Vehicle, method and device for determining virtual image point of inside rear-view mirror of vehicle and storage medium

Abstract

The invention discloses a vehicle, a method and device for determining a virtual image point of an inside rear-view mirror of the vehicle and a storage medium, and the method comprises the steps that the virtual image point is determined based on the position of the inside rear-view mirror and the position of a driver, and the virtual image point is the center point of the view behind the vehicle seen by the eyes of the driver in the inside rear-view mirror; under the condition that the virtual image point is not located on the longitudinal datum plane of the vehicle, the angle of the inner rearview mirror is adjusted till the virtual image point is located on the longitudinal datum plane; and judging whether the view line corresponding to the adjusted virtual image point meets a preset view line condition, and determining the virtual image point as a target virtual image point under the condition that the preset view line condition is met. According to the method, the virtual image points can be automatically and efficiently determined, standardized operation can be achieved, and an optimal scheme can be provided for electrically adjusting the inside rear-view mirror in the future.

Description

Technical Field

[0001] The present application relates to the technical field of rearview mirrors, and in particular to a method for determining a virtual image point of a rearview mirror inside a vehicle, a computer-readable storage medium, a vehicle, and a device for determining a virtual image point of a rearview mirror inside a vehicle. Background Art

[0002] In new vehicle development projects, vehicle styling will be continuously updated based on styling trends, engineering analysis, human-machine and regulatory verification results, and the layout of vehicle components will also be adjusted accordingly. Human-machine and general layout engineers need to conduct human-machine and regulatory verification for each layout plan and optimize the layout and styling plan based on the verification results. The rearview mirror is a Class I indirect vision device. Regulations require that "the driver must be able to see a field of view of at least 20 meters on the horizontal road surface with the help of the rearview mirror. The central plane is the longitudinal reference plane of the vehicle and extends from 60 meters behind the driver to the horizon. For example, Figure 2 The eye point of the driver is the virtual image point (the total virtual image point of the left and right monoculars is I).

[0003] Currently, there's no effective, systematic, parameterized method for calculating the virtual image points required for regulations and human-machine verification. Resulting in a virtual image point that's as close to meeting regulations as possible relies solely on empirical values ​​and manual adjustments. This approach is inefficient and doesn't align with future trends in intelligent, electrically adjustable interior rearview mirrors. Summary of the Invention

[0004] The present application aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present application is to propose a method for determining a virtual image point of a vehicle interior rearview mirror, wherein the virtual image point is determined based on the position of the interior rearview mirror and the position of the driver, wherein the virtual image point is the center point of the driver's eye view of the rear of the vehicle in the interior rearview mirror, and when the virtual image point is not located in the longitudinal reference plane of the vehicle, the angle of the interior rearview mirror is adjusted until the virtual image point is located in the longitudinal reference plane, and whether the field of view corresponding to the adjusted virtual image point satisfies a preset field of view condition is determined, and when the preset field of view condition is satisfied, the virtual image point is determined as a target virtual image point, thereby automatically and efficiently determining the virtual image point, achieving standardized operation, and providing an optimal solution for future electric adjustment of the interior rearview mirror.

[0005] A second object of the present application is to provide a computer-readable storage medium.

[0006] The third object of this application is to provide a vehicle.

[0007] The fourth objective of the present application is to provide a device for determining a virtual image point of a vehicle interior rearview mirror.

[0008] To achieve the above-mentioned purpose, the first aspect embodiment of the present application proposes a method for determining a virtual image point of a vehicle's interior rearview mirror, the method comprising: determining a virtual image point based on the position of the interior rearview mirror and the position of the driver, wherein the virtual image point is the center point of the driver's eye's field of view of the rear of the vehicle in the interior rearview mirror; when the virtual image point is not in the longitudinal reference plane of the vehicle, adjusting the angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane; judging whether the field of view corresponding to the adjusted virtual image point meets a preset field of view condition, and determining the virtual image point as a target virtual image point when the preset field of view condition is met.

[0009] According to the method for determining the virtual image point of a vehicle's interior rearview mirror in an embodiment of the present application, the virtual image point is determined based on the position of the interior rearview mirror and the position of the driver. The virtual image point is the center point of the driver's view of the rear of the vehicle in the interior rearview mirror. If the virtual image point is not located on the longitudinal reference plane of the vehicle, the angle of the interior rearview mirror is adjusted until the virtual image point is located on the longitudinal reference plane. It is then determined whether the visual field corresponding to the adjusted virtual image point meets a preset visual field condition. If the preset visual field condition is met, the virtual image point is determined as the target virtual image point. Thus, the method can automatically and efficiently determine the virtual image point, achieve standardized operations, and provide an optimal solution for future electric adjustment of the interior rearview mirror.

[0010] In addition, the method for determining the virtual image point of the vehicle interior rearview mirror according to the above embodiment of the present application may also have the following additional technical features:

[0011] According to one embodiment of the present application, determining the virtual image point based on the position of the interior rearview mirror and the position of the driver includes: determining the position of the driver's eyes based on the driver's position and a human body model; and determining the virtual image point based on the principle of mirror reflection, the position of the interior rearview mirror and the position of the driver's eyes.

[0012] According to one embodiment of the present application, the position of the driver's eyes includes the left eye position and the right eye position, and the determining of the virtual image point based on the principle of mirror reflection, the position of the interior rearview mirror and the position of the driver's eyes includes: determining the left eye virtual image position based on the position of the interior rearview mirror, the left eye position and the principle of mirror reflection, and determining the right eye virtual image position based on the position of the interior rearview mirror, the right eye position and the principle of mirror reflection; determining the virtual image point based on the average value of the left eye virtual image position and the right eye virtual image position.

[0013] According to one embodiment of the present application, the field of vision includes an upper field of vision line of the left eye, a lower field of vision line of the left eye, an upper field of vision line of the right eye, and a lower field of vision line of the right eye, and the preset field of vision conditions include: the upper field of vision line of the left eye, the lower field of vision line of the left eye, the upper field of vision line of the right eye, and the lower field of vision line of the right eye intersect with the mirror surface of the interior rearview mirror and the transparent area of ​​the vehicle rear window glass.

