Vehicle rearview mirror control method, computer equipment and readable storage medium

Abstract

The invention relates to a vehicle rearview mirror control method, computer equipment and a readable storage medium. The vehicle rearview mirror control method comprises the steps that human body feature information, vehicle state information and environment information of a driver are monitored; determining a to-be-adjusted target rearview mirror according to the human body feature information in response to the human body feature information meeting a preset adjustment condition; determining an adjustment mode according to the environment information, wherein the adjustment mode is a blind area observation mode, a blind area glare conflict mode or an anti-glare mode; determining a target adjustment angle corresponding to the adjustment mode according to the human body feature information, the vehicle state information and the environment information; and adjusting the target rearview mirror according to the target adjusting angle. The human body characteristic information, the vehicle state information and the environment information of the driver are collected in real time through multiple sensors for data fusion and driver intention recognition, the optimal target adjustment angle is dynamically calculated, and the rearview mirror control response speed and the intelligent degree are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle assisted driving technology, and in particular to a control method, computer device, and readable storage medium for a vehicle rearview mirror. Background Art

[0002] Existing rearview mirror adjustment technology is difficult to adapt to complex environments, especially when blind spots and strong glare exist at the same time, and it is unable to make reasonable decisions intelligently and effectively. Summary of the Invention

[0003] In order to solve the above technical problems, the present application provides a control method for a vehicle rearview mirror, a computer device and a readable storage medium.

[0004] In a first aspect, the present application provides a method for controlling a vehicle rearview mirror, the method comprising:

[0005] Monitor the driver's physical characteristics, vehicle status and environmental information;

[0006] In response to the human body characteristic information satisfying a preset adjustment condition, determining a target rearview mirror to be adjusted according to the human body characteristic information;

[0007] determining an adjustment mode according to the environmental information, the adjustment mode being a blind spot observation mode, a blind spot glare conflict mode, or an anti-glare mode;

[0008] determining a target adjustment angle corresponding to the adjustment mode according to the human body feature information, the vehicle state information, and the environmental information;

[0009] The target rearview mirror is adjusted according to the target adjustment angle.

[0010] In one embodiment, the human feature information includes the horizontal change angle of the driver's eyeballs, and the environmental information includes the incident light intensity of the target rearview mirror and the minimum separation distance between the rear vehicle corresponding to the target rearview mirror and the host vehicle;

[0011] The determining, based on the human body feature information, the vehicle state information, and the environmental information, a target adjustment angle corresponding to the adjustment mode includes:

[0012] If the blind spot observation mode is determined, a first horizontal adjustment angle is determined. The first horizontal adjustment angle is calculated as follows:

[0013] α1=k1ΔE_x+k2D_blind+k3L_env+b;

[0014] Among them, α1 is the first horizontal adjustment angle, ΔE_x is the horizontal change angle of the eyeball, D_blind is the minimum interval distance, L_env is the incident light intensity, b is the angle offset determined by the human feature information and the vehicle status information, k1 is the line of sight adjustment weight, k2 is the distance adjustment weight, and k3 is the light adjustment weight.

[0015] In one embodiment, the vehicle state information includes a first vehicle speed of the vehicle, and the environmental information further includes a second vehicle speed of the rear vehicle and an ambient light intensity behind the vehicle;

[0016] Before determining the first horizontal adjustment angle, the method further includes:

[0017] determining a relative speed between the host vehicle and the rear vehicle based on the first vehicle speed and the second vehicle speed;

[0018] determining an environmental risk level according to the minimum separation distance, the incident light intensity, and the relative speed;

[0019] The sight adjustment weight and the distance adjustment weight are determined according to the environmental risk level, and the illumination adjustment weight is determined according to the ambient illumination intensity and the incident illumination intensity.

[0020] In one embodiment, determining the environmental risk level according to the minimum separation distance, the incident light intensity, and the relative speed includes:

[0021] determining an environmental risk score according to the minimum separation distance, the incident light intensity, and the relative speed, and determining the environmental risk level according to the environmental risk score;

[0022] The environmental risk score is calculated as follows:

[0023]

[0024] Among them, Risk_Score is the environmental risk score, V_rel is the relative speed, w1 is the distance risk weight, w2 is the speed risk weight, and w3 is the light risk weight.

[0025] In one embodiment, determining the environmental risk level based on the minimum separation distance, the incident light intensity, and the relative speed further includes:

[0026] If it is detected that the minimum separation distance is less than a preset minimum safety distance, or the relative speed is greater than a preset maximum safety speed, the environmental risk level is determined to be high risk.

[0027] In one embodiment, after determining the sight adjustment weight, the distance adjustment weight, and the illumination adjustment weight according to the environmental risk level, the method further includes:

[0028] If it is detected that the first vehicle speed is greater than a preset maximum safe speed, increasing the sight adjustment weight and / or decreasing the illumination adjustment weight;

[0029] and / or,

[0030] If it is detected that the first vehicle speed is less than a preset minimum driving speed, the sight adjustment weight and / or the illumination adjustment weight are set to 0;

[0031] and / or,

[0032] If it is detected that the minimum separation distance is less than the preset minimum safety distance, the light adjustment weight is set to 0.

