Automobile lane changing auxiliary system

Abstract

The invention discloses an automobile lane changing auxiliary system which comprises a steering lamp operating rod assembly, an electronic control unit, a left rearview mirror module, a right rearview mirror module, a position sensor, a rearview mirror position memory module and an automobile state detection module, and the steering lamp operating rod assembly is arranged on the left side of a steering wheel and provided with a neutral position, a first gear and a second gear; the electronic control unit receives an operating rod signal and outputs a control instruction; the left rearview mirror module comprises a left rearview mirror horizontal rotation actuator and a left rearview mirror lens; the right rearview mirror module comprises a right rearview mirror horizontal rotation actuator and a right rearview mirror lens. Therefore, 0-20-degree adjustment of the rearview mirror is related to the vehicle speed, a blind area is covered at a low speed in a large angle, interference is avoided at a high speed in a small angle, risks are reduced, multi-gear linkage simplifies operation, the rearview mirror returns after being loosened, automatic centering is achieved after lane changing, distraction is reduced, navigation and a corner sensor recognize the road condition, manual reset is not needed, and adaptability is high.

Description

Technical Field

[0001] This application relates to the technical field of automotive driving assistance, and more particularly to an automotive lane change assistance system. Background Technology

[0002] In modern car driving, lane changing (especially when switching between main and auxiliary lanes, including merging from a median strip onto an auxiliary lane) is a common and crucial driving maneuver. However, existing technologies have the following shortcomings: 1. Blind spots in the field of vision Traditional car turn signals are only used to indicate turning intentions, and rearview mirrors need to be manually adjusted. When changing lanes (such as turning right onto a side road with a median strip), the driver needs to be distracted by operating the rearview mirror, resulting in untimely observation of vehicles (including non-motorized vehicles) behind, which can easily create blind spots (blind spots to the side and rear when changing lanes), increasing the risk of collision.

[0003] 2. Cumbersome operation The rearview mirror adjustment is separated from the turn signal control, requiring the driver to perform multiple operations during lane changes (such as first activating the turn signal, then adjusting the rearview mirror, and finally resetting the turn signal), which is a complicated process and distracts the driver's attention. For example, when merging from a main road into a side road, manually adjusting the rearview mirror can easily lead to safety hazards due to operational errors.

[0004] 3. Lack of intelligent linkage The existing system cannot automatically adjust the rearview mirror angle according to vehicle speed and road conditions. When driving at high speed (e.g., vehicle speed ≥ 80 km / h), the manually adjusted rearview mirror angle may be too large, interfering with the main field of vision; when changing lanes at low speed (e.g., vehicle speed ≤ 30 km / h), the angle is insufficient, and blind spots still exist.

[0005] 4. Insufficient scene adaptation For auxiliary roads with physical barriers, traditional systems cannot automatically recognize the completion status of lane changes, which requires manual reset of turn signals and rearview mirrors, increasing the operational burden and failing to meet the dynamic visibility requirements under complex road conditions.

[0006] Therefore, there is an urgent need for a lane change assist system that integrates multi-level turn signal control, dynamic rearview mirror angle adjustment, and automatic reset to solve the above-mentioned technical pain points and improve lane change safety and ease of operation. Summary of the Invention

[0007] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0008] Therefore, the first objective of this application is to provide a vehicle lane change assist system, which dynamically adjusts the rearview mirror from 0 to 20 degrees (negatively correlated with vehicle speed), with maximum deflection at low speed covering the blind spot of the auxiliary road (including non-motorized vehicles), and minimum deflection at high speed to avoid interference with the main field of vision, thereby eliminating the blind spot to the side and rear of the lane change and reducing the risk of collision.

[0009] The second objective of this application is to provide a vehicle lane change assist system with multi-gear linkage: first gear activates the turn signal, second gear adjusts the rearview mirror, releasing the hand automatically returns to first gear, and the system automatically returns to center after the lane change is completed, simplifying the traditional 3-step operation to 1 step and reducing distraction.

[0010] The third objective of this application is to provide a vehicle lane change assist system that automatically identifies the switching between main and auxiliary lanes using in-vehicle navigation and a corner sensor, eliminating the need for manual reset of the turn signals, adapting to complex road conditions, and enhancing driving adaptability.

[0011] To achieve the above objectives, a first aspect of this application provides a vehicle lane change assist system, including a turn signal control lever assembly, an electronic control unit, a left rearview mirror module, a right rearview mirror module, a position sensor, a rearview mirror position memory module, and a vehicle status detection module. The turn signal control lever assembly is located on the left side of the steering wheel and has a neutral position, a first position, and a second position. The electronic control unit receives control lever signals and outputs control commands. The left rearview mirror module includes a left rearview mirror horizontal rotation actuator and a left rearview mirror lens. The right rearview mirror module includes a right rearview mirror horizontal rotation actuator and a right rearview mirror lens. The position sensor is integrated into the turn signal... Inside the control lever assembly, the position of the control lever is detected in real time; the rearview mirror position memory module is embedded in the electronic control unit firmware to store the preset angle coordinates of the rearview mirror; the vehicle status detection module includes an in-vehicle navigation system and a steering wheel angle sensor, which uses map data obtained from the in-vehicle navigation system and the angle signal detected by the steering wheel angle sensor to determine whether the vehicle has completed a lane change; the turn signal control lever assembly is connected to the electronic control unit via an electrical signal line; the electronic control unit is connected to the left rearview mirror horizontal rotation actuator and the right rearview mirror horizontal rotation actuator respectively via a drive circuit; the position sensor communicates with the electronic control unit; the vehicle status detection module communicates with the electronic control unit via a bus.

[0012] According to an embodiment of this application, a car lane change assist system features a rearview mirror that can be adjusted from 0 to 20 degrees and is linked to vehicle speed. At low speeds, the large angle covers blind spots, while at high speeds, the small angle avoids interference and reduces risks. The multi-level linkage simplifies operation, and the mirror returns to its original position when released. It automatically returns to center after changing lanes, reducing distraction. The system uses navigation and a corner sensor to recognize road conditions, eliminating the need for manual reset and demonstrating strong adaptability.