[0014] According to one embodiment of the present application, the lower visual line of the left eye and the lower visual line of the right eye extend downward from the virtual image point, pointing to the first reference point and the second reference point at the first preset position respectively, and the upper visual line of the left eye and the upper visual line of the right eye extend upward from the virtual image point, pointing to the third reference point and the fourth reference point at the second preset position respectively, wherein the first reference point and the second reference point are located on the ground, and the height of the third reference point and the fourth reference point from the ground is the same as the height of the virtual image point from the ground.

[0015] According to one embodiment of the present application, the angle of the interior rearview mirror is adjusted until the virtual image point is in the longitudinal reference plane, including: obtaining a coordinate system corresponding to the interior rearview mirror, wherein the coordinate system is established with the rotation center of the interior rearview mirror as a reference, the first coordinate axis of the coordinate system is in the longitudinal reference plane of the vehicle, the second coordinate axis of the coordinate system is in the transverse reference plane of the vehicle, and the third coordinate axis of the coordinate system is in the vertical reference plane of the vehicle; adjusting the first rotation angle, the second rotation angle and the third rotation angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane, wherein the first rotation angle is the rotation angle around the first coordinate axis, the second rotation angle is the rotation angle around the second coordinate axis, and the third rotation angle is the rotation angle around the third coordinate axis, and the virtual image point is located in the longitudinal reference plane of the vehicle when the coordinate value corresponding to the virtual image point on the second coordinate axis is zero.

[0016] According to one embodiment of the present application, the method further includes: when the preset field of view condition is not met, adjusting the angle of the interior rearview mirror so that the virtual image point is located on the longitudinal reference plane of the vehicle and the field of view corresponding to the adjusted virtual image point meets the preset field of view condition.

[0017] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the above-mentioned method for determining the virtual image point of the vehicle interior rearview mirror is implemented.

[0018] According to the computer-readable storage medium of the embodiment of the present application, by implementing the above-mentioned method for determining the virtual image point of the vehicle rearview mirror during execution, the virtual image point can be automatically and efficiently determined, standardized operations can be achieved, and the optimal solution can be provided for the future electric adjustment of the rearview mirror.

[0019] In order to achieve the above-mentioned purpose, a vehicle is proposed in the third aspect embodiment of the present application, including a memory, a processor and a program stored in the memory and runnable on the processor. When the processor executes the program, the above-mentioned method for determining the virtual image point of the vehicle's interior rearview mirror is implemented.

[0020] According to the vehicle of the embodiment of the present application, by executing the above-mentioned method for determining the virtual image point of the vehicle interior rearview mirror, the virtual image point can be automatically and efficiently determined, standardized operation can be achieved, and the optimal solution can be provided for the future electric adjustment of the interior rearview mirror.

[0021] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes a device for determining the virtual image point of a vehicle's interior rearview mirror, the device comprising: a first determination module, for determining the virtual image point based on the position of the interior rearview mirror and the position of the driver, wherein the virtual image point is the center point of the field of view of the rear of the vehicle seen by the driver's eyes in the interior rearview mirror; an adjustment module, for adjusting the angle of the interior rearview mirror when the virtual image point is not in the longitudinal reference plane of the vehicle until the virtual image point is in the longitudinal reference plane; a second determination module, for judging whether the field of view corresponding to the adjusted virtual image point meets the preset field of view condition, and determining the virtual image point as the target virtual image point when the preset field of view condition is met.

[0022] According to the device for determining the virtual image point of a vehicle interior rearview mirror according to an embodiment of the present application, the first determination module is used to determine the virtual image point based on the position of the interior rearview mirror and the position of the driver, wherein the virtual image point is the center point of the driver's eye view of the rear of the vehicle in the interior rearview mirror; the adjustment module is used to adjust the angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane when the virtual image point is not in the longitudinal reference plane of the vehicle; the second determination module is used to determine whether the visual field corresponding to the adjusted virtual image point meets the preset visual field condition, and if the preset visual field condition is met, determine the virtual image point as the target virtual image point. Thus, the device can automatically and efficiently determine the virtual image point, can achieve standardized operation, and can provide the optimal solution for future electric adjustment of the interior rearview mirror.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1is a flow chart of a method for determining a virtual image point of a vehicle interior rearview mirror according to an embodiment of the present application;

[0025] Figure 2 Schematic diagram of virtual image point position according to related art;

[0026] Figure 3 is a schematic diagram of a virtual image point and a field of view according to an embodiment of the present application;

[0027] Figure 4 This is a flow chart of a method for determining a virtual image point of a vehicle interior rearview mirror according to a specific example of the present application;

[0028] Figure 5 is a block diagram of a vehicle according to an embodiment of the present application;

[0029] Figure 6 Schematic diagram of a block diagram of a device for determining a virtual image point of a vehicle interior rearview mirror according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0031] The following describes, with reference to the accompanying drawings, a method for determining a virtual image point of a vehicle interior rearview mirror, a computer-readable storage medium, a vehicle, and a device for determining a virtual image point of a vehicle interior rearview mirror, which are proposed in embodiments of the present application.

[0032] Figure 1 Flowchart of a method for determining a virtual image point of a vehicle interior rearview mirror according to an embodiment of the present application.

[0033] like Figure 1 As shown, the method for determining the virtual image point of the vehicle interior rearview mirror in the embodiment of the present application may include the following steps:

[0034] S1, determining a virtual image point based on the position of the interior rearview mirror and the position of the driver, wherein the virtual image point is the center point of the rear view of the vehicle seen by the driver's eyes in the interior rearview mirror.

[0035] S2: When the virtual image point is not located on the longitudinal reference plane of the vehicle, the angle of the interior rearview mirror is adjusted until the virtual image point is located on the longitudinal reference plane.

[0036] S3, judging whether the visual field corresponding to the adjusted virtual image point satisfies a preset visual field condition, and determining the virtual image point as a target virtual image point if the preset visual field condition is satisfied.