[0033] In one embodiment, before determining the environmental risk level according to the minimum separation distance, the incident light intensity, and the relative speed, the method further includes:

[0034] determining a driving scenario based on the relative speed and the ambient light intensity;

[0035] The distance risk weight, the speed risk weight, and the illumination risk weight are determined according to the driving scenario.

[0036] In one embodiment, the human body feature information further includes the driver's eye level change angle, head change angle and head movement direction;

[0037] The preset adjustment conditions include:

[0038] The horizontal eye angle change and the head angle change respectively meet the preset angle thresholds corresponding to the head movement direction, or the horizontal eye angle change and the head angle change respectively meet the preset angle thresholds corresponding to the head movement direction and are maintained for a preset time.

[0039] In one embodiment, the human feature information further includes the height or sitting height of the driver, and the vehicle status information includes the seat position, the preset steering wheel tilt angle, and the preset vehicle model reference quantity;

[0040] The angle offset is calculated as follows:

[0041] b=c1H+c2S_x+c3S_y+c4θ steer +b0;

[0042] Wherein, b is the angle offset, H is the body height or the sitting height, S_x is the horizontal adjustment value of the seat position, S_y is the height adjustment value of the seat position, θ steer is the steering wheel inclination angle, b0 is the preset vehicle model reference value, c1 is the height adjustment weight, c2 is the horizontal compensation weight of the seat position, c3 is the height compensation weight of the seat position, and c4 is the preset correction weight.

[0043] In one embodiment, the human characteristic information includes the height of the driver;

[0044] The determining, based on the human body feature information, the vehicle state information, and the environmental information, a target adjustment angle corresponding to the adjustment mode includes:

[0045] If the blind spot glare conflict mode is determined, a second horizontal adjustment angle is determined. The second horizontal adjustment angle is calculated as follows:

[0046]

[0047] Among them, α2 is the second horizontal adjustment angle, α default is the preset reference angle corresponding to the driver's height, Δα is the preset maximum compensation angle, D_blind is the minimum separation distance, and D_safe is the preset safety distance;

[0048] and / or,

[0049] The determining, based on the human body feature information, the vehicle state information, and the environmental information, a target adjustment angle corresponding to the adjustment mode includes:

[0050] If the anti-glare mode is determined, a preset vertical adjustment angle is obtained.

[0051] In one embodiment, the environmental information includes the incident light intensity of the target rearview mirror, the minimum separation distance between the vehicle behind the target rearview mirror and the host vehicle;

[0052] The determining of the adjustment mode according to the environmental information includes:

[0053] If it is detected that the minimum separation distance is less than the preset risk distance and the incident light intensity indicates that there is no strong glare in the target rearview mirror, determining that the adjustment mode is the blind spot observation mode;

[0054] If it is detected that the minimum separation distance is less than the preset minimum safety distance and the incident light intensity indicates that strong glare exists in the target rearview mirror, determining that the adjustment mode is the blind spot glare conflict mode, and the preset minimum safety distance is less than the preset risk distance;

[0055] If it is detected that the minimum separation distance is greater than or equal to the preset risk distance and the incident light intensity indicates that the vehicle is in a low-light scene, determining that the adjustment mode is the anti-glare mode;

[0056] If it is detected that the minimum separation distance is greater than or equal to the preset minimum safety distance and less than the preset risk distance, and the incident light intensity indicates that there is strong glare in the target rearview mirror, the adjustment mode is determined to be the blind spot observation mode.

[0057] In one embodiment, the environmental information further includes the ambient light intensity behind the vehicle;

[0058] The strong glare determination condition includes at least one of the following:

[0059] The ambient light intensity is greater than a first preset intensity;

[0060] The incident light intensity is greater than a second preset intensity, and the second preset intensity is less than the first preset intensity.

[0061] In a second aspect, the present application provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the first aspect when executing the computer program.

[0062] In a third aspect, the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which implements the steps of the method described in the first aspect when the computer program / instruction is executed by a processor.

[0063] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present application.

[0064] The above-mentioned vehicle rearview mirror control method, computer equipment and readable storage medium can achieve the following beneficial effects: real-time collection of the driver's human body feature information, vehicle status information and environmental information through multiple sensors for data fusion and driver intention recognition, dynamic calculation of the optimal target adjustment angle of the vehicle rearview mirror, and solving the problems of existing solutions in complex scenarios, such as poor adaptability, delayed response, lack of conflict processing, and insufficient intelligent adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 1 is a flow chart of a method for controlling a vehicle rearview mirror in one embodiment;

[0066] Figure 2 Schematic diagram of a module of a control system for a vehicle rearview mirror in one embodiment;

[0067] Figure 3 is a first internal structure diagram of a computer device in one embodiment;

[0068] Figure 4 FIG. 4 is a second internal structure diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0070] It should be noted that the diagrams provided in this embodiment are only schematic illustrations of the basic concept of the present application. The diagrams only show the components related to the present application and are not drawn according to the number, shape, and size of the components in actual implementation. The form, quantity, and proportion of each component in actual implementation can be changed at will, and the component layout form may also be more complex. The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the limiting conditions for the implementation of this application and therefore have no technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed in this application without affecting the efficacy and purpose of the application. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of this application. Changes or adjustments in their relative relationships should also be considered as the scope of the implementation of this application without substantially changing the technical content.