[0013] In addition, the vehicle lane change assist system proposed above according to this application may also have the following additional technical features: In one embodiment of this application, the first position of the turn signal control lever assembly triggers the corresponding side turn signal to flash; the second position is activated by a pressure sensor, the trigger signal is continuously sent to the electronic control unit, and the travel of the second position is greater than that of the first position.

[0014] In one embodiment of this application, the left rearview mirror horizontal rotation actuator is controlled to deflect the left rearview mirror lens to the left, and the right rearview mirror horizontal rotation actuator is controlled to deflect the right rearview mirror lens to the right; the deflection angle is dynamically adjusted by the electronic control unit according to the vehicle speed signal, and the deflection angle is negatively correlated with the vehicle speed.

[0015] In one embodiment of this application, the electronic control unit integrates an automatic reset module, the functions of which include: (a) When the vehicle status detection module determines that the vehicle has completed the lane change, it automatically resets the turn signal control lever assembly (1) from the first position to the neutral position; (b) The turn signal control lever assembly automatically returns to the first position after being released from the second position; (c) After the left and right rearview mirror lenses have finished deflecting, they are slowly reset to the initial position stored in the memory module with a delay of 0.5-2 seconds.

[0016] In one embodiment of this application, the vehicle status detection module determines whether the vehicle has completed the switch between the main road and the auxiliary road by using the main and auxiliary road map data obtained by the vehicle navigation and the centering angle signal detected by the steering wheel angle sensor.

[0017] In one embodiment of this application, a vehicle lane change assist control method includes the following steps: Procedure for turning right onto the auxiliary road: S1: The driver moves the turn signal control lever assembly to the first position, and the right turn signal illuminates; S2: Continuously push up to trigger the second gear, the electronic control unit drives the right rearview mirror horizontal rotation actuator to deflect the right rearview mirror lens to the right; S3: After releasing the pressure, the turn signal control lever assembly automatically springs back to the first position, and the right rearview mirror lens slowly resets after a delay. S4: After the vehicle status detection module detects that the vehicle has entered the auxiliary road, the electronic control unit controls the turn signal control lever assembly to automatically return to the center position. Left turn merging into the main road procedure: S5: The driver presses down the turn signal control lever assembly to the first position, and the left turn signal illuminates; S6: Continuous pressure triggers the second gear, and the electronic control unit drives the left rearview mirror horizontal rotation actuator to deflect the left rearview mirror lens to the left; S7: After releasing the pressure, the turn signal control lever assembly automatically springs back to the first position, and the left rearview mirror lens resets slowly after a delay. S8: The driver manually resets the turn signal control lever assembly from the first position to the neutral position.

[0018] In one embodiment of this application, in steps S2 and S6, the deflection angles of the left and right rearview mirror lenses are negatively correlated with the vehicle speed. Specifically, the deflection angle is largest when the vehicle speed is ≤30km / h, and smallest when the vehicle speed is ≥80km / h, with the intermediate value adjusted linearly.

[0019] In one embodiment of this application, the system is applicable to auxiliary road entrances and main road merging scenarios. The wiring harnesses of the left and right rearview mirror modules are arranged along the inner lining of the doors. The turn signal circuit is independently connected to the fuse box and forms a parallel control with the turn signal control lever assembly.

[0020] In one embodiment of this application, the electronic control unit communicates with the vehicle's ESC system via a bus to acquire the vehicle's yaw rate during the adjustment of the left and right rearview mirror horizontal rotation actuators, ensuring vehicle stability during the adjustment process.

[0021] In one embodiment of this application, the second position of the turn signal control lever assembly is triggered by a pressure sensor, and the triggering condition is that the pressing time reaches a threshold of 0.5 seconds.

[0022] The advantages of this application compared to existing technologies are: (1) The rearview mirror is dynamically adjustable from 0 to 20 degrees (negatively correlated with vehicle speed). At low speed, the maximum deflection covers the blind spot of the auxiliary road (including non-motorized vehicles), and at high speed, the minimum deflection avoids interference with the main field of vision, eliminates the blind spot on the side and rear when changing lanes, and reduces the risk of collision.

[0023] (2) Multi-gear linkage: the turn signal is on in first gear, the rearview mirror is adjusted in second gear, and the system automatically returns to first gear when the hand is released. After the lane change is completed, the system automatically returns to center. The traditional 3-step operation is simplified to 1 step, reducing distraction.

[0024] (3) The vehicle navigation + corner sensor automatically recognizes the switching between main and auxiliary roads, eliminating the need for manual reset of the turn signals, adapting to complex road conditions and enhancing driving adaptability.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. Attached Figure Description

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic diagram of the electrical control connection of a vehicle lane change assist system according to an embodiment of this application; Figure 2 This is a schematic diagram of the operation input and main control system of a vehicle lane change assist system according to an embodiment of this application; Figure 3 This is a schematic diagram of a rearview mirror control system for a vehicle lane change assist system according to an embodiment of this application; Figure 4 This is a schematic diagram illustrating the lighting control and safety features of a vehicle lane change assist system according to an embodiment of this application. Figure 5 This is a flowchart illustrating a two-level triggering mechanism of a vehicle lane change assist system according to an embodiment of this application; Figure 6 This is a schematic diagram of a rearview mirror control system for a vehicle lane change assist system according to an embodiment of this application; Figure 7 This is a schematic diagram of a vehicle state detection and reset system for a lane change assist system according to an embodiment of this application; Figure 8 This is a schematic diagram of a power safety protection system for a vehicle lane change assist system according to an embodiment of this application.

