Control method of vehicle rearview mirror, computer device and readable storage medium

Abstract

The application relates to a control method of a vehicle rearview mirror, a computer device and a readable storage medium, and comprises the following steps: monitoring human feature information, vehicle state information and environment information of a driver; in response to the human feature information meeting a preset adjustment condition, determining a target rearview mirror to be adjusted according to the human feature information; 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 feature information, the vehicle state information and the environment information; and adjusting the target rearview mirror according to the target adjustment angle. The application realizes data fusion and driver intention recognition by collecting the human feature information, the vehicle state information and the environment information of the driver in real time through multiple sensors, dynamically calculates an optimal target adjustment angle, and improves the control response speed and the intelligent degree of the rearview mirror.

Description

Technical Field

[0001] This application relates to the field of vehicle driver assistance technology, and in particular to a control method for a vehicle rearview mirror, a computer device, and a readable storage medium. Background Technology

[0002] Existing rearview mirror adjustment technology is ill-suited to complex environments, especially when blind spots and strong glare coexist, and cannot make intelligent and effective decisions. Summary of the Invention

[0003] To address the aforementioned technical problems, this application provides a method for controlling a vehicle rearview mirror, a computer device, and a readable storage medium.

[0004] In a first aspect, this 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 feature information meeting the preset adjustment conditions, the target rearview mirror to be adjusted is determined based on the human body feature information;

[0007] The adjustment mode is determined based on the environmental information, and the adjustment mode is either blind spot observation mode, blind spot glare conflict mode, or anti-glare mode.

[0008] Based on the human body feature information, the vehicle status information, and the environmental information, the target adjustment angle corresponding to the adjustment mode is determined;

[0009] Adjust the target rearview mirror according to the target adjustment angle.

[0010] In one embodiment, the human feature information includes the driver's eyeball horizontal change angle, and the 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 itself.

[0011] Determining the target adjustment angle corresponding to the adjustment mode based on the human body feature information, the vehicle status information, and the environmental information includes:

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

[0013] α1=k1ΔE_x+k2D_blind+k3L_env+b;

[0014] Wherein, 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 body feature information and the vehicle status information, k1 is the gaze adjustment weight, k2 is the distance adjustment weight, and k3 is the light adjustment weight.

[0015] In one embodiment, the vehicle status information includes the first speed of the vehicle, and the environmental information also includes the second speed of the vehicle behind and the ambient light intensity behind the vehicle.

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

[0017] The relative speed between this vehicle and the vehicle behind it is determined based on the first vehicle speed and the second vehicle speed;

[0018] The environmental risk level is determined based on the minimum interval distance, the incident light intensity, and the relative velocity.

[0019] The line-of-sight adjustment weight and the distance adjustment weight are determined based on the environmental risk level, and the light adjustment weight is determined based on the ambient light intensity and the incident light intensity.

[0020] In one embodiment, determining the environmental risk level based on the minimum interval distance, the incident light intensity, and the relative velocity includes:

[0021] An environmental risk score is determined based on the minimum interval distance, the incident light intensity, and the relative velocity; and the environmental risk level is determined based on the environmental risk score.

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

[0023]

[0024] Wherein, 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 illumination risk weight.

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

[0026] If the minimum interval distance is detected to be less than the preset minimum safe distance, or the relative speed is greater than the preset maximum safe speed, the environmental risk level is determined to be high risk.

[0027] In one embodiment, after determining the line-of-sight adjustment weight, the distance adjustment weight, and the illumination adjustment weight based on the environmental risk level, the method further includes:

[0028] If the first vehicle speed is detected to be greater than the preset maximum safe speed, the gaze adjustment weight is increased and / or the illumination adjustment weight is decreased.

[0029] And / or,

[0030] If the first vehicle speed is detected to be less than the preset minimum driving speed, the line of sight adjustment weight and / or the illumination adjustment weight will be set to 0.