[0037] Specifically, when determining the virtual image point based on the position of the rearview mirror and the position of the driver, for example, three-dimensional modeling software (such as SolidWorks, CATIA, etc.) can be used first to accurately simulate the position of the rearview mirror and the mirror normal. For example, by inputting the vehicle's geometric parameters and the design parameters of the rearview mirror into the software, a three-dimensional model of the rearview mirror can be quickly generated, and the mirror normal can be calculated. The driver's position can also be calculated through the ergonomic model and the driver's sitting posture parameters.

[0038] After determining the position of the interior rearview mirror and the driver's position, 3D modeling software (such as SolidWorks, CATIA, etc.) and optical simulation software (such as Zemax, LightTools, etc.) can be used to accurately simulate the relationship between the driver's eyes, the interior rearview mirror, and the vehicle's rearward field of view, thereby calculating the virtual image point. For example, a geometric model of the vehicle, including components such as the body, front windshield, and interior rearview mirror, is created in the 3D modeling software, ensuring that the dimensions and proportions of the vehicle model are consistent with the actual vehicle. In the vehicle model, the driver's sitting posture and eye position are determined based on ergonomic data. The center position and mirror normal of the interior rearview mirror are also determined based on design parameters. These parameters can be obtained by measuring the actual vehicle or referencing design drawings. Using optical simulation software, the path of light rays originating from the driver's eyes, reflected by the interior rearview mirror, and reaching the rear of the vehicle is simulated. The simulation software's analysis function calculates the intersection of the reflected rays, i.e., the location of the virtual image point. The coordinates of the virtual image point can be directly output by the software.

[0039] After acquiring the virtual image point, its position is determined. If the virtual image point is not located on the vehicle's longitudinal reference plane, the angle of the interior rearview mirror is adjusted until the virtual image point is on the longitudinal reference plane. The longitudinal reference plane refers to the vehicle's longitudinal symmetry plane, passing through the vehicle's centerline and perpendicular to its transverse axis. It is a virtual plane that defines the vehicle's symmetry and orientation. According to relevant regulations, the design of the interior rearview mirror must ensure that the driver has a clear view behind the vehicle. In other words, the location of the virtual image point on the longitudinal reference plane ensures symmetry and consistency of the field of view, meeting regulatory requirements for the field of view. For example, the transverse coordinate of the virtual image point can be checked to see if it is zero. If so, the virtual image point is determined to be on the longitudinal reference plane. If not, the virtual image point is not on the longitudinal reference plane. If the virtual image point is not on the longitudinal reference plane, the angle of the interior rearview mirror needs to be adjusted to bring the transverse coordinate of the virtual image point closer to zero. For example, an optimization algorithm can be used to gradually adjust the angle of the interior rearview mirror until the virtual image point is on the longitudinal reference plane. Adjustment can then be stopped. Therefore, adjusting the virtual image point to the longitudinal reference plane can ensure that the center of the driver's field of view is consistent with the vehicle's direction of travel when observing the rear view, which helps reduce the driver's visual fatigue and improve driving safety.

[0040] Furthermore, after adjusting the rearview mirror angle so that the virtual image point lies on the vehicle's longitudinal reference plane, further verification is required to determine whether the adjusted virtual image point meets the preset field of view conditions. These field of view conditions ensure that the driver has an adequate rearward view through the rearview mirror, meeting driving safety and regulatory requirements. For example, the field of view must intersect the rearview mirror surface and the transparent area of ​​the rear window. The field of view is defined as light rays originating from the virtual image point and directed toward a specific location behind the vehicle. If all field of view lines meet the preset conditions, the current virtual image point is determined as the target virtual image point, or the optimal virtual image point. Determining the angle of the rearview mirror corresponding to the optimal virtual image point can provide the optimal solution for future electrically adjustable rearview mirrors.

[0041] In this way, the virtual image point can be determined automatically and efficiently, which can achieve standardized operations and provide the optimal solution for the future electric adjustment of the rearview mirror.

[0042] According to one embodiment of the present application, the virtual image point is determined based on the position of the interior rearview mirror and the position of the driver, including: determining the position of the driver's eyes based on the driver's position and a human body model; determining the virtual image point based on the principle of mirror reflection, the position of the interior rearview mirror and the position of the driver's eyes.

[0043] Specifically, when determining the virtual image point based on the position of the rearview mirror and the driver's position, the driver's eye position can first be determined based on the driver's position and the human body model. In other words, the driver's eye position is the basis for determining the virtual image point. In order to accurately determine the eye position, the following information is required: the driver's sitting posture, that is, the driver's position in the driver's seat, which may include the front-to-back position, up-down position, and backrest angle of the seat. Human body model parameters, which may include the driver's height, head position, and the relative position of the eyes to the head. An ergonomic model (such as the SAE human body model) can be used to determine the relative position of the eyes. Point R (reference point) is the reference point of the human body model in automobile design. It is located at the driver's hip joint. The eye position can be determined based on the proportional relationship between Point R and the human body model.

[0044] Based on the driver's seat position and the human body model, the position of point R in the vehicle coordinate system is determined, and based on the human body model, the position of the eyes relative to point R is determined. Usually, the eyes are located a certain distance above point R (for example, the vertical distance from the eyes to point R is about 600-700 mm), and the horizontal distance from the eyes to point R is usually 100-150 mm. The specific value depends on the design of the human body model and the seat. In addition, the position of the eyes is also related to the driver's head posture. In a normal driving posture, the head is usually tilted slightly forward, so the position of the eyes will also shift forward accordingly. The three-dimensional coordinates of the eyes in the vehicle coordinate system can be calculated through the position of point R and the geometric relationship between the eyes and point R. For example, assuming that the coordinates of point R in the vehicle coordinate system are (X R , Y R , Z R ), the relative position of the eye relative to point R is (dx, dy, dz), then the three-dimensional coordinates of the eye (X 眼 , Y 眼 , Z 眼 ) can be accessed through X 眼 =X R +dx,Y 眼 =Y R +dy,Z 眼 =Z R +dz confirmed.