[0027] As shown in the figure: 1. Turn signal control lever assembly; 2. Electronic control unit; 3. Left rearview mirror module; 4. Right rearview mirror module; 5. Position sensor; 6. Rearview mirror position memory module; 7. Vehicle status detection module; 9. Turn signal; 10. Vehicle speed signal; 11. Automatic reset module; 13. Fuse box; 101. Pressure sensor; 301. Left rearview mirror horizontal rotation actuator; 302. Left rearview mirror lens; 401. Right rearview mirror horizontal rotation actuator; 402. Right rearview mirror lens; 702. In-vehicle navigation; 703. Steering wheel angle sensor. Detailed Implementation

[0028] Embodiments of this application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. Rather, embodiments of this application include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0029] The following description, in conjunction with the accompanying drawings, describes an embodiment of a vehicle lane change assist system according to this application.

[0030] like Figures 1-8 As shown in the figure, a lane change assist system for automobiles according to an embodiment of this application may include a turn signal control lever assembly 1, an electronic control unit 2, a left rearview mirror module 3, a right rearview mirror module 4, a position sensor 5, a rearview mirror position memory module 6, and a vehicle status detection module 7.

[0031] Understandably, the turn signal control stalk assembly 1 is fixed to the left side of the car's steering wheel and adopts a three-position design, including a neutral position (inactive state), a first position, and a second position. Its core function is to transmit the driver's lane-changing intention to the electronic control unit 2 through the position switching, and trigger subsequent turn signal and rearview mirror adjustment actions. As the core control component of the system, the electronic control unit 2 receives the gear position signal from the turn signal control lever assembly 1, the position detection signal from the position sensor 5, and the lane change judgment signal from the vehicle status detection module 7 via the electrical signal line. After logical processing, it outputs specific control commands to the left rearview mirror module 3 and the right rearview mirror module 4. The left rearview mirror module 3 consists of a left rearview mirror horizontal rotation actuator 301 and a left rearview mirror lens 302. The left rearview mirror horizontal rotation actuator 301 is a micro motor driven structure. After receiving the command from the electronic control unit 2, it can drive the left rearview mirror lens 302 to deflect to the left in the horizontal direction (range 0-20 degrees). The left rearview mirror lens 302 adopts a convex design to expand the coverage of the side and rear field of vision. The right rearview mirror module 4 is symmetrically arranged with the left rearview mirror module 3, and consists of a right rearview mirror horizontal rotation actuator 401 and a right rearview mirror lens 402. After receiving the command from the electronic control unit 2, the right rearview mirror horizontal rotation actuator 401 drives the right rearview mirror lens 402 to deflect to the right in the horizontal direction (range 0-20 degrees). The right rearview mirror lens 402 also adopts a convex design to adapt to the observation needs of the right blind spot. The position sensor 5 is integrated inside the turn signal control lever assembly 1 and is linked to the mechanical structure of the control lever. It can detect the current gear position of the control lever (neutral position, first gear, or second gear) in real time and transmit the position signal to the electronic control unit 2 through the data line as one of the bases for the output of control commands.

[0032] The rearview mirror position memory module 6 is a software module embedded in the firmware of the electronic control unit 2, which pre-stores the initial angle coordinates (i.e., the default position when not adjusted) of the left rearview mirror lens 302 and the right rearview mirror lens 402. When the rearview mirror has completed its deflection and needs to be reset, the electronic control unit 2 can call the initial coordinates stored in this module to control the lens to accurately return to its original position. The vehicle status detection module 7 consists of the in-vehicle navigation system 702 and the steering wheel angle sensor 703. Its core function is to determine whether the vehicle has completed a lane change maneuver. The 702 in-vehicle navigation system identifies the current road type (main road or auxiliary road) of the vehicle by acquiring real-time map data (such as lane lines of main and auxiliary roads, and the location of road dividers). The steering wheel angle sensor 703 is installed on the steering shaft of the steering wheel to detect the rotation angle and return status of the steering wheel, and to help determine whether the vehicle has completed the steering action. After the signals from both are fused, a judgment result of "whether the vehicle has completed the lane change" is formed, which is then transmitted to the electronic control unit 2 via the bus.

[0033] System workflow (taking turning right onto the auxiliary road as an example): 1. When the driver moves the turn signal control lever assembly 1 to the first position, the mechanical displacement of the control lever triggers the internal contacts to close, sending a "right turn intention" signal to the electronic control unit 2; 2. After receiving the signal, the electronic control unit 2 first activates the right turn signal, and at the same time confirms that the operating lever is in the first position through the position sensor 5; 3. If the driver needs to expand the right-side field of vision, he continues to move the control lever up to the second gear position. The change in the travel of the control lever triggers the position sensor 5 to send a "second gear activated" signal to the electronic control unit 2. 4. Based on this signal, the electronic control unit 2 outputs a drive command to the right rearview mirror horizontal rotation actuator 401, controlling the right rearview mirror lens 402 to deflect to the right (the deflection angle is dynamically adjusted according to actual needs). 5. The vehicle status detection module 7 identifies the location of the "auxiliary road entrance" through the map data of the vehicle navigation 702, and determines that the vehicle has entered the auxiliary road by combining the return signal of the steering wheel angle sensor 703. 6. After the judgment result is transmitted to the electronic control unit 2, the electronic control unit 2 calls the initial coordinates stored in the rearview mirror position memory module 6 and controls the right rearview mirror horizontal rotation actuator 401 to drive the lens to slowly reset. 7. At the same time, the electronic control unit 2 sends a reset command to the turn signal control lever assembly 1, so that it returns from the first gear position to the neutral position, completing the entire lane change assist process.

[0034] It should be noted that the components described in this embodiment achieve data interaction and control signal transmission through a bus, and the specific connection method is as follows: The turn signal control lever assembly 1 is connected to the electronic control unit 2 via a multi-core electrical signal wire to transmit electrical signals for gear shifting; The electronic control unit 2 is connected to the left rearview mirror horizontal rotation actuator 301 and the right rearview mirror horizontal rotation actuator 401 through two independent drive circuits, and outputs PWM control signals to adjust the rotation angle of the actuators. Position sensor 5 communicates bidirectionally with electronic control unit 2 via data cable, providing real-time feedback on the position information of the control lever; The vehicle status detection module 7 is connected to the electronic control unit 2 via the vehicle CAN bus to transmit map data, cornering signals and lane change judgment results.