[0031] And / or,

[0032] If the minimum interval distance is detected to be less than the preset minimum safe distance, the illumination adjustment weight is set to 0.

[0033] In one embodiment, before determining the environmental risk level based on the minimum interval distance, the incident light intensity, and the relative velocity, the method further includes:

[0034] The driving scenario is determined 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 based on the driving scenario.

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

[0037] The preset adjustment conditions include:

[0038] The horizontal change angle of the eyeball and the change angle of the head respectively satisfy the preset angle threshold corresponding to the direction of head movement, or the horizontal change angle of the eyeball and the change angle of the head respectively satisfy the preset angle threshold corresponding to the direction of head movement, and remain for a preset duration.

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

[0040] The angle offset is calculated as follows:

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

[0042] Where b is the angular offset, H is the height or the sitting height, S_x is the horizontal adjustment value of the seat position, S_y is the vertical adjustment value of the seat position, and θ steer Let b0 be the steering wheel tilt angle, c1 be the height adjustment weight, c2 be the horizontal compensation weight of the seat position, c3 be the height compensation weight of the seat position, and c4 be the preset correction weight.

[0043] In one embodiment, the human body feature information includes the driver's height;

[0044] Determining the target adjustment angle corresponding to the adjustment mode based on the human body feature information, the vehicle status information, and the environmental information includes:

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

[0046]

[0047] Where α2 is the second horizontal adjustment angle, α default The preset reference angle is the height of the driver, Δα is the preset maximum compensation angle, D_blind is the minimum interval distance, and D_safe is the preset safety distance.

[0048] And / or,

[0049] Determining the target adjustment angle corresponding to the adjustment mode based on the human body feature information, the vehicle status information, and the environmental information includes:

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

[0051] In one embodiment, the 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 itself.

[0052] The step of determining the adjustment mode based on the environmental information includes:

[0053] If the minimum interval distance is detected to be 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.

[0054] If the minimum interval distance is detected to be less than the preset minimum safe 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 safe distance is less than the preset risk distance;

[0055] If the minimum interval distance is detected to be 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.

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

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

[0058] The criteria for determining strong glare include 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 the second preset intensity, and the second preset intensity is less than the first preset intensity.

[0061] In a second aspect, this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in the first aspect.

[0062] Thirdly, this application provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0063] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this application.

[0064] The aforementioned vehicle rearview mirror control method, computer equipment, and readable storage medium can achieve the following beneficial effects: by collecting driver's human characteristics, vehicle status, and environmental information in real time through multiple sensors, data fusion and driver intention recognition are performed to dynamically calculate the optimal target adjustment angle of the vehicle rearview mirror, thus solving the problems of poor adaptability, slow response, lack of conflict handling, and insufficient intelligence in adjustment of existing solutions in complex scenarios. Attached Figure Description

[0065] Figure 1 This is a flowchart illustrating a method for controlling a vehicle rearview mirror in one embodiment;

[0066] Figure 2 This is a schematic diagram of the control system of a vehicle rearview mirror in one embodiment;

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

[0068] Figure 4 This is a second internal structure diagram of a computer device in one embodiment. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0070] It should be noted that the illustrations provided in this embodiment are merely schematic representations of the basic concept of this application. The figures only show components relevant to this application and are not drawn according to the actual number, shape, and size of components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex. The structures, proportions, sizes, etc., shown in the accompanying drawings are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effect and purpose that this application can produce, should still fall within the scope of the technical content disclosed in this application. At the same time, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of this application. Changes or adjustments in their relative relationships, without substantially altering the technical content, should also be considered within the scope of implementation of this application.