[0045] After determining the position of the driver's eyes, the virtual image point can be determined based on the principle of mirror reflection, the position of the interior rearview mirror, and the position of the driver's eyes. That is, the virtual image point is the center point of the rear view seen by the driver through the interior rearview mirror. The position of the interior rearview mirror (including its coordinates in the vehicle coordinate system) and the normal direction of the mirror are known. The principle of mirror reflection is that the angle of incidence is equal to the angle of reflection. Assume that the mirror equation of the interior rearview mirror is Ax+By+Cz+D=0, where A, B, and C are the direction cosines of the mirror normal, and the direction vector of the mirror normal is n=(A, B, C). The incident light is the light from the driver's eyes to the mirror. Assume that the position of the driver's eyes is P 眼 =(X 眼 , Y 眼 , Z 眼 ), a point on the mirror is P 镜 =(X 镜 , Y 镜 , Z 镜 ), the direction vector of the incident light is I=P 镜 -P 眼 According to the law of reflection, the direction vector R of the reflected light can be calculated by the following formula: R = I-2(I·n)n. The virtual image point is the intersection of the reflected light and the rear view. Assuming that the rear view is a plane (for example, the plane of the rear glass of the vehicle), its equation is A′x+B′y+C′z+D′=0. By solving the equation system R·t+P 镜 (where t is a parameter) and the intersection of the rear field of view plane, the position of the virtual image point P can be obtained 虚 =(X 虚 , Y 虚 , Z 虚 ).

[0046] Therefore, through the above steps, the position of the virtual image point can be accurately determined to ensure that the model meets regulatory and ergonomic requirements by optimizing it.

[0047] According to one embodiment of the present application, the position of the driver's eyes includes the left eye position and the right eye position, and the virtual image point is determined based on the principle of mirror reflection, the position of the rearview mirror and the position of the driver's eyes, including: determining the left eye virtual image position based on the position of the rearview mirror, the left eye position and the principle of mirror reflection, and determining the right eye virtual image position based on the position of the rearview mirror, the right eye position and the principle of mirror reflection; determining the virtual image point based on the average value of the left eye virtual image position and the right eye virtual image position.

[0048] Specifically, the position of the driver's eyes includes the position of the left eye and the position of the right eye. When determining the virtual image point based on the principle of mirror reflection, the position of the rearview mirror, and the position of the driver's eyes, it can be assumed that the horizontal distance between the eyes is 65 mm (average value), the left eye is located to the left of the center line of the driver's head, and the right eye is located to the right. The left and right eyes are located in the same vertical and front-to-back positions, and only the horizontal positions are different. Assume that the center position of the driver's eyes (i.e., the geometric center of the two eyes) is P 眼 =(X 眼 , Y 眼 , Z 眼 ), then the left eye position can be expressed as P 左 =(X 眼 -65 / 2, Y 眼 , Z 眼 ), the right eye position can be expressed as P 右 =(X 眼 -65 / 2, Y 眼 , Z 眼 ). The position and direction of the interior rearview mirror are known and can be given by the vehicle design parameters. Assume that the center position of the interior rearview mirror is P 镜 =(X 镜 , Y 镜 , Z 镜 ), and assume that the direction vector of the mirror normal is n = (A, B, C), where A, B, C are the coefficients of the mirror equation Ax + By + Cz + D = 0. According to the principle of mirror reflection, the angle of incidence is equal to the angle of reflection. The incident light and the reflected light from the left eye to the mirror can be calculated to determine the position of the left eye virtual image. 左 To the mirror center position P 镜 The vector is I 左 =P 镜 -P 左 According to the law of reflection, the direction of the reflected light R 左 It can be calculated by the following formula: 左 =I 左 -2(I 左 ·n 左 )n 左 Assume that the reflected light intersects the rear view plane of the vehicle (such as the rear glass plane), and the equation of the rear view plane is A′x+B′y+C′z+D′=0. By solving the equation group: R 左 t+P 镜 = (x, y, z) and A′x+B′y+C′z+D′=0 to determine the position P of the left eye virtual image 虚左 =(x 虚左 ,y 虚左 , z 虚左 ).

[0049] Similarly, the virtual image position of the right eye can be calculated by the same steps, which will not be repeated here. After determining the virtual image positions of the left eye and the right eye, the virtual image point can be determined based on the average of the virtual image positions of the left eye and the right eye. That is, the virtual image point is the average position of the virtual image of the left eye and the virtual image of the right eye, representing the center point of the rear view seen by the driver through the rearview mirror. That is, the coordinates P of the virtual image point 虚 =(x 虚 ,y 虚 , z 虚 ), where x 虚 =(x 虚左 +x 虚右 ) / 2,y 虚 =(y 虚左 +y 虚右 ) / 2,z 虚 =(z 虚左 +z 虚右 ) / 2.

[0050] Therefore, through the above steps, the left eye virtual image position and the right eye virtual image position can be determined based on the position of the rearview mirror, the position of the driver's left eye and right eye, and the principle of mirror reflection, and the final virtual image point can be determined by their average value. This process involves the comprehensive application of geometric optics and ergonomics to ensure the accuracy and rationality of the virtual image point, thereby meeting regulatory requirements and driving safety needs.

[0051] According to one embodiment of the present application, the field of vision includes an upper field of vision line of the left eye, a lower field of vision line of the left eye, an upper field of vision line of the right eye, and a lower field of vision line of the right eye, and the preset field of vision conditions include: the upper field of vision line of the left eye, the lower field of vision line of the left eye, the upper field of vision line of the right eye, and the lower field of vision line of the right eye intersect with the mirror surface of the interior rearview mirror and the transparent area of ​​the rear window glass of the vehicle.

[0052] Specifically, refer to Figure 3 As shown, the visual field can include the upper left eye visual field, the lower left eye visual field, the upper right eye visual field, and the lower right eye visual field. In other words, ensuring the driver has a good rearward view through the rearview mirror is crucial in automotive design. To meet this requirement, the visual field lines must be defined and verified. In particular, the upper left eye visual field, the lower left eye visual field, the upper right eye visual field, and the lower right eye visual field must intersect with the rearview mirror surface and the transparent area of ​​the vehicle's rear window to ensure the driver has an adequate rearward view. The upper left eye visual field is the visual field from the left eye pointing to the upper rear of the vehicle, while the lower left eye visual field is the visual field from the left eye pointing to the lower rear of the vehicle. The upper right eye visual field is the visual field from the right eye pointing to the upper rear of the vehicle, while the lower right eye visual field is the visual field from the right eye pointing to the lower rear of the vehicle.

