auxiliary rearview mirror according to claim 7, characterized in that: It also includes sensors and hardware control: the camera uses a 3D depth-of-field camera, and the integrated control circuit board is connected to both ends of the camera, and data transmission is achieved through the intelligent driving camera cable and the driving recorder camera cable; the integrated control circuit board contains an intelligent driving chip to achieve L2 assisted driving function characteristics; a combination of binocular camera + millimeter wave radar + IMU is used to build a 3D environmental model to accurately identify lane lines, vehicles, pedestrians and other targets, and predict their movement trajectories.

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