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

[0072] As illustrated herein, unless the context clearly indicates otherwise, words such as “a,” “an,” “an,” and / or “the” do not specifically refer to the singular and may also include the plural. Generally speaking, the terms “comprising” and “including” only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0073] The definitions used herein, such as the terms “having,” “may have,” “comprising,” or “may include,” indicate the presence of the corresponding function, operation, element, etc., and do not limit the presence of one or more other functions, operations, elements, etc. Furthermore, it should be understood that the terms “comprising” or “having” as used herein mean the presence of the features, figures, steps, operations, elements, components, or combinations thereof described in the specification, without excluding the presence or addition of one or more other features, figures, steps, operations, elements, components, or combinations thereof.

[0074] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary limitations due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0075] The vehicle rearview mirror control method provided in this embodiment, such as Figure 1 As shown, steps S101 to S105 are included:

[0076] S101. Monitor the driver's physical characteristics, vehicle status, and environmental information;

[0077] S102. In response to the human body feature information meeting the preset adjustment conditions, determine the target rearview mirror to be adjusted based on the human body feature information.

[0078] S103. Determine the adjustment mode based on environmental information. The adjustment mode is blind spot observation mode, blind spot glare conflict mode, or anti-glare mode.

[0079] S104. Determine the target adjustment angle corresponding to the adjustment mode based on human body characteristic information, vehicle status 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 also includes the driver's eye level change angle, head change angle, and head movement direction.

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

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

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

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

[0086] Because the distance between the driver's position and the left, right, and interior rearview mirrors varies, the angles that the eyes and head need to turn may differ when observing different rearview mirrors.

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

[0088] For example, if the head movement is to the left, and the horizontal change in eyeball angle is greater than 15° and the horizontal change in head angle is greater than 5°, then the left rearview mirror is identified as the target rearview mirror to be adjusted. If the head movement is to the right, and the horizontal change in eyeball angle is greater than 35° and the horizontal change in head angle is greater than 30°, then the right rearview mirror is identified as the target rearview mirror to be adjusted. Similarly, if the head movement is upward, and the horizontal change in eyeball angle is greater than 25° and the vertical change in head angle is greater than 20°, then the interior rearview mirror is identified as the target rearview mirror to be adjusted.

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

[0090] Therefore, if only one of the eyes or the head moves significantly, the subsequent adjustment process will not be triggered, thus avoiding misjudgment that leads to frequent adjustments of the rearview mirror.

[0091] In the above embodiments, the duration of the action can also be added to prevent misjudgment.

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

[0093] The horizontal change angle of the eyeball and the change angle of the head each meet the preset angle threshold corresponding to the direction of head movement, and are maintained for a preset duration.

[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 distance between the vehicle behind the target rearview mirror and the vehicle itself.

[0096] For example, a camera positioned at the target rearview mirror can be used to acquire the image of the target rearview mirror, and the incident light intensity can be determined based on the mapping relationship between pixel brightness and light intensity through the image of the target rearview mirror.

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

[0098] In addition, when the light intensity is moderate, such as between the preset minimum safe intensity and the second preset intensity, the vehicle can be further verified by the environmental images of the vehicle's surroundings captured by the vehicle's camera, such as verifying whether the relative distance between the vehicle behind and the vehicle is accurate, thereby reducing the false alarm rate.

[0099] Accordingly, step S103 includes:

[0100] If the minimum interval distance is detected to be 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 the minimum interval distance is detected to be less than the preset minimum safe distance, and the incident light intensity indicates strong glare in the target rearview mirror, the adjustment mode is determined to be the blind spot glare conflict mode, and the preset minimum safe distance is less than the preset risk distance.

[0102] If the minimum interval distance is detected to be 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 set to anti-glare mode.

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

[0104] It is understandable that when D_blind is less than the preset risk distance and there is no strong glare, or when D_blind is greater than or equal to the preset minimum safe 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 set the blind spot observation mode and determine the first level adjustment angle.

[0105] When D_blind is less than the preset minimum safe distance, but strong glare exists, it indicates that the driver has both blind spot visibility needs and anti-glare needs. If the blind spot visibility needs and anti-glare needs conflict, safety should take priority, and the blind spot glare conflict mode should be determined. A special method should be used 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, it is advisable to set the anti-glare mode in advance to avoid such events.