[0071] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places herein does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0072] As used herein, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular and may include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0073] The definition of "include" herein, such as the terms "having", "may have", "include" or "may include" used herein, indicates the existence of the corresponding functions, operations, elements, etc. herein, and does not limit the existence of one or more other functions, operations, elements, etc. In addition, it should be understood that the terms "include" or "have" used herein refer to the existence of the features, numbers, steps, operations, elements, components or their combination described in the specification, and do not exclude the existence or addition of one or more other features, numbers, steps, operations, elements, components or their combination.

[0074] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a restriction on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary restriction. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0075] The control method of the vehicle rearview mirror provided in this embodiment is as follows: Figure 1 As shown, it includes steps S101 to S105:

[0076] S101, monitoring the driver's body characteristics information, vehicle status information and environmental information;

[0077] S102, in response to the human body characteristic information satisfying a preset adjustment condition, determining a target rearview mirror to be adjusted according to the human body characteristic information;

[0078] S103, determining an adjustment mode according to environmental information, where the adjustment mode is a blind spot observation mode, a blind spot glare conflict mode, or an anti-glare mode;

[0079] S104, determining a target adjustment angle corresponding to the adjustment mode based on human body feature information, vehicle state information, and environmental information;

[0080] S105: Adjust the target rearview mirror according to the target adjustment angle.

[0081] In one embodiment, the human body feature information further includes the driver's eye level change angle, head change angle, and head movement direction.

[0082] For example, a camera installed in the vehicle (e.g., on the dashboard or A-pillar) can be used to capture real-time images of the driver's position. Alternatively, eye tracking can be implemented using existing in-vehicle DMS (Driver Monitoring System) cameras, eliminating the need for high sensor costs and reducing hardware modification costs.

[0083] The driving position image is input into a trained model, such as a convolutional neural network model, to obtain the eye rotation angle output by the model, such as the horizontal eye change angle and the vertical eye rotation angle.

[0084] Similarly, by inputting the driving position image into the trained model, the model can also output the head change angle and head movement direction. The head change angle includes the horizontal change angle and the vertical change angle of the head.

[0085] Vehicles typically have three rearview mirrors: the left, right, and interior mirrors. The mirror control motors can use servo motor closed-loop control with PID (Proportional-Integral-Derivative) parameter configuration to improve control accuracy, or stepper motor open-loop control to reduce noise.

[0086] Due to the different distances between the driving position and the left, right and interior rearview mirrors, the angles that the eyes and head need to turn when looking at different rearview mirrors may be different.

[0087] Therefore, the preset adjustment conditions may include: the eyeball horizontal change angle and the head change angle respectively meet the preset angle thresholds corresponding to the head movement direction.

[0088] For example, if the head movement direction is leftward, the eyeball horizontal angle changes by more than 15°, and the headball horizontal angle changes by more than 5°, the left rearview mirror is determined to be the target rearview mirror to be adjusted. If the head movement direction is rightward, the eyeball horizontal angle changes by more than 35°, and the headball horizontal angle changes by more than 30°, the right rearview mirror is determined to be the target rearview mirror to be adjusted. Similarly, if the head movement direction is upward, the eyeball horizontal angle changes by more than 25°, and the headball vertical angle changes by more than 20°, the interior rearview mirror is determined to be the target rearview mirror to be adjusted.

[0089] It is understandable that the preset angle thresholds corresponding to the eyeball horizontal change angle and the head change angle can be the same, and are calibrated according to the actual situation of the vehicle model.

[0090] Based on this, if only one of the eyeballs or the head moves significantly, the subsequent adjustment process will not be triggered, avoiding misjudgment and frequent adjustments of the rearview mirror.

[0091] For the above embodiment, the duration of the action may also be added to prevent misjudgment.

[0092] In another embodiment, the preset adjustment conditions may include:

[0093] The horizontal eyeball change angle and the head change angle respectively meet the preset angle thresholds corresponding to the head movement direction and are maintained for a preset time.

[0094] The preset duration can be determined and adjusted through experiments, tests, etc., for example, 200ms.

[0095] In one embodiment, the environmental information includes the incident light intensity of the target rearview mirror and the minimum separation distance between the vehicle behind the target rearview mirror and the host vehicle.

[0096] Exemplarily, a camera provided at the target rearview mirror may be used to obtain a target rearview mirror image, and based on a mapping relationship between pixel brightness and light intensity, the incident light intensity may be determined through the target rearview mirror image.