[0035] In one embodiment of this application, such as Figures 1-8As shown, the first position of the turn signal control lever assembly 1 triggers the corresponding side turn signal 9 to flash; the second position is activated by the pressure sensor 101, and the trigger signal is continuously sent to the electronic control unit 2, and the travel of the second position is greater than that of the first position.

[0036] Understandably, the turn signal control lever assembly 1 adopts a two-stage mechanical structure design, with the first and second gears set sequentially in the same operating direction. The mechanical travel of the second gear (the distance from the neutral position to the gear locking point) is 15-20mm longer than that of the first gear, ensuring that the driver can clearly distinguish the two gears through the difference in operating force and travel. The pressure sensor 101 is integrated into the second gear trigger area of ​​the turn signal control lever assembly 1. It adopts the piezoresistive sensing principle. When the pressure on the control lever reaches the preset threshold (corresponding to the end of the second gear travel), it outputs a continuous high-level signal to the electronic control unit 2. The turn signal 9 includes left and right turn signals, which are mechanically linked to the left and right first positions of the turn signal control lever assembly 1, respectively. When the control lever is in the first position, the corresponding turn signal 9 is powered on through the relay circuit to achieve a flashing frequency of 50-60 times / minute. The electronic control unit 2 receives gear signals from the turn signal control lever assembly 1, wherein the first gear signal triggers the turn signal 9 control module, and the second gear signal (converted by the pressure sensor 101) triggers the rearview mirror adjustment control logic.

[0037] Workflow: 1. First gear operation and turn signal activation The driver gently pushes the turn signal control lever assembly 1 to one side (left or right) to bring it to the first position: The mechanical contacts close, sending a 12V DC signal to the electronic control unit 2; After the electronic control unit 2 identifies the direction of the signal, it immediately activates the flashing circuit of the corresponding side turn signal 9, and the turn signal 9 begins to flash periodically to indicate the lane change intention of the drivers of surrounding vehicles. At this time, the control lever does not trigger the pressure sensor 101, and the pressure sensor 101 maintains a low-level output. 2. Second gear activation and signal transmission If the driver needs to further adjust the rearview mirror, continue to apply pressure in the same direction from the first position until the turn signal control lever assembly 1 overcomes the return spring force and reaches the second position: The mechanical structure of the operating lever presses the pressure sensor 101. When the pressure value exceeds 5N (corresponding to the end of the second gear stroke), the pressure sensor 101 outputs a continuous high-level signal to the electronic control unit 2. Because the second gear travel is greater than the first gear, the control lever is mechanically locked in this position to ensure continuous transmission of the pressure sensor 101 signal until the driver releases the control lever; The electronic control unit 2 simultaneously receives the turn signal from the first gear and the pressure sensor signal from the second gear, prioritizes the execution of the rearview mirror adjustment logic, and does not interrupt the flashing of the turn signal 9. 3. Gear reset characteristic When the driver releases the control lever, the return spring will act as follows: The control lever first bounces back from the second position to the first position, and the signal from pressure sensor 101 is interrupted. If the lane change is not completed, the lever remains in the first position and turn signal 9 continues to flash; until the lane change is completed, the lever returns to the neutral position and turn signal 9 stops flashing.

[0038] In one embodiment of this application, such as Figures 1-8 As shown, the left rearview mirror horizontal rotation actuator 301 is controlled to deflect the left rearview mirror lens 302 to the left, and the right rearview mirror horizontal rotation actuator 401 is controlled to deflect the right rearview mirror lens 402 to the right; the deflection angle is dynamically adjusted by the electronic control unit 2 according to the vehicle speed signal 10, and the deflection angle is negatively correlated with the vehicle speed.

[0039] Understandably, the left rearview mirror horizontal rotation actuator 301 adopts a DC stepper motor structure. The output shaft is connected to the mounting base of the left rearview mirror lens 302 through a gear set. After receiving the pulse signal from the electronic control unit 2, it can drive the lens to rotate to the left in the horizontal direction with a rotation angle accuracy of ±0.5° and a maximum rotation range of 0-20°. The left rearview mirror lens 302 is a convex glass lens, fixed on a rotatable base. The angle is adjusted by the drive of the left rearview mirror horizontal rotation actuator 301 to meet the needs of side and rear blind spot coverage. The right rearview mirror horizontal rotation actuator 401 is structurally symmetrical with the left rearview mirror horizontal rotation actuator 301. They use the same model stepper motor, and the output shaft is connected to the right rearview mirror lens 402 through a gear set. It can drive the lens to rotate to the right in the horizontal direction. The rotation accuracy and range are the same as those of the left side. The right rearview mirror lens 402 has the same parameters as the left rearview mirror lens 302. The convex design ensures coverage of the side and rear view. The angle is adjusted by the actuator 401 driven by the horizontal rotation of the right rearview mirror. The electronic control unit 2 has a built-in rearview mirror angle control module that stores a data table showing the correspondence between vehicle speed and angle. After receiving the vehicle speed signal 10, it calculates the target deflection angle by looking up the table and outputs a pulse control signal to the corresponding rearview mirror horizontal rotation actuator. Vehicle speed signal 10 is real-time vehicle speed data (unit: km / h) transmitted via the vehicle's CAN bus. The sampling frequency is 10Hz. The electronic control unit 2 updates the vehicle speed value every 0.1 seconds to dynamically adjust the rearview mirror deflection angle.

[0040] Workflow: 1. Signal reception and angle calculation Electronic control unit 2 receives vehicle speed signal 10 in real time. When it detects that the turn signal lever has been activated to the second position, it initiates the rearview mirror angle adjustment logic: If the vehicle speed is V (km / h), the electronic control unit 2 calls the preset formula: deflection angle = 20° - (V / 80°) × 20° (when V ≥ 80km / h, the angle is locked at 0°; when V ≤ 30km / h, the angle is locked at 20°). The calculation results distinguish between left and right directions: when changing lanes on the left, the actuator 301 rotates horizontally to the left rearview mirror and outputs a left deflection angle; when changing lanes on the right, the actuator 401 rotates horizontally to the right rearview mirror and outputs a right deflection angle.