[0107] In one embodiment, the environmental information also 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 the 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, then strong glare is considered to exist. It is understood that if the ambient light intensity behind the vehicle is too high, strong glare may still be generated through factors such as mirror reflection even if the light source is not in the direct reflection area of ​​the target rearview mirror.

[0112] For light directly incident on a target rearview mirror, strong glare may occur even without exceeding a first preset intensity. For example, if the incident light intensity is greater than a second preset intensity, such as 500 lux, strong glare is considered to exist.

[0113] The second preset intensity can be adjusted based on the incident light intensity over a historical period. For example, when the vehicle is driving at night, the average incident light intensity over a historical period is usually lower than the preset minimum safe intensity, such as 50 lux. Therefore, the second preset intensity can be adjusted to 300 lux, meaning that the second preset intensity can be adjusted based on the incident light intensity over a historical period.

[0114] In one embodiment, the human feature information includes the driver's eye level change angle, and the 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 itself.

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

[0116] For example, the calculation method for the first horizontal adjustment angle is as follows:

[0117] α1=k1ΔE_x+k2D_blind+k3L_env+b;

[0118] Where 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 human feature information and vehicle status information, k1 is the gaze 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, it predicts the driver's field of vision needs and can quickly respond to the driver's vision requirements, significantly reducing the risk of blind spots caused by delays. In scenarios such as lane changes or vehicles cutting in from blind spots, the rearview mirror angle can be adjusted in advance, increasing the driver's field of vision coverage by 30%.

[0120] For example, human body feature information also includes the driver's height, and vehicle status information includes seat position, preset steering wheel tilt angle, and preset vehicle model reference value.

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

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

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

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

[0125] The weights for line-of-sight adjustment, distance adjustment, and illumination adjustment can be preset or dynamically determined based on environmental risks.

[0126] In one embodiment, the vehicle status information includes the vehicle's first speed, and the environmental information includes the second speed of the vehicles behind and the ambient light intensity behind the vehicle.

[0127] To improve the accuracy of vehicle speed acquisition, an appropriate sensor can be selected based on the vehicle speed.

[0128] For example, when the initial vehicle speed is relatively high, such as exceeding 60 km / h, using the vehicle speed acquired by millimeter-wave radar as the primary method can improve anti-interference capabilities. When the initial vehicle speed is relatively low, such as below 20 km / h, using the vehicle speed acquired by ultrasonic radar as the primary method can improve the accuracy of short-range data.

[0129] Before determining the first level adjustment angle, the following is also included:

[0130] S201. Determine the relative speed between this vehicle and the vehicle behind it based on the first vehicle speed and the second vehicle speed.

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

[0132] S203. Determine the line-of-sight adjustment weight and distance adjustment weight based on the environmental risk level, and determine the light adjustment weight based on the ambient light intensity and incident light intensity.

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

[0134] In one embodiment, step S202 includes: determining an environmental risk score based on the minimum interval distance, incident light intensity, and relative velocity, and determining an environmental risk level based on the environmental risk score.

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

[0136]

[0137] Where 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 illumination risk weight.

[0138] Distance risk weight, speed risk weight, and illumination risk weight can be preset or dynamically determined.

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

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

[0141] S2022. Determine the distance risk weight, speed risk weight, and illumination 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 safe intensity, less than the first preset intensity, and the first vehicle speed is greater than the maximum preset safe speed, then it can be determined that the vehicle is in a normal lighting high-speed driving scenario, and the relative speed needs to be emphasized. For example, w1 can be set to 0.4, w2 to 0.5, and w3 to 0.1.

[0144] In one embodiment, determining the environmental risk level based on an 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, where the first threshold is greater than the second threshold.

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

[0147] In another embodiment, step S203 further includes: if the minimum interval distance is detected to be less than the preset minimum safe distance, or the relative speed is greater than the preset maximum safe speed, the environmental risk level is determined to be high risk.