[0097] The Kalman filter algorithm can be used to fuse the radar data obtained by the millimeter-wave radar and ultrasonic radar, including the distance between each rear vehicle and the vehicle itself, and then determine the minimum distance between the rear vehicle corresponding to the target rearview mirror and the vehicle itself.

[0098] In addition, when the light intensity is moderate, for example, the light intensity is between the preset minimum safety intensity and the second preset intensity, auxiliary verification can be performed based on the environmental image around the vehicle captured by the camera on the vehicle, such as verifying whether the relative distance between the rear vehicle and the vehicle is accurate, thereby reducing the false alarm rate.

[0099] Accordingly, step S103 includes:

[0100] If it is detected that the minimum separation distance is less than the preset risk distance and the incident light intensity indicates that there is no strong glare in the target rearview mirror, the adjustment mode is determined to be the blind spot observation mode;

[0101] If it is detected that the minimum separation distance is less than the preset minimum safety distance and the incident light intensity indicates that there is strong glare in the target rearview mirror, the adjustment mode is determined to be the blind spot glare conflict mode, and the preset minimum safety distance is less than the preset risk distance;

[0102] If it is detected that the minimum separation distance is greater than or equal to the preset risk distance and the incident light intensity indicates that the vehicle is in a low-light scene, the adjustment mode is determined to be the anti-glare mode;

[0103] If it is detected that the minimum separation distance is greater than or equal to the preset minimum safety distance and less than the preset risk distance, and the incident light intensity indicates that there is strong glare in the target rearview mirror, the adjustment mode is determined to be the blind spot observation mode.

[0104] It can be understood that when D_blind is less than the preset risk distance and there is no strong glare, and when D_blind is greater than or equal to the preset minimum safety distance and less than the preset risk distance, it indicates that there is a certain blind spot risk and the driver has a blind spot vision requirement. In order to ensure driving safety, it is necessary to determine the blind spot observation mode and determine the first horizontal adjustment angle.

[0105] When D_blind is less than the preset minimum safety distance but strong glare exists, it indicates that the driver has both blind spot vision requirements and anti-glare requirements. If the blind spot vision requirements and anti-glare requirements conflict, safety should be prioritized and the blind spot glare conflict mode should be determined, using a special method to determine the target adjustment angle.

[0106] When D_blind is greater than or equal to the preset risk distance and the incident light intensity indicates that the vehicle is in a low-light scenario, there is no blind spot risk. However, if other ambient light sources suddenly appear, glare may occur. Therefore, the anti-glare mode can be set in advance to avoid such incidents.

[0107] In one embodiment, the environmental information further includes the ambient light intensity behind the vehicle.

[0108] The criteria for determining strong glare include at least one of the following:

[0109] The ambient light intensity is greater than a first preset intensity;

[0110] The incident light intensity is greater than the second preset intensity.

[0111] For example, the ambient light intensity can be collected by an ambient light sensor installed at the rear of the vehicle. If the ambient light intensity is greater than a first preset intensity, such as 1000 lux, strong glare is considered to be present. It is understood that if the ambient light intensity behind the vehicle is too high, even if the light source is not within the direct reflection area of ​​the target rearview mirror, strong glare may still be generated by factors such as mirror reflection.

[0112] For the light directly incident on the target rearview mirror, strong glare may be generated without exceeding the first preset intensity. For example, if the incident light intensity is greater than the second preset intensity, such as 500 lux, it is considered that strong glare exists.

[0113] The second preset intensity can be adjusted based on the incident light intensity during a historical time period. For example, when the vehicle is driving at night, the average incident light intensity during the historical time period is typically lower than a preset minimum safety intensity, such as 50 lux. Therefore, the second preset intensity can be adjusted to 300 lux. That is, the second preset intensity can be adjusted based on the incident light intensity during the historical time period.

[0114] In one embodiment, the human feature information includes the horizontal change angle of the driver's eyeballs, and the environmental information includes the incident light intensity of the target rearview mirror and the minimum spacing distance between the rear vehicle corresponding to the target rearview mirror and the vehicle.

[0115] If the blind spot observation mode is determined to be the blind spot observation mode, step S104 includes: determining a first horizontal adjustment angle.

[0116] Exemplarily, the first horizontal adjustment angle is calculated as follows:

[0117] α1=k1ΔE_x+k2D_blind+k3L_env+b;

[0118] Among them, α1 is the first horizontal adjustment angle, ΔE_x is the horizontal change angle of the eyeball, D_blind is the minimum separation distance, L_env is the incident light intensity, b is the angle offset determined by human feature information and vehicle status information, k1 is the line of sight adjustment weight, k2 is the distance adjustment weight, and k3 is the light adjustment weight.

[0119] This embodiment uses high-precision eye tracking to capture the driver's gaze direction in real time, such as the horizontal angle of the eyeball. Combined with multi-sensor data fusion to predict field of view requirements, it can quickly respond to the driver's field of view needs, significantly reducing the risk of blind spots caused by delays. In the event of a lane change or a vehicle cutting into a blind spot, the rearview mirror angle can be adjusted in advance, increasing the driver's field of view coverage by 30%.