[0053] Preset field of view conditions ensure that these lines cover an adequate rearward field of view while meeting both regulatory and driving safety requirements. Specific conditions include: Field of view line intersects with the rearview mirror surface: The field of view line must intersect with the rearview mirror surface to ensure the driver can see the rearward field of view through the rearview mirror. And field of view line intersects with the transparent area of ​​the rear window: The field of view line must intersect with the transparent area of ​​the rear window to ensure the driver can see an adequate rearward field of view. For example, assuming the rearview mirror and the transparent area of ​​the rear window are a plane with known position and orientation, the field of view line corresponding to the virtual image point can be determined by determining whether the vector of each field of view line intersects with the equation of the plane containing the rearview mirror and the transparent area of ​​the rear window. In other words, if there is an intersection, it indicates that the field of view line intersects with the rearview mirror surface and the transparent area of ​​the rear window.

[0054] According to one embodiment of the present application, the lower visual line of the left eye and the lower visual line of the right eye extend downward from the virtual image point, pointing to the first reference point and the second reference point at the first preset position, respectively, and the upper visual line of the left eye and the upper visual line of the right eye extend upward from the virtual image point, pointing to the third reference point and the fourth reference point at the second preset position, respectively, wherein the first reference point and the second reference point are located on the ground, and the height of the third reference point and the fourth reference point from the ground is the same as the height of the virtual image point from the ground.

[0055] Specifically, assuming the position of the virtual image point is P 虚 =(x 虚 ,y 虚 , z 虚 ), where z 虚 The first preset position is located on the ground and is used to define the lower visual line of the left eye and the lower visual line of the right eye, that is, the first reference point P 基准1 =(x 基准1 ,y 基准1 ,0), second reference point: P 基准2 =(x 基准2 ,y 基准2 , 0), the height of the second preset position from the ground is the same as the height of the virtual image point from the ground, which is used to define the upper visual line of the left eye and the upper visual line of the right eye, that is, the third reference point P 基准3 =(x 基准3 ,y 基准3 , 0), the fourth reference point P 基准4 =(x 基准4 ,y 基准4 , 0). The field of view is the light that starts from the virtual image point and points to these reference points respectively. Therefore, it is necessary to calculate the direction vectors of these field of view lines and verify whether they intersect with the mirror surface of the interior rearview mirror and the transparent area of ​​the vehicle's rear window glass.

[0056] From this, the direction vector D of the left eye's lower visual field can be determined左下 =P 基准1 -P 虚 =(x 基准1 -x 虚 ,y 基准1 -y 虚 , 0-z 虚 ), the direction vector D of the right eye's lower visual field 右下 =P 基准2 -P 虚 =(x 基准2 -x 虚 ,y 基准2 -y 虚 , 0-z 虚 ), the direction vector D of the left eye's upper visual field line 左上 =P 基准3 -P 虚 =(x 基准3 -x 虚 ,y 基准3 -y 虚 , 0), the direction vector Dright of the upper visual line of the right eye 上 =P 基准4 -P 虚 =(x 基准4 -x 虚 ,y 基准4 -y 虚 , 0). Thus, it can be determined whether the left eye upper field of view, the left eye lower field of view, the right eye upper field of view and the right eye lower field of view intersect with the interior rearview mirror surface and the vehicle rear window glass transparent area.

[0057] For example, the mirror surface equation of the interior rearview mirror is x+y+z-150=0, the transparent area equation of the rear window glass is x+y+z-200=0, and the virtual image point position P is 虚 =(100, 0, 50), a visual line direction vector (such as the direction vector of the visual line below the left eye) D = (1, 1, 1) as an example, the parametric equation of the visual line can be expressed as: x = x 虚 +t·dx,y=y 虚 +t·dy,z=z 虚+t·dz, where t is a parameter and (dx, dy, dz) are the components of the direction vector D. Substituting these specific values ​​yields x = 100 + t, y = 0 + t, and z = 50 + t. Substituting the parametric equation for the field of view into the mirror equation yields: (100 + t) + (0 + t) + (50 + t) - 150 = 0, which simplifies to t = 0. Substituting the parametric equation for the field of view into the transparent area equation yields: (100 + t) + (0 + t) + (50 + t) - 200 = 0, which simplifies to t approximately equal to 16.67. The intersection point t = 0 with the interior rearview mirror surface indicates that the intersection point is at the virtual image point, which does not meet practical requirements. Therefore, the direction vector or mirror equation needs to be adjusted to ensure that t is a positive value. The intersection with the transparent area of ​​the rear window glass: t≈16.67 indicates that the intersection is in the extension direction of the field of view, and the intersection coordinates are: (x, y, z)=(100+16.67, 0+16.67, 50+16.67)=(116.67, 16.67, 66.67). Because t>0, and the intersection coordinates satisfy the equation of the transparent area of ​​the rear window glass, the field of view intersects with the transparent area of ​​the rear window glass.

[0058] The above steps determine whether the view lines intersect with the rearview mirror surface and the transparent area of ​​the rear window. If all view lines meet the intersection condition, the rearview mirror layout is reasonable. If some view lines do not meet the condition, the position and angle of the rearview mirror need to be adjusted and the view line intersection points recalculated until all view lines meet the condition.