[0041] 2. Actuator drive and lens deflection After receiving the pulse signal from the electronic control unit 2, the left rearview mirror horizontal rotation actuator 301 drives the left rearview mirror lens 302 to deflect to the left to the calculated angle through gear transmission. During the process, the position signal is fed back to the electronic control unit 2 in real time to ensure the angle accuracy. Similarly, the right rearview mirror horizontal rotation actuator 401 drives the right rearview mirror lens 402 to deflect to the right to the calculated angle. The deflection process lasts for 0.8-1.2 seconds to avoid sudden changes in the field of vision. 3. Dynamic speed adjustment If the vehicle speed signal 10 changes during the deflection process (e.g., from 30km / h to 60km / h), the electronic control unit 2 immediately recalculates the angle and sends a correction pulse to the actuator: As the vehicle speed increases, the actuator drives the lens to rotate back (the angle decreases). When the vehicle speed decreases, the actuator drives the lens to continue rotating (the angle increases); Maintain a negative correlation between deflection angle and vehicle speed to ensure optimal field of vision coverage at different vehicle speeds.

[0042] In one embodiment of this application, such as Figures 1-8 As shown, the electronic control unit 2 integrates an automatic reset module 11.

[0043] Understandably, the electronic control unit 2 has a built-in automatic reset module 11, which is a firmware module that receives the judgment signal from the vehicle status detection module 7, the gear signal from the turn signal control lever assembly 1, and the rearview mirror position signal, and outputs a reset control command. The automatic reset module 11 contains three sub-logic units, which correspond to the timing control of the operation lever position reset and the rearview mirror lens reset, respectively, and store delay parameters of 0.5-2 seconds and reset trigger conditions. The turn signal control lever assembly 1 is equipped with a return spring inside. When there is no external force, it can complete the gear switching under the control of the automatic reset module 11. Its mechanical structure supports automatic jumping from the second gear to the first gear and from the first gear to the neutral position. The vehicle status detection module 7 sends a "lane change completed" electrical signal (active high) to the electronic control unit 2 as a trigger condition for the turn signal control lever assembly 1 to reset from the first position. Left rearview mirror lens 302 and right rearview mirror lens 402: receive reset commands through their respective actuators and slowly rotate to the initial angle in the horizontal direction. The rearview mirror position memory module 6 stores the initial angle coordinates of the left and right rearview mirror lenses (angle values ​​based on the longitudinal centerline of the vehicle) for recall during reset.

[0044] Workflow: Function (a): Automatic reset from first gear to neutral position After the vehicle status detection module 7 determines that the vehicle has completed the lane change, it sends a high-level signal for 2 seconds to the electronic control unit 2. After the automatic reset module 11 recognizes the signal, it immediately sends a reverse pulse to the drive motor of the turn signal control lever assembly 1; The mechanical locking mechanism of the turn signal control lever assembly 1 is unlocked, and under the action of the reset spring, it slowly returns from the first position to the neutral position. After reaching the neutral position, it triggers the limit switch and sends a reset completion signal to the automatic reset module 11. Function (b): Automatic reset from second gear to first gear After the driver releases the pressure on the turn signal control lever assembly 1, the external force on the control lever disappears; The built-in spring force of the turn signal control lever assembly 1 is greater than the locking force of the second position, pushing the control lever to move to the first position; Position sensor 5 sends a "returned to first gear" signal to electronic control unit 2, and automatic reset module 11 terminates the reset drive and maintains the first gear state. Function (c): Rearview mirror lens delayed and slow reset After the left rearview mirror lens 302 or the right rearview mirror lens 402 completes its deflection and remains in this position for 3 seconds, the automatic reset module 11 starts a delay timer (configurable from 0.5 to 2 seconds). After the timing ends, the automatic reset module 11 retrieves the initial angle coordinates from the rearview mirror position memory module 6 and sends a reset command to the lens actuator; The lens rotates slowly at a speed of 5° / second. After reaching the initial position, it triggers a position feedback signal, and the automatic reset module 11 stops driving, thus completing the reset.

[0045] In one embodiment of this application, such as Figures 1-8 As shown, the vehicle status detection module 7 uses the main and auxiliary road map data obtained by the vehicle navigation 702 and the centering angle signal detected by the steering wheel angle sensor 703 to determine whether the vehicle has completed the switch between the main road and the auxiliary road.

[0046] The workflow is understandable: 1. Signal Acquisition Stage During the lane change process, the vehicle navigation 702 continuously sends map data of the current location to the vehicle status detection module 7. When the vehicle approaches the intersection of the main and auxiliary roads, the "auxiliary road entrance" or "main road entrance" label in the map data is activated. Meanwhile, the steering wheel angle sensor 703 provides real-time feedback on the steering angle. After the driver completes the steering operation, the steering wheel gradually returns to center, and the angle signal transitions from a large angle to ≤5°. 2. Execute the judgment logic The vehicle status detection module 7 makes the following judgments on the received signals: When map data shows that a vehicle has entered the lane line range of "auxiliary road" or "main road" (i.e., the road attribute label has switched); Furthermore, the angle signal from the steering wheel angle sensor 703 remains ≤5° for 300ms (confirming that the steering wheel is fully centered). When the above two conditions are met, module 7 determines that "the vehicle has completed the switch between the main road and the auxiliary road".

[0047] 3. Result Output The vehicle status detection module 7 sends the judgment result to the electronic control unit 2 as a high-low level signal (high level indicates that the switching is complete), which serves as the trigger for subsequent automatic reset operations.