[0120] Exemplarily, the human body characteristic information also includes the driver's height, and the vehicle status information includes the seat position, the preset steering wheel inclination angle, and the preset vehicle model reference quantity.

[0121] The seat position and the preset steering wheel angle can be read through the vehicle's CAN bus (Controller Area Network). The driver's pre-stored height or the driver's sitting height detected by the seat can also be obtained through the CAN bus.

[0122] Accordingly, the angular offset is calculated as:

[0123] b=c1H+c2S_x+c3S_y+c4θ steer +b0;

[0124] Where b is the angle offset, H is the height or sitting height, S_x is the horizontal adjustment value of the seat position, S_y is the height adjustment value of the seat position, θ steer is the steering wheel inclination angle, b0 is the preset vehicle model reference value, c1 is the height adjustment weight, c2 is the horizontal compensation weight of the seat position, c3 is the height compensation weight of the seat position, and c4 is the preset correction weight.

[0125] The sight adjustment weight, distance adjustment weight, and illumination adjustment weight may be preset or dynamically determined based on environmental risks.

[0126] In one embodiment, the vehicle state information includes a first vehicle speed of the vehicle, and the environmental information further includes a second vehicle speed of the rear vehicle and the ambient light intensity behind the vehicle.

[0127] In order to improve the accuracy of vehicle speed acquisition, a suitable sensor can be selected according to the vehicle speed.

[0128] For example, when the first vehicle speed is relatively high, such as exceeding 60 km / h, the vehicle speed collected by the millimeter-wave radar is primarily used to improve anti-interference performance. When the first vehicle speed is relatively low, such as below 20 km / h, the vehicle speed collected by the ultrasonic radar is primarily used to improve close-range data accuracy.

[0129] Before determining the first horizontal adjustment angle, the method further includes:

[0130] S201, determining a relative speed between the host vehicle and the vehicle behind based on a first vehicle speed and a second vehicle speed;

[0131] S202. Determine the environmental risk level based on the minimum separation distance, incident light intensity, and relative speed;

[0132] S203: Determine a sight adjustment weight and a distance adjustment weight according to the environmental risk level, and determine a light adjustment weight according to the ambient light intensity and the incident light intensity.

[0133] In step S201, the speed of the vehicle can be read through the vehicle's CAN bus to obtain a first speed, and the speed of the rear vehicle can be measured through millimeter wave radar and ultrasonic radar to obtain a second speed.

[0134] In one embodiment, step S202 includes: determining an environmental risk score according to the minimum separation distance, incident light intensity, and relative speed, and determining an environmental risk level according to the environmental risk score.

[0135] The environmental risk score is calculated as follows:

[0136]

[0137] Among them, Risk_Score is the environmental risk score, V_rel is the relative speed, w1 is the distance risk weight, w2 is the speed risk weight, and w3 is the light risk weight.

[0138] Distance risk weights, speed risk weights and light risk weights can be preset or determined dynamically.

[0139] In one embodiment, before step S202, the method further includes:

[0140] S2021. Determine a driving scenario based on relative speed and ambient light intensity;

[0141] S2022. Determine the distance risk weight, speed risk weight, and lighting risk weight based on the driving scenario.

[0142] For example, if the ambient light intensity is less than the preset minimum safety intensity, it can be determined that the vehicle is in a low-light driving scenario, such as driving at night, and it is necessary to focus on the rear blind spot, for example, setting w1 to 0.6, w2 to 0.3, and w3 to 0.1.

[0143] If the ambient light intensity is greater than or equal to the preset minimum safety intensity, less than the first preset intensity, and the first vehicle speed is greater than the maximum preset safety speed, it can be determined that the vehicle is in a normal lighting high-speed driving scenario, and it is necessary to focus on relative speed, for example, set w1 to 0.4, w2 to 0.5, and w3 to 0.1.

[0144] In one embodiment, determining the environmental risk level according to the environmental risk score includes:

[0145] If the environmental risk score is greater than or equal to the first threshold, the environmental risk level is determined to be high risk; if the environmental risk score is less than the second threshold, the environmental risk level is determined to be low risk; if the environmental risk score is greater than or equal to the second threshold and less than the first threshold, the environmental risk level is determined to be medium risk, and the first threshold is greater than the second threshold.

[0146] For example, if Risk_Score≥0.8, the environmental risk level is high risk; if 0.3≤Risk_Score<0.8, the environmental risk level is medium risk; if Risk_Score<0.3, the environmental risk level is low risk.

[0147] In another embodiment, step S203 further includes: if it is detected that the minimum separation distance is less than a preset minimum safety distance, or the relative speed is greater than a preset maximum safety speed, determining that the environmental risk level is high risk.

[0148] In step S203, for different environmental risk levels, reference values ​​are set for the sight adjustment weight, the distance adjustment weight, and the illumination adjustment weight.

[0149] For example, the reference values ​​of sight adjustment weight, distance adjustment weight, and illumination adjustment weight under different environmental risk levels are shown in Table 1.