[0148] In step S203, baseline values ​​are set for line-of-sight adjustment weight, distance adjustment weight, and illumination adjustment weight for different environmental risk levels.

[0149] For example, the baseline values ​​of line-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 under different environmental risk levels.

[0151]

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

[0153] As shown in Table 1, the logic of the above adjustment weights is as follows: the higher the risk level, the smaller the line of sight adjustment weight; the closer the minimum interval distance, the larger the distance adjustment weight; and the light adjustment weight is increased when there is low light (e.g., at night) and a high risk of glare.

[0154] After step S203, the baseline value of the above-mentioned adjustment weight can be dynamically adjusted.

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

[0156] If the first vehicle speed is detected to be greater than the preset maximum safe speed, increase the gaze adjustment weight and / or decrease the light adjustment weight.

[0157] For example, if the vehicle speed is detected to be greater than 80 km / h, indicating that the vehicle is traveling too fast, the weight of the line-of-sight adjustment needs to be increased while the weight of the light adjustment needs to be decreased.

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

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

[0160] For example, if the vehicle speed is detected to be less than 5 km / h, it indicates that the vehicle may be parking. In this case, the weights for line-of-sight adjustment and illumination adjustment can be ignored, and the environmental risk level can be determined mainly by the weight for distance adjustment.

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

[0162] If the minimum interval distance is detected to be less than the preset minimum safe distance, the illumination adjustment weight is set to 0.

[0163] For example, if the minimum distance between the vehicle behind the target rearview mirror and the vehicle itself is less than 1 meter, it means that the vehicle behind is following closely and the blind spot needs to be observed. In this case, the light adjustment weight can be ignored, and the environmental risk level can be determined mainly by the distance adjustment weight and the horizontal change angle of the eyeball.

[0164] In the above embodiments, this application dynamically allocates adjustment weights according to the environmental risk level, supporting adaptive switching of multiple driving scenarios.

[0165] If the blind spot glare conflict mode is determined, in one embodiment, the human characteristic information also includes the driver's height or seating position. Accordingly, step S104 includes: determining a second level adjustment angle.

[0166] For example, the calculation method for the second horizontal adjustment angle is as follows:

[0167]

[0168] Where α2 is the second horizontal adjustment angle, α default The preset reference angle is the height or sitting height, Δα is the preset maximum compensation angle, D_blind is the minimum interval 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 posture height in the seat memory function, so that drivers of different heights and sitting postures do not need to adjust manually and automatically match the best field of vision.

[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 can be used to control the target rearview mirror in a closed loop, which greatly reduces 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 of the vehicle rearview mirror adjustment. It can prioritize safety when there are blind spots and strong glare, and thus make effective and reasonable adjustment decisions.

[0173] In addition, this application also provides some special scenario handling methods.

[0174] For example, if a vehicle suddenly emerges from behind an obstruction, D_blind will drop abruptly from a distance greater than the preset risk distance to a distance less than the preset minimum safe distance. This will automatically trigger the emergency adjustment mode, which will control the target rearview mirror to quickly extend outward at a preset angle to provide the driver with sufficient visibility and eliminate the blind spot behind.

[0175] For example, the blind spot monitoring area can be dynamically adjusted based on the vehicle's steering wheel angle and yaw rate, i.e., preset minimum safe distance and preset risk distance.

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

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

[0178] Furthermore, the HMI supports user-defined preferences, such as manually adjusting preset minimum safe distance and preset risk distance, thus improving the user experience.

[0179] The vehicle rearview mirror control method provided in this application uses multiple sensors to collect driver's human characteristics, vehicle status, and environmental information in real time, performs data fusion and driver intention recognition, and dynamically calculates the optimal target adjustment angle. This solves the problems of poor adaptability, slow response, lack of conflict handling, and insufficient intelligence in adjustment of existing solutions in complex scenarios.