[0059] According to one embodiment of the present application, the angle of the interior rearview mirror is adjusted until the virtual image point is in the longitudinal reference plane, including: obtaining a coordinate system corresponding to the interior rearview mirror, wherein the coordinate system is established with the rotation center of the interior rearview mirror as a reference, the first coordinate axis of the coordinate system is in the longitudinal reference plane of the vehicle, the second coordinate axis of the coordinate system is in the lateral reference plane of the vehicle, and the third coordinate axis of the coordinate system is in the vertical reference plane of the vehicle; adjusting the first rotation angle, the second rotation angle and the third rotation angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane, wherein the first rotation angle is the rotation angle around the first coordinate axis, the second rotation angle is the rotation angle around the second coordinate axis, and the third rotation angle is the rotation angle around the third coordinate axis, and the virtual image point is located in the longitudinal reference plane of the vehicle, and the coordinate value corresponding to the virtual image point on the second coordinate axis is zero.

[0060] Specifically, when adjusting the angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane, first obtain the coordinate system corresponding to the interior rearview mirror. You can pre-establish a coordinate system corresponding to the interior rearview mirror and obtain this coordinate system. This coordinate system is based on the rotation center of the interior rearview mirror, and its axial direction corresponds to the reference plane of the vehicle: the first coordinate axis (X axis) is in the longitudinal reference plane of the vehicle, pointing to the front of the vehicle, the second coordinate axis (Y axis) is in the transverse reference plane of the vehicle, pointing to the left side of the vehicle, and the third coordinate axis (Z axis) is in the vertical reference plane of the vehicle, pointing to the top of the vehicle. Assume that the rotation center of the interior rearview mirror is P 旋转 =(x 旋转 ,y 旋转 , z 旋转 The rotation of the rearview mirror can be described by three angles: the first rotation angle (α) is the rotation angle around the first coordinate axis (X axis), the second rotation angle (β) is the rotation angle around the second coordinate axis (Y axis), and the third rotation angle (γ) is the rotation angle around the third coordinate axis (Z axis).

[0061] In order to make the virtual image point in the longitudinal reference plane, it is necessary to adjust the rotation angles α, β and γ of the rearview mirror until y 虚 = 0. For example, by using gradient descent, genetic algorithm or other numerical optimization methods to make y 虚 For example, define the optimization objective function f(α, β, γ) = y 虚 (α, β, γ), where, where, y 虚 Is the Y coordinate of the virtual image point, which is a function of the rotation angles α, β and γ. Use the gradient descent method, such as the gradient descent method, to calculate the gradient of the objective function with respect to α, β and γ, and update the parameters according to the rules of the gradient descent method. Finally, check whether the objective function value is less than the convergence threshold. If the condition is met, stop the iteration, otherwise, continue the iteration. Thus, starting from the initial angles α0, β0 and γ0, gradually adjust the angles and calculate the virtual image point position P after each adjustment. 虚 . Check y 虚 Is it close to zero? If y 虚 If the absolute value of is zero or smaller than a preset threshold (eg, 0.1 mm), it is considered that the virtual image point is close enough to the longitudinal reference plane.

[0062] Therefore, by establishing the coordinate system of the interior rearview mirror, defining the rotation angles, and adjusting these angles using an optimization algorithm, the Y coordinate of the virtual image point can be made close to zero, thereby ensuring that the virtual image point is on the longitudinal reference plane of the vehicle.

[0063] According to one embodiment of the present application, the method for determining the virtual image point of the vehicle's interior rearview mirror also includes: when the preset field of view condition is not met, adjusting the angle of the interior rearview mirror so that the virtual image point is located on the longitudinal reference plane of the vehicle and the field of view corresponding to the adjusted virtual image point meets the preset field of view condition.

[0064] Specifically, it is judged whether the field of view corresponding to the adjusted virtual image point meets the preset field of view conditions. If the field of view corresponding to the virtual image point, such as one or more of the upper field of view line of the left eye, the lower field of view line of the left eye, the upper field of view line of the right eye or the lower field of view line of the right eye, does not meet the preset field of view conditions, it means that the current driver cannot see enough rear vision through the rearview mirror, which does not meet regulatory requirements and driving safety needs. Therefore, the angle of the rearview mirror can be further adjusted so that the virtual image point is located on the longitudinal reference plane of the vehicle and the field of view corresponding to the adjusted virtual image point meets the preset field of view conditions.

[0065] For example, continue to adjust the rotation angle of the rearview mirror (the first rotation angle α, the second rotation angle β and the third rotation angle γ), the adjustment goal is to make the Y coordinate of the virtual image point zero, that is, y 虚 = 0, and all view lines meet the preset view line conditions. For example, α, β, and γ are adjusted using a gradient descent method or other optimization algorithm until the Y coordinate of the virtual image point approaches zero and all view lines meet the preset view line conditions. Thus, through optimization and adjustment, the Y coordinate of the virtual image point approaches zero, ensuring that it lies on the vehicle's longitudinal reference plane, and all view lines intersect with the interior rearview mirror surface and the transparent area of ​​the rear window glass, ensuring that the driver has a good rear view. Furthermore, using a gradient descent method or other optimization algorithm is highly efficient and can quickly converge to a satisfying interior rearview mirror angle.

[0066] The following combination Figure 4 To describe the method of this application.

[0067] As a specific example, the method for determining the virtual image point of the vehicle interior rearview mirror of the present application may include the following steps:

[0068] S101 , determining the driver's left eye position and right eye position based on the driver's position and a human body model.

[0069] S102, determining the position of the left eye virtual image based on the position of the rearview mirror, the position of the left eye and the principle of mirror reflection, and determining the position of the right eye virtual image based on the position of the rearview mirror, the position of the right eye and the principle of mirror reflection.

[0070] S103 : Determine a virtual image point based on an average value of the left-eye virtual image position and the right-eye virtual image position.

[0071] S104: Determine whether the virtual image point is not located on the longitudinal reference plane of the vehicle. If yes, proceed to step S105; if not, proceed to step S106.

[0072] S105 , adjusting the first rotation angle, the second rotation angle, and the third rotation angle of the interior rearview mirror until the virtual image point is located on the longitudinal reference plane.

[0073] S106: Determine whether the visual field corresponding to the virtual image point satisfies a preset visual field condition. If yes, execute step S107; if not, execute step S105.

[0074] S107: Determine the virtual image point as the target virtual image point.