[0150] Table 1 Example benchmark values ​​for adjustment weights at different environmental risk levels

[0151]

[0152] When the ambient light intensity is less than the first preset intensity and greater than the preset minimum safety intensity, it indicates that the ambient light intensity is normal. Similarly, when the incident light intensity is less than the second preset intensity and greater than the preset minimum safety intensity, it indicates that the incident light intensity is normal.

[0153] As can be seen from Table 1, the logic of the above adjustment weights is: the higher the risk level, the smaller the sight adjustment weight; the closer the minimum interval distance, the greater the distance adjustment weight; in low light (such as at night) and when the glare risk is greater, the light adjustment weight is increased.

[0154] After step S203 , the reference value of the adjustment weight may be dynamically adjusted.

[0155] In one embodiment, after step S203, the method further includes:

[0156] If it is detected that the first vehicle speed is greater than a preset maximum safety speed, the sight adjustment weight is increased and / or the illumination adjustment weight is decreased.

[0157] For example, if it is detected that the vehicle speed is greater than 80 km / h, the vehicle is traveling too fast, and the sight adjustment weight needs to be increased and the illumination adjustment weight needs to be reduced.

[0158] In one embodiment, after step S203, the method further includes:

[0159] If it is detected that the first vehicle speed is less than the preset minimum driving speed, the sight adjustment weight and / or the illumination adjustment weight is set to 0.

[0160] For example, if the vehicle speed is detected to be less than 5 km / h, it means that the vehicle may be parking. At this time, the sight adjustment weight and the illumination adjustment weight can be ignored, and the environmental risk level can be determined mainly by relying on the distance adjustment weight.

[0161] In one embodiment, after step S203, the method further includes:

[0162] If it is detected that the minimum separation distance is less than the preset minimum safety distance, the light adjustment weight is set to 0.

[0163] For example, if the minimum distance between the rear vehicle corresponding to the target rearview mirror and the vehicle is detected to be less than 1 meter, it means that the rear vehicle is following the vehicle closely and the blind spot needs to be observed. At this time, the illumination adjustment weight can be ignored, and the environmental risk level is mainly determined by the distance adjustment weight and the eye level change angle.

[0164] In the above embodiment, the present application dynamically allocates and adjusts weights according to the environmental risk level, and supports adaptive switching of multiple driving scenarios.

[0165] If it is determined to be a blind spot glare conflict mode, in one embodiment, the human feature information further includes the driver's height or sitting height. Accordingly, step S104 includes: determining a second horizontal adjustment angle.

[0166] Exemplarily, the second horizontal adjustment angle is calculated as follows:

[0167]

[0168] Among them, α2 is the second horizontal adjustment angle, α default is the preset reference angle corresponding to body height or sitting height, Δα is the preset maximum compensation angle, D_blind is the minimum separation distance, and D_safe is the preset safety distance.

[0169] In blind spot observation mode and blind spot glare conflict mode, the adjustment angle of the target rearview mirror can be dynamically calibrated based on the driver's height or sitting height in the seat memory function, so that drivers of different heights and sitting heights can automatically match the optimal field of view without manual adjustment.

[0170] If the anti-glare mode is determined, in another embodiment, step S104 includes: obtaining a preset vertical adjustment angle, such as 5°.

[0171] For the anti-glare mode, a servo motor closed-loop control of the target rearview mirror can be used to greatly reduce the error of the vertical adjustment angle.

[0172] Based on this, in step S105, the target rearview mirror is automatically adjusted according to the obtained first horizontal adjustment angle, second horizontal adjustment angle or vertical adjustment angle, thereby improving the intelligence level of the vehicle rearview mirror adjustment, and being able to prioritize safety when there are blind spots and strong glare, and then make effective and reasonable adjustment decisions.

[0173] In addition, this application also provides some processing methods for special scenarios.

[0174] For example, if the rear vehicle rushes out from behind an obstruction, D_blind will drop sharply from greater than the preset risk distance to less than the preset minimum safety distance, automatically triggering the emergency adjustment mode, controlling the target rearview mirror to quickly extend to the preset angle, providing the driver with sufficient field of view to eliminate the rear blind spot.

[0175] For example, the blind spot monitoring area can be dynamically adjusted according to the vehicle's steering wheel angle and yaw angular velocity, that is, the minimum safety distance and the preset risk distance are preset.

[0176] After the target rearview mirror is adjusted, the driver can be prompted through voice or screen, such as "the left rearview mirror has been adjusted to the blind spot observation mode", "the interior rearview mirror has been adjusted to the anti-glare mode", etc.

[0177] In this embodiment, an HMI (Human-Machine Interface) and voice prompts are added, and a manual override option is provided to increase the driver's trust in automatic adjustment and minimize the number of manual interventions.

[0178] In addition, the HMI supports user-defined preferences, such as manually adjusting the preset minimum safety distance, preset risk distance, etc., to enhance the user experience.