[0048] In one embodiment of this application, such as Figures 1-8 As shown, the vehicle lane change assist control method includes the following steps: I. Procedure for turning right onto the auxiliary road Step S1: Activate the turn signal in first gear The driver pulls up the turn signal control lever assembly 1, bringing its mechanical structure to the first position: The internal contacts of the control lever close, sending a right turn signal to the electronic control unit 2; After receiving the signal, the electronic control unit 2 immediately activates the power supply circuit of the right turn signal 9, and the right turn signal 9 flashes at a frequency of 50 times per minute to alert surrounding vehicles. Step S2: Activate rearview mirror deflection in second gear. The driver continues to pull the lever upwards from the first gear position, and the turn signal control lever assembly 1 overcomes the return spring force to reach the second gear position: After the electronic control unit 2 detects the second gear signal, the actuator 401 for turning right and horizontally rotating the right rearview mirror outputs drive current. The right rearview mirror horizontal rotation actuator 401 drives the right rearview mirror lens 402 to deflect to the right (the deflection angle is adjusted according to the preset logic), expanding the field of vision of the right auxiliary road. Step S3: Reset action after releasing pressure Driver releases turn signal control lever assembly 1: The control lever automatically springs back to the first position under the action of the reset spring, and the signal for the second position is interrupted. After receiving the release signal, the electronic control unit 2 initiates the reset procedure of the right rearview mirror lens 402, and the lens returns to its initial position in a slow process of 0.5-2 seconds. Step S4: Automatic return to center after entering the auxiliary lane After vehicle status detection module 7 confirms that the vehicle has fully entered the auxiliary road: Send a "lane change complete" signal to electronic control unit 2; The electronic control unit 2 controls the reset mechanism of the turn signal operating lever assembly 1 to automatically return it from the first position to the neutral position, and the right turn signal 9 stops flashing. II. Procedure for turning left into the main road Step S5: Activate the turn signal in first gear. The driver pulls the turn signal control lever assembly 1 upwards to the first position: The internal contacts close, sending a left turn signal to the electronic control unit 2; The electronic control unit 2 activates the left turn signal 9, which flashes at a frequency of 50 times per minute.

[0049] Step S6: Activate rearview mirror deflection in second gear. The driver continues to pull the lever upwards to the second gear: The electronic control unit 2 detects the second gear signal and drives the left rearview mirror horizontal rotation actuator 301 to operate. The left rearview mirror horizontal rotation actuator 301 drives the left rearview mirror lens 302 to deflect to the left, expanding the field of vision for oncoming vehicles on the left main road. Step S7: Reset action after releasing pressure The driver releases the control lever: The turn signal control lever assembly 1 automatically returns to the first position, and the left turn signal 9 continues to flash; The electronic control unit 2 controls the left rearview mirror lens 302 to reset to its initial position in a slow process of 0.5-2 seconds. Step S8: Manually reset the operating lever After the vehicle has fully merged into the main road, the driver manually pushes the turn signal control lever assembly 1 from the first position back to the neutral position: The power supply circuit for the left turn signal 9 is disconnected, stopping the flashing and completing the entire left turn process.

[0050] In one embodiment of this application, such as Figures 1-8 As shown, in steps S2 and S6, the deflection angles of the left rearview mirror lens 302 and the right rearview mirror lens 402 are negatively correlated with the vehicle speed. Specifically, the deflection angle is the largest when the vehicle speed is ≤30km / h, and the deflection angle is the smallest when the vehicle speed is ≥80km / h, with the intermediate value adjusted linearly.

[0051] It is understandable that the adjustment process for the deflection angle is negatively correlated with vehicle speed: 1. Vehicle speed signal acquisition and analysis The electronic control unit 2 acquires the real-time vehicle speed signal through the vehicle's CAN bus. This signal is converted into a digital quantity of 0-120 km / h after AD conversion, which is used as the input parameter for angle calculation. 2. Angle Calculation Rules The system presets three sets of key parameters and uses linear interpolation to achieve angle adjustment across the entire vehicle speed range: When the vehicle speed is ≤30km / h, the deflection angle is at its maximum value (20 degrees), ensuring that when entering the auxiliary road at low speed, the lens can cover the complete blind spot of the right / left auxiliary road (such as non-motorized vehicles and low-speed vehicles). When the vehicle speed is ≥80km / h, the deflection angle is the minimum value (5 degrees) to avoid excessive deflection of the lens during high-speed lane changes, which would interfere with the main field of vision. When 30km / h < vehicle speed < 80km / h, the angle is calculated using a linear formula: Deflection angle = 20° - (vehicle speed - 30km / h) × (15° / 50km / h) For example: when the vehicle speed is 50km / h, the deflection angle = 20° - (20 × 0.3) = 14°; when the vehicle speed is 65km / h, the deflection angle = 20° - (35 × 0.3) = 9.5°. 3. Actuator movement and lens adjustment Step S2 (Right Turn): The electronic control unit 2 calculates the target angle of the right rearview mirror lens 402 based on the current vehicle speed, and outputs a corresponding pulse signal to the right rearview mirror horizontal rotation actuator 401. The actuator drives the lens to deflect to the right to the target angle. Step S6 (Left Turn): Symmetrical logic, the electronic control unit 2 controls the left rearview mirror horizontal rotation actuator 301, which drives the left rearview mirror lens 302 to deflect to the left to the calculated angle.