[0075] In summary, according to the method for determining the virtual image point of a vehicle's interior rearview mirror according to an embodiment of the present application, the virtual image point is determined based on the position of the interior rearview mirror and the position of the driver. The virtual image point is the center point of the driver's view of the rear of the vehicle in the interior rearview mirror. If the virtual image point is not located on the longitudinal reference plane of the vehicle, the angle of the interior rearview mirror is adjusted until the virtual image point is located on the longitudinal reference plane. It is then determined whether the visual field corresponding to the adjusted virtual image point satisfies a preset visual field condition. If the preset visual field condition is satisfied, the virtual image point is determined as the target virtual image point. Thus, this method can automatically and efficiently determine the virtual image point, achieve standardized operations, and provide an optimal solution for future electrically adjustable interior rearview mirrors.

[0076] Corresponding to the above embodiment, the present application also proposes a computer-readable storage medium.

[0077] The computer-readable storage medium of the embodiment of the present application stores a program thereon, and when the program is executed by a processor, the method for determining the virtual image point of the vehicle interior rearview mirror is implemented.

[0078] According to the computer-readable storage medium of the embodiment of the present application, by executing the above-mentioned method for determining the virtual image point of the vehicle interior rearview mirror, the virtual image point can be automatically and efficiently determined, standardized operations can be achieved, and the optimal solution can be provided for the future electric adjustment of the interior rearview mirror.

[0079] Corresponding to the above embodiments, the present application also proposes a vehicle.

[0080] like Figure 5 As shown, the vehicle 200 of the embodiment of the present application may include: a memory 210, a processor 220, and a program stored on the memory 210 and executable on the processor 220. When the processor 220 executes the program, the above-mentioned method for determining the virtual image point of the vehicle interior rearview mirror is implemented.

[0081] According to the vehicle of the embodiment of the present application, by executing the above-mentioned method for determining the virtual image point of the vehicle interior rearview mirror, the virtual image point can be automatically and efficiently determined, standardized operation can be achieved, and the optimal solution can be provided for the future electric adjustment of the interior rearview mirror.

[0082] Corresponding to the above embodiment, the present application also proposes a device for determining a virtual image point of a vehicle interior rearview mirror.

[0083] like Figure 6 As shown, the device 100 for determining a virtual image point of a vehicle interior rearview mirror according to an embodiment of the present application includes: a first determining module 110 , an adjusting module 120 and a second determining module 130 .

[0084] The first determination module 110 is configured to determine a virtual image point based on the position of the interior rearview mirror and the driver's position, where the virtual image point is the center point of the driver's view of the rear of the vehicle in the interior rearview mirror. The adjustment module 120 is configured to adjust the angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane of the vehicle, if the virtual image point is not in the longitudinal reference plane. The second determination module 130 is configured to determine whether the visual field corresponding to the adjusted virtual image point satisfies a preset visual field condition and, if so, to determine the virtual image point as the target virtual image point.

[0085] According to one embodiment of the present application, the first determination module 110 determines the virtual image point based on the position of the interior rearview mirror and the position of the driver, and is specifically used to: determine the position of the driver's eyes based on the driver's position and the human body model; determine the virtual image point based on the principle of mirror reflection, the position of the interior rearview mirror and the position of the driver's eyes.

[0086] According to one embodiment of the present application, the position of the driver's eyes includes the left eye position and the right eye position, and the first determination module 110 determines the virtual image point based on the principle of mirror reflection, the position of the interior rearview mirror and the position of the driver's eyes, and is specifically used to: determine the left eye virtual image position based on the position of the interior rearview mirror, the left eye position and the principle of mirror reflection, and determine the right eye virtual image position based on the position of the interior rearview mirror, the right eye position and the principle of mirror reflection; determine the virtual image point based on the average value of the left eye virtual image position and the right eye virtual image position.

[0087] According to one embodiment of the present application, the field of vision includes an upper field of vision line of the left eye, a lower field of vision line of the left eye, an upper field of vision line of the right eye, and a lower field of vision line of the right eye, and the preset field of vision conditions include: the upper field of vision line of the left eye, the lower field of vision line of the left eye, the upper field of vision line of the right eye, and the lower field of vision line of the right eye intersect with the mirror surface of the interior rearview mirror and the transparent area of ​​the rear window glass of the vehicle.

[0088] According to one embodiment of the present application, the lower visual line of the left eye and the lower visual line of the right eye extend downward from the virtual image point, pointing to the first reference point and the second reference point at the first preset position, respectively, and the upper visual line of the left eye and the upper visual line of the right eye extend upward from the virtual image point, pointing to the third reference point and the fourth reference point at the second preset position, respectively, wherein the first reference point and the second reference point are located on the ground, and the height of the third reference point and the fourth reference point from the ground is the same as the height of the virtual image point from the ground.

[0089] According to one embodiment of the present application, the adjustment module 120 adjusts the angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane, specifically for: obtaining a coordinate system corresponding to the interior rearview mirror, wherein the coordinate system is established with the rotation center of the interior rearview mirror as a reference, the first coordinate axis of the coordinate system is in the longitudinal reference plane of the vehicle, the second coordinate axis of the coordinate system is in the transverse reference plane of the vehicle, and the third coordinate axis of the coordinate system is in the vertical reference plane of the vehicle; adjusting the first rotation angle, the second rotation angle and the third rotation angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane, wherein the first rotation angle is the rotation angle around the first coordinate axis, the second rotation angle is the rotation angle around the second coordinate axis, and the third rotation angle is the rotation angle around the third coordinate axis, and the virtual image point is located in the longitudinal reference plane of the vehicle, and the coordinate value corresponding to the virtual image point on the second coordinate axis is zero.

[0090] According to one embodiment of the present application, the adjustment module 120 is also used to: when the preset field of view condition is not met, adjust the angle of the interior rearview mirror so that the virtual image point is located on the longitudinal reference plane of the vehicle and the field of view corresponding to the adjusted virtual image point meets the preset field of view condition.

[0091] It should be noted that for details not disclosed in the device for determining the virtual image point of the vehicle interior rearview mirror in the embodiment of the present application, please refer to the details disclosed in the method for determining the virtual image point of the vehicle interior rearview mirror in the embodiment of the present application, and the details will not be repeated here.