[0179] The vehicle rearview mirror control method provided in this application uses multiple sensors to collect the driver's human body feature information, vehicle status information and environmental information in real time to perform data fusion and driver intention recognition, and dynamically calculate the optimal target adjustment angle to solve the problems of existing solutions such as poor adaptability, delayed response, lack of conflict resolution, and insufficient intelligent adjustment in complex scenarios.

[0180] In particular, through the three core technologies of eye movement prediction, multi-sensor fusion, and dynamic weight calculation, triple breakthroughs have been achieved in the speed, safety, and personalization of rearview mirror adjustment, while taking into account cost and energy efficiency, providing reliable vision protection for the intelligent driving assistance system.

[0181] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these sub-steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0182] In order to implement the above-mentioned method for controlling the vehicle rearview mirror, the present application also provides a computer program product, including a computer program / instruction, which implements the steps of the method for controlling the vehicle rearview mirror in the above-mentioned embodiment when the computer program / instruction is executed by a processor.

[0183] In one embodiment, the computer program product is implemented as a control system for a vehicle rearview mirror. Figure 2 As shown, the control system of the vehicle rearview mirror includes:

[0184] The data monitoring module 301 is used to monitor the driver's body characteristics, vehicle status information and environmental information;

[0185] An adjustment triggering module 302 is configured to determine a target rearview mirror to be adjusted based on the human body characteristic information in response to the human body characteristic information satisfying a preset adjustment condition;

[0186] A mode determination module 303 is configured to determine an adjustment mode according to environmental information, where the adjustment mode is a blind spot observation mode, a blind spot glare conflict mode, or an anti-glare mode;

[0187] Angle determination module 304, for determining a target adjustment angle corresponding to an adjustment mode based on human feature information, vehicle status information, and environmental information;

[0188] The control module 305 is configured to adjust the target rearview mirror according to the target adjustment angle.

[0189] The specific definitions of the vehicle rearview mirror control system can be found in the definitions of the vehicle rearview mirror control method described above and will not be further elaborated here. Each module in the aforementioned vehicle rearview mirror control system may be implemented in whole or in part via software, hardware, or a combination thereof. Each of these modules may be embedded in or independent of a processor within a computer device in hardware form, or may be stored in a computer device memory in software form, allowing the processor to call and execute operations corresponding to each of these modules.

[0190] The present application also provides a computer device. In one embodiment, the computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the vehicle rearview mirror control method described in the above embodiment are implemented.

[0191] In one embodiment, the computer device may be a server, and its internal structure diagram may be as follows: Figure 3As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data for controlling the vehicle rearview mirror. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the steps of the vehicle rearview mirror control method in the above embodiment are implemented.

[0192] In one embodiment, the computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the steps of the vehicle rearview mirror control method in the above embodiment are implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0193] Those skilled in the art will understand that Figure 3 and Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0194] The present application also provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the vehicle rearview mirror control method in the above embodiment are implemented.

[0195] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0196] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0197] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for controlling a vehicle rearview mirror, characterized in that: The control method includes: Monitor the driver's physical characteristics, vehicle status and environmental information; In response to the human body characteristic information satisfying a preset adjustment condition, determining a target rearview mirror to be adjusted according to the human body characteristic information; determining an adjustment mode according to the environmental information, the adjustment mode being a blind spot observation mode, a blind spot glare conflict mode, or an anti-glare mode; determining a target adjustment angle corresponding to the adjustment mode according to the human body feature information, the vehicle state information, and the environmental information; The target rearview mirror is adjusted according to the target adjustment angle.

2. The control method according to claim 1, wherein: The human feature information includes the horizontal change angle of the driver's eyeballs, and the environmental information includes the incident light intensity of the target rearview mirror and the minimum distance between the rear vehicle corresponding to the target rearview mirror and the vehicle; The determining, based on the human body feature information, the vehicle state information, and the environmental information, a target adjustment angle corresponding to the adjustment mode includes: If the blind spot observation mode is determined, a first horizontal adjustment angle is determined. The first horizontal adjustment angle is calculated as follows: α1=k1ΔE_x+k2D_blind+k3L_env+b; Among them, α1 is the first horizontal adjustment angle, ΔE_x is the horizontal change angle of the eyeball, D_blind is the minimum interval distance, L_env is the incident light intensity, b is the angle offset determined by the human feature information and the vehicle status information, k1 is the line of sight adjustment weight, k2 is the distance adjustment weight, and k3 is the light adjustment weight.

3. The control method according to claim 2, wherein: The vehicle state information includes a first vehicle speed of the vehicle, and the environmental information also includes a second vehicle speed of the rear vehicle and the ambient light intensity behind the vehicle; Before determining the first horizontal adjustment angle, the method further includes: determining a relative speed between the host vehicle and the rear vehicle based on the first vehicle speed and the second vehicle speed; determining an environmental risk level according to the minimum separation distance, the incident light intensity, and the relative speed; The sight adjustment weight and the distance adjustment weight are determined according to the environmental risk level, and the illumination adjustment weight is determined according to the ambient illumination intensity and the incident illumination intensity.