[0052] In one embodiment of this application, such as Figures 1-8As shown, this embodiment describes the applicable scenarios of the system and the circuit and wiring harness layout. The components involved include the left rearview mirror module 3, the right rearview mirror module 4, the turn signal 9, the fuse box 13, and the turn signal control lever assembly 1, as detailed below: This system is specifically designed for auxiliary road entrances and main road merging scenarios: In auxiliary road entrance scenarios (such as when a vehicle turns right from the main road into the auxiliary road), the system helps the driver observe the blind spots to the side and rear of the auxiliary road by adjusting the angle of the left / right rearview mirror module; In scenarios where vehicles merge into the main road (such as when a vehicle turns left from an auxiliary road into the main road), the rearview mirror angle is also adjusted to enhance the left rear view coverage, adapting to the limited view caused by road dividers and lane changes in both scenarios. The control wiring harnesses for the left rearview mirror module 3 and the right rearview mirror module 4 are arranged along the inner side of the door lining: The wiring harness is wrapped in wear-resistant corrugated tubing and fixed to the reserved wiring channel in the inner lining of the door to avoid interference with the door window lifting mechanism and door lock components; The wiring harness of the left rearview mirror module 3 extends from the driver's side door lining to the electronic control unit 2 below the dashboard, and the wiring harness of the right rearview mirror module 4 is similarly routed from the passenger side door lining, ensuring stable signal transmission without affecting the aesthetics and space utilization of the vehicle interior. The circuit for turn signal 9 is designed independently, as detailed below: The power supply terminal of the turn signal 9 is directly connected to the turn signal dedicated fuse (rated current 10A) in the fuse box 13 to form an independent power supply circuit. The fuse box 13 can quickly blow in the event of a short circuit to protect the turn signal 9 and the wiring harness. This circuit is connected in parallel with the control circuit of the turn signal control lever assembly 1: the gear position signal of the turn signal control lever assembly 1 controls the flashing logic (such as frequency and duration) of the turn signal 9, while the fuse box 13 provides a stable power supply. Even if the control circuit of the turn signal control lever assembly 1 fails, the turn signal 9 can still maintain the basic lighting function through the fuse box 13 to ensure that the lane change intention indication is not interrupted.

[0053] In one embodiment of this application, such as Figures 1-8 As shown, the electronic control unit 2 establishes bidirectional communication with the ESC system (electronic stability control system) via the vehicle CAN bus. The left rearview mirror horizontal rotation actuator 301 and the right rearview mirror horizontal rotation actuator 401 are connected to the electronic control unit 2 through the drive circuit and receive adjustment commands.

[0054] The workflow is understandable: 1. Adjust the signal interaction during startup When the electronic control unit 2 sends a deflection command to the left rearview mirror horizontal rotation actuator 301 or the right rearview mirror horizontal rotation actuator 401, it simultaneously sends an "adjustment start" signal to the ESC system via the CAN bus. The ESC system responds immediately, acquiring the vehicle's yaw rate (unit: ° / s) in real time. This parameter reflects the vehicle's rotational stability around the vertical axis and is continuously fed back to the electronic control unit 2 via the bus. 2. Stability assessment and regulation control Electronic control unit 2 presets a yaw rate safety threshold (e.g., ±5° / s): If the feedback value is within the threshold, the actuator adjusts the lens angle according to the original instruction (such as the set value within the range of 0-20 degrees). If the feedback value exceeds the threshold (the vehicle shows a tendency to yaw), the electronic control unit 2 immediately suspends the actuator action. After the ESC system intervenes with braking to bring the yaw rate back to a safe range, the adjustment will resume.

[0055] 3. The signal terminates after the adjustment is completed. Once the actuator completes the lens deflection or reset, the electronic control unit 2 sends a "adjustment complete" signal to the ESC system. The ESC system then stops real-time feedback of yaw rate and resumes normal vehicle stability monitoring. In one embodiment of this application, such as Figures 1-8 As shown, the second position of the turn signal control lever assembly 1 is triggered by the pressure sensor 101, and the triggering condition is that the pressing time reaches a threshold of 0.5 seconds.

[0056] The triggering logic and workflow are understandable: 1. Initial state: When the turn signal control lever assembly 1 is in the neutral position, the pressure sensor 101 is not under pressure and outputs a low level (0V) signal. 2. First gear transition: When the driver moves the operating lever to the first gear to one side, the operating lever does not contact the pressure sensor 101, and the sensor remains at a low level. 3. Second gear position press detection: The driver continuously applies pressure in the same direction, causing the control lever to enter the second gear position stroke. Pressure sensor 101 begins to receive pressure and starts timing. If the pressing time is less than 0.5 seconds, the sensor will only output a momentary high level (5V), but will not trigger the second gear function (to avoid accidental operation). If the pressing time is ≥0.5 seconds, the sensor continuously outputs a high-level signal, which is determined to be a valid trigger, and the second gear function is activated. 4. Signal output: The pressure sensor 101 transmits the electrical signal of "the pressing time has reached the standard" to the internal control circuit of the turn signal control lever assembly 1 to confirm that the second position has been activated, and then executes the subsequent related actions.

[0057] Specifically, in actual implementation, taking a right turn from the main road onto a secondary road with a median strip as an example: 1. Activate lane change intention prompt After observing the road conditions on the right-hand auxiliary road of the main road, the driver moves the turn signal control lever assembly to the first position: The mechanical contacts of the control lever close, sending a right turn signal to the electronic control unit 2; After receiving the signal, the electronic control unit 2 activates the right turn signal 9, causing it to flash at a frequency of 50 times per minute; Position sensor 5 detects the position of the control lever in real time and sends a signal to electronic control unit 2 indicating that it is in the first gear. 2. Activate rearview mirror to expand field of view To observe non-motorized vehicles and other vehicles behind on the auxiliary road, the driver continuously pushes the turn signal control lever assembly 1 upwards from the first gear position: The operating lever overcomes the force of the reset spring and enters the second position. The pressure sensor 101 is pressed and starts timing. When the pressing time reaches the 0.5-second threshold, it outputs a continuous high-level signal to the electronic control unit 2. After receiving the signal, the electronic control unit 2 sends a drive command to the right rearview mirror horizontal rotation actuator 401 to control the right rearview mirror lens 402 to deflect to the right (at this time, the deflection angle is dynamically adjusted according to the real-time vehicle speed signal 10; if the vehicle speed is 20km / h, the deflection angle is 20 degrees). 3. Temporary reset after release operation After confirming that the auxiliary road is safe, the driver releases the turn signal control lever assembly 1. The control lever automatically springs back to the first position under the action of the reset spring, and the signal of pressure sensor 101 is interrupted. The electronic control unit 2 calls the initial coordinates stored in the rearview mirror position memory module 6 and controls the right rearview mirror horizontal rotation actuator 401 to drive the lens to slowly reset with a 1-second delay to avoid sudden changes in the field of vision. 4. Automatic termination after entering the auxiliary road During the process of vehicles entering the auxiliary road through the median strip entrance: The vehicle status detection module 7's in-vehicle navigation 702 identifies "entering the auxiliary lane line" through map data, and the steering wheel angle sensor 703 detects that the steering wheel return angle is ≤5°. After the two signals are merged, a "lane change completed" signal is sent to the electronic control unit 2. The automatic reset module 11 of the electronic control unit 2 responds to the signal and controls the turn signal operating lever assembly 1 to unlock from the first position and return to the neutral position under the action of the reset spring; The power supply circuit for the right turn signal 9 is disconnected, and it stops flashing. The right rearview mirror lens 402 is fully reset to its initial position, and the entire lane change assist process ends.