[0092] According to the device for determining the virtual image point of a vehicle's interior rearview mirror in an embodiment of the present application, a first determination module is used to determine the virtual image point based on the position of the interior rearview mirror and the position of the driver, wherein the virtual image point is the center point of the driver's view of the rear of the vehicle in the interior rearview mirror; an adjustment module is used to adjust the angle of the interior rearview mirror until the virtual image point is in the longitudinal reference plane when the virtual image point is not in the longitudinal reference plane of the vehicle; and a determination module is used to determine whether the field of view corresponding to the adjusted virtual image point satisfies a preset field of view condition, and if the preset field of view condition is satisfied, determine the virtual image point as the target virtual image point. Thus, the device can automatically and efficiently determine the virtual image point, achieve standardized operations, and provide an optimal solution for future electric adjustment of the interior rearview mirror.

[0093] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0094] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0095] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0097] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0098] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for determining a virtual image point of a vehicle interior rearview mirror, characterized in that: The method comprises: Determining a virtual image point based on the position of the interior rearview mirror and the position of the driver, wherein the virtual image point is the center point of the driver's eye view of the rear of the vehicle in the interior rearview mirror; When the virtual image point is not located on the longitudinal reference plane of the vehicle, adjusting the angle of the interior rearview mirror until the virtual image point is located on the longitudinal reference plane; It is determined whether the visual field corresponding to the adjusted virtual image point satisfies a preset visual field condition, and if the preset visual field condition is satisfied, the virtual image point is determined to be a target virtual image point.

2. The method for determining the virtual image point of a vehicle interior rearview mirror according to claim 1, wherein: The determining of the virtual image point based on the position of the interior rearview mirror and the position of the driver comprises: determining a position of the driver's eyes based on the driver's position and a human body model; The virtual image point is determined based on the principle of mirror reflection, the position of the interior rearview mirror and the position of the driver's eyes.

3. The method for determining the virtual image point of the vehicle interior rearview mirror according to claim 2, characterized in that: The positions of the driver's eyes include a left eye position and a right eye position, and determining the virtual image point based on the mirror reflection principle, the position of the interior rearview mirror, and the position of the driver's eyes includes: determining a left eye virtual image position based on the position of the interior rearview mirror, the left eye position, and the mirror reflection principle, and determining a right eye virtual image position based on the position of the interior rearview mirror, the right eye position, and the mirror reflection principle; The virtual image point is determined based on an average value of the left-eye virtual image position and the right-eye virtual image position.

4. The method for determining the virtual image point of a vehicle interior rearview mirror according to claim 1, wherein: The visual field includes the upper visual field of the left eye, the lower visual field of the left eye, the upper visual field of the right eye, and the lower visual field of the right eye. The preset visual field conditions include: The upper visual line of the left eye, the lower visual line of the left eye, the upper visual line of the right eye and the lower visual line of the right eye intersect with the mirror surface of the interior rearview mirror and the transparent area of ​​the vehicle rear window glass.

5. The method for determining the virtual image point of the vehicle interior rearview mirror according to claim 4, characterized in that: The lower visual line of the left eye and the lower visual line of the right eye extend downward from the virtual image point, pointing to the first reference point and the second reference point at the first preset position respectively, and the upper visual line of the left eye and the upper visual line of the right eye extend upward from the virtual image point, pointing to the third reference point and the fourth reference point at the second preset position respectively, wherein the first reference point and the second reference point are located on the ground, and the height of the third reference point and the fourth reference point from the ground is the same as the height of the virtual image point from the ground.

6. The method for determining the virtual image point of a vehicle interior rearview mirror according to claim 1, wherein: The adjusting the angle of the interior rearview mirror until the virtual image point is located on the longitudinal reference plane includes: Obtaining a coordinate system corresponding to the interior rearview mirror, wherein the coordinate system is established with the rotation center of the interior rearview mirror as a reference, a first coordinate axis of the coordinate system is on a longitudinal reference plane of the vehicle, a second coordinate axis of the coordinate system is on a transverse reference plane of the vehicle, and a third coordinate axis of the coordinate system is on a vertical reference plane of the vehicle; The first rotation angle, second rotation angle and third rotation angle of the interior rearview mirror are adjusted until the virtual image point is in the longitudinal reference plane, wherein the first rotation angle is the rotation angle around the first coordinate axis, the second rotation angle is the rotation angle around the second coordinate axis, and the third rotation angle is the rotation angle around the third coordinate axis. The virtual image point is located in the longitudinal reference plane of the vehicle, and the coordinate value corresponding to the virtual image point on the second coordinate axis is zero.

7. The method for determining the virtual image point of a vehicle interior rearview mirror according to claim 1, wherein: The method further comprises: When the preset visual line condition is not met, the angle of the interior rearview mirror is adjusted so that the virtual image point is located on the longitudinal reference plane of the vehicle and the visual line corresponding to the adjusted virtual image point meets the preset visual line condition.

8. A computer-readable storage medium, characterized in that A program is stored thereon, and when the program is executed by a processor, the method for determining a virtual image point of a vehicle interior rearview mirror according to any one of claims 1 to 7 is implemented.

9. A vehicle, characterized in that: include: A memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the method for determining a virtual image point of a vehicle interior rearview mirror according to any one of claims 1 to 7 is implemented.

10. A method and device for determining a virtual image point of a vehicle rearview mirror, characterized in that: The device comprises: a first determining module, configured to determine a virtual image point based on the position of the interior rearview mirror and the position of the driver, wherein the virtual image point is a center point of the rear view of the vehicle seen by the driver's eyes in the interior rearview mirror; an adjustment module, configured to adjust the angle of the interior rearview mirror until the virtual image point is located on the longitudinal reference plane when the virtual image point is not located on the longitudinal reference plane of the vehicle; The second determining module is configured to determine whether the visual field corresponding to the adjusted virtual image point satisfies a preset visual field condition, and determine the virtual image point as a target virtual image point if the preset visual field condition is satisfied.

Images