4. The control method according to claim 3, wherein: The determining of the environmental risk level according to the minimum separation distance, the incident light intensity, and the relative speed includes: determining an environmental risk score according to the minimum separation distance, the incident light intensity, and the relative speed, and determining the environmental risk level according to the environmental risk score; The environmental risk score is calculated as follows: Among them, Risk_Score is the environmental risk score, V_rel is the relative speed, w1 is the distance risk weight, w2 is the speed risk weight, and w3 is the light risk weight.

5. The control method according to claim 4, wherein: The determining of the environmental risk level according to the minimum separation distance, the incident light intensity, and the relative speed further includes: If it is detected that the minimum separation distance is less than a preset minimum safety distance, or the relative speed is greater than a preset maximum safety speed, the environmental risk level is determined to be high risk.

6. The control method according to claim 3, wherein: After determining the sight adjustment weight, the distance adjustment weight, and the illumination adjustment weight according to the environmental risk level, the method further includes: If it is detected that the first vehicle speed is greater than a preset maximum safe speed, increasing the sight adjustment weight and / or decreasing the illumination adjustment weight; and / or, If it is detected that the first vehicle speed is less than a preset minimum driving speed, the sight adjustment weight and / or the illumination adjustment weight are set to 0; and / or, If it is detected that the minimum separation distance is less than the preset minimum safety distance, the light adjustment weight is set to 0.

7. The control method according to claim 3, wherein: Before determining the environmental risk level according to the minimum separation distance, the incident light intensity, and the relative speed, the method further includes: determining a driving scenario based on the relative speed and the ambient light intensity; The distance risk weight, the speed risk weight, and the illumination risk weight are determined according to the driving scenario.

8. The control method according to claim 1, wherein: The human body feature information also includes the driver's eye level change angle, head change angle and head movement direction; The preset adjustment conditions include: The horizontal eye angle change and the head angle change respectively meet the preset angle thresholds corresponding to the head movement direction, or the horizontal eye angle change and the head angle change respectively meet the preset angle thresholds corresponding to the head movement direction and are maintained for a preset time.

9. The control method according to claim 2, wherein: The human feature information also includes the height or sitting height of the driver, and the vehicle status information includes the seat position, the preset steering wheel tilt angle and the preset vehicle model reference quantity; The angle offset is calculated as follows: b=c1H+c2S_x+c3S_y+c4θ steer +b0; Wherein, b is the angle offset, H is the body height or the sitting height, S_x is the horizontal adjustment value of the seat position, S_y is the height adjustment value of the seat position, θ steer is the steering wheel inclination angle, b0 is the preset vehicle model reference value, c1 is the height adjustment weight, c2 is the horizontal compensation weight of the seat position, c3 is the height compensation weight of the seat position, and c4 is the preset correction weight.

10. The control method according to claim 2, wherein: The human body characteristic information also includes the height or sitting height of the driver; The determining, based on the human body feature information, the vehicle state information, and the environmental information, a target adjustment angle corresponding to the adjustment mode includes: If the blind spot glare conflict mode is determined, a second horizontal adjustment angle is determined. The second horizontal adjustment angle is calculated as follows: Among them, α2 is the second horizontal adjustment angle, α default is the preset reference angle corresponding to the body height or the sitting height, Δα is the preset maximum compensation angle, D_blind is the minimum separation distance, and D_safe is the preset safety distance; and / or, The determining, based on the human body feature information, the vehicle state information, and the environmental information, a target adjustment angle corresponding to the adjustment mode includes: If the anti-glare mode is determined, a preset vertical adjustment angle is obtained.

11. The control method according to claim 1, wherein: Environmental information includes the incident light intensity of the target rearview mirror and the minimum distance between the vehicle behind the target rearview mirror and the vehicle; The determining of the adjustment mode according to the environmental information includes: If it is detected that the minimum separation distance is less than the preset risk distance and the incident light intensity indicates that there is no strong glare in the target rearview mirror, determining that the adjustment mode is the blind spot observation mode; If it is detected that the minimum separation distance is less than the preset minimum safety distance and the incident light intensity indicates that strong glare exists in the target rearview mirror, determining that the adjustment mode is the blind spot glare conflict mode, and the preset minimum safety distance is less than the preset risk distance; If it is detected that the minimum separation distance is greater than or equal to the preset risk distance and the incident light intensity indicates that the vehicle is in a low-light scene, determining that the adjustment mode is the anti-glare mode; If it is detected that the minimum separation distance is greater than or equal to the preset minimum safety distance and less than the preset risk distance, and the incident light intensity indicates that there is strong glare in the target rearview mirror, the adjustment mode is determined to be the blind spot observation mode.

12. The control method according to claim 11, wherein: The environmental information also includes the ambient light intensity behind the vehicle; The strong glare determination condition includes at least one of the following: The ambient light intensity is greater than a first preset intensity; The incident light intensity is greater than a second preset intensity, and the second preset intensity is less than the first preset intensity.

13. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 12 are implemented.

14. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

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