[0180] In particular, through three core technologies—eye-tracking prediction, multi-sensor fusion, and dynamic weight calculation—it achieves a triple breakthrough in the speed, safety, and personalization of rearview mirror adjustment, while also taking into account cost and energy efficiency, providing reliable vision assurance for intelligent driving assistance systems.

[0181] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Furthermore, Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0182] To implement the above-described vehicle rearview mirror control method, this application also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the vehicle rearview mirror control method described above.

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

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

[0185] The adjustment trigger module 302 is used to determine the target rearview mirror to be adjusted based on the human feature information in response to the human feature information meeting the preset adjustment conditions.

[0186] The mode determination module 303 is used to determine the adjustment mode based on environmental information. The adjustment mode is blind spot observation mode, blind spot glare conflict mode or anti-glare mode.

[0187] Angle determination module 304 is used to determine the target adjustment angle corresponding to the adjustment mode based on human body feature information, vehicle status information and environmental information;

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

[0189] Specific limitations regarding the control system of vehicle rearview mirrors can be found in the limitations on the control methods of vehicle rearview mirrors mentioned above, and will not be repeated here. Each module in the aforementioned control system of vehicle rearview mirrors can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0190] This 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, it implements the steps of the vehicle rearview mirror control method described in the above embodiment.

[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, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data related to the control of the vehicle's rearview mirror. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the steps of the vehicle rearview mirror control method described in the above embodiment.

[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, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements the steps of the vehicle rearview mirror control method described in the above embodiment. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

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

[0194] This application also provides a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements the steps of the vehicle rearview mirror control method described in the above embodiments.

[0195] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can 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 a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual 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 in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling a vehicle rearview mirror, characterized in that, The control method includes: The system monitors the driver's human characteristics, vehicle status, and environmental information. The human characteristics include the driver's eye level change angle, and the environmental information includes the incident light intensity of the target rearview mirror and the minimum distance between the vehicle and the vehicle behind the target rearview mirror. In response to the human body feature information meeting the preset adjustment conditions, the target rearview mirror to be adjusted is determined based on the human body feature information; The adjustment mode is determined based on the environmental information, and the adjustment mode is either blind spot observation mode, blind spot glare conflict mode, or anti-glare mode. Based on the human body feature information, the vehicle status information, and the environmental information, the target adjustment angle corresponding to the adjustment mode is determined; Adjust the target rearview mirror according to the target adjustment angle; The step of determining the target adjustment angle corresponding to the adjustment mode based on the human body feature information, the vehicle status information, and the environmental information includes: if the blind spot observation mode is determined, determining a first horizontal adjustment angle, wherein the first horizontal adjustment angle is calculated as follows: ; For the first horizontal adjustment angle, The horizontal change angle of the eyeball, The minimum interval distance, The incident light intensity, The angular offset is determined by the human body feature information and the vehicle status information. Adjusting the weight for eye movement. For distance-adjusted weights, Light intensity adjustment weights.

2. The control method as described in claim 1, characterized in that, The vehicle status information includes the first speed of the vehicle itself, and the environmental information also includes the second speed of the vehicle behind and the ambient light intensity behind the vehicle. Before determining the first horizontal adjustment angle, the method further includes: The relative speed between this vehicle and the vehicle behind it is determined based on the first vehicle speed and the second vehicle speed; The environmental risk level is determined based on the minimum interval distance, the incident light intensity, and the relative velocity. The line-of-sight adjustment weight and the distance adjustment weight are determined based on the environmental risk level, and the light adjustment weight is determined based on the ambient light intensity and the incident light intensity.

3. The control method as described in claim 2, characterized in that, The determination of the environmental risk level based on the minimum interval distance, the incident light intensity, and the relative velocity includes: An environmental risk score is determined based on the minimum interval distance, the incident light intensity, and the relative velocity; and the environmental risk level is determined based on the environmental risk score. The environmental risk score is calculated as follows: ； in, Assess the environmental risk score. The relative velocity, For distance risk weighting, For speed risk weighting, Light risk weight.