[0058] It should be noted that the control method of this application can be automatically controlled by a controller. The control method of the controller can be implemented by simple programming by those skilled in the art, which is common knowledge in the field. Furthermore, this application is mainly used to protect mechanical structures, so the control method and circuit connection will not be explained in detail here.

[0059] In summary, the lane change assist system of this application provides a rearview mirror that can be adjusted from 0 to 20 degrees and is related to vehicle speed. It can cover blind spots with a large angle at low speeds and avoid interference and reduce risks with a small angle at high speeds. The multi-level linkage simplifies operation, and the mirror returns to its original position when released. It automatically returns to center after changing lanes to reduce distraction. The navigation and corner sensor can recognize road conditions without manual reset and has strong adaptability.

[0060] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0061] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and deform the above embodiments within the scope of the present application.

Claims

1. A vehicle lane change assist system, characterized in that, It includes a turn signal control lever assembly (1), an electronic control unit (2), a left rearview mirror module (3), a right rearview mirror module (4), a position sensor (5), a rearview mirror position memory module (6), and a vehicle status detection module (7), among which, The turn signal control lever assembly (1) is located on the left side of the steering wheel and has a neutral position, a first gear position, and a second gear position; The electronic control unit (2) receives the operating lever signal and outputs control commands; The left rearview mirror module (3) includes a left rearview mirror horizontal rotation actuator (301) and a left rearview mirror lens (302). The right rearview mirror module (4) includes a right rearview mirror horizontal rotation actuator (401) and a right rearview mirror lens (402). The position sensor (5) is integrated inside the turn signal control lever assembly (1) to detect the position of the control lever in real time; The rearview mirror position memory module (6) is embedded in the firmware of the electronic control unit (2) to store the preset angle coordinates of the rearview mirror; The vehicle status detection module (7) includes an in-vehicle navigation system (702) and a steering wheel angle sensor (703). It uses the map data obtained by the in-vehicle navigation system (702) and the steering wheel angle sensor (703) to determine whether the vehicle has completed a lane change. The turn signal control lever assembly (1) is connected to the electronic control unit (2) via an electrical signal line; the electronic control unit (2) is connected to the left rearview mirror horizontal rotation actuator (301) and the right rearview mirror horizontal rotation actuator (401) via a drive circuit; the position sensor (5) communicates with the electronic control unit (2); the vehicle status detection module (7) communicates with the electronic control unit (2) via a bus.

2. The vehicle lane change assist system according to claim 1, characterized in that, The first position of the turn signal control lever assembly (1) triggers the corresponding side turn signal (9) to flash; the second position is activated by the pressure sensor (101), the trigger signal is continuously sent to the electronic control unit (2), and the travel of the second position is greater than that of the first position.

3. The vehicle lane change assist system according to claim 1, characterized in that, The left rearview mirror horizontal rotation actuator (301) is controlled to deflect the left rearview mirror lens (302) to the left, and the right rearview mirror horizontal rotation actuator (401) is controlled to deflect the right rearview mirror lens (402) to the right; the deflection angle is dynamically adjusted by the electronic control unit (2) according to the vehicle speed signal (10), and the deflection angle is negatively correlated with the vehicle speed.

4. A lane change assist system for automobiles according to claim 1, characterized in that, The electronic control unit (2) integrates an automatic reset module (11), the functions of which include: (a) When the vehicle status detection module (7) determines that the vehicle has completed the lane change, it automatically resets the turn signal control lever assembly (1) from the first position to the neutral position; (b) The turn signal control lever assembly (1) automatically returns to the first position after being released from the second position; (c) After the left rearview mirror lens (302) and the right rearview mirror lens (402) have finished deflecting, they are slowly reset to the initial position stored in the memory module (6) with a delay of 0.5-2 seconds.

5. A vehicle lane change assist system according to claim 1, characterized in that, The vehicle status detection module (7) uses the main and auxiliary road map data obtained by the vehicle navigation (702) and the return angle signal detected by the steering wheel angle sensor (703) to determine whether the vehicle has completed the switch between the main road and the auxiliary road.

6. A vehicle lane change assist control method for a vehicle lane change assist system according to claims 1-5, characterized in that, Includes the following steps: Procedure for turning right onto the auxiliary road: S1: The driver moves the turn signal control lever assembly (1) to the first position, and the right turn signal (9) lights up; S2: Continuously push up to trigger the second gear, the electronic control unit (2) drives the right rearview mirror horizontal rotation actuator (401) to make the right rearview mirror lens (402) deflect to the right; S3: After the pressure is released, the turn signal control lever assembly (1) automatically springs back to the first position, and the right rearview mirror lens (402) slowly resets after a delay; S4: After the vehicle status detection module (7) detects that the vehicle has entered the auxiliary road, the electronic control unit (2) controls the turn signal operation lever assembly (1) to automatically return to the center position; Left turn merging into the main road procedure: S5: The driver presses down the turn signal control lever assembly (1) to the first position, and the left turn signal (9) lights up; S6: Continuously press down to trigger the second gear, and the electronic control unit (2) drives the left