4. The control method as described in claim 3, characterized in that, The method of determining the environmental risk level based on the minimum interval distance, the incident light intensity, and the relative velocity further includes: If the minimum interval distance is detected to be less than the preset minimum safe distance, or the relative speed is greater than the preset maximum safe speed, the environmental risk level is determined to be high risk.

5. The control method as described in claim 2, characterized in that, After determining the line-of-sight adjustment weight, the distance adjustment weight, and the illumination adjustment weight based on the environmental risk level, the method further includes: If the first vehicle speed is detected to be greater than the preset maximum safe speed, the gaze adjustment weight is increased and / or the illumination adjustment weight is decreased. And / or, If the first vehicle speed is detected to be less than the preset minimum driving speed, the line of sight adjustment weight and / or the illumination adjustment weight will be set to 0. And / or, If the minimum interval distance is detected to be less than the preset minimum safe distance, the illumination adjustment weight is set to 0.

6. The control method as described in claim 3, characterized in that, Before determining the environmental risk level based on the minimum interval distance, the incident light intensity, and the relative velocity, the method further includes: The driving scenario is determined 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 based on the driving scenario.

7. The control method as described in claim 1, characterized in that, The human body feature information also includes the driver's eyeball horizontal change angle, head change angle, and head movement direction; The preset adjustment conditions include: The horizontal change angle of the eyeball and the change angle of the head respectively satisfy the preset angle threshold corresponding to the direction of head movement, or the horizontal change angle of the eyeball and the change angle of the head respectively satisfy the preset angle threshold corresponding to the direction of head movement, and remain for a preset duration.

8. The control method as described in claim 1, characterized in that, The human body feature information also includes the driver's height or sitting height, and the vehicle status information includes seat position, preset steering wheel tilt angle, and preset vehicle model reference value; The angle offset is calculated as follows: ； in, The angle offset is... The height or the sitting height, The horizontal adjustment value for the seat position. The height adjustment value for the seat position. The steering wheel tilt angle is... As a preset vehicle model baseline quantity, To highly adjust the weights, The horizontal compensation weight for the seat position. The height compensation weight for the seat position. Preset adjustment weights.

9. The control method as described in claim 1, characterized in that, The human body feature information also includes the driver's height or sitting height; Determining the target adjustment angle corresponding to the adjustment mode based on the human body feature information, the vehicle status information, and the environmental information includes: If the blind spot glare conflict mode is determined, a second horizontal adjustment angle is determined. The calculation method for the second horizontal adjustment angle is as follows: ； in, For the second horizontal adjustment angle, This is a preset reference angle corresponding to the height or the sitting posture height. To preset the maximum compensation angle, The minimum interval distance, To establish a preset safe distance; And / or, Determining the target adjustment angle corresponding to the adjustment mode based on the human body feature information, the vehicle status information, and the environmental information includes: If the anti-glare mode is selected, a preset vertical adjustment angle is obtained.

10. The control method as described in claim 1, characterized in that, The 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 itself. The step of determining the adjustment mode based on the environmental information includes: If the minimum interval distance is detected to be 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. If the minimum interval distance is detected to be less than the preset minimum safe 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 safe distance is less than the preset risk distance; If the minimum interval distance is detected to be 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. If the minimum interval distance is detected to be greater than or equal to the preset minimum safe distance, less than the preset risk distance, and the incident light intensity indicates that there is strong glare in the target rearview mirror, then the adjustment mode is determined to be the blind spot observation mode.

11. The control method as described in claim 10, characterized in that, The environmental information also includes the ambient light intensity behind the vehicle; The criteria for determining strong glare include at least one of the following: The ambient light intensity is greater than a first preset intensity; The incident light intensity is greater than the second preset intensity, and the second preset intensity is less than the first preset intensity.

12. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-11.

13. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-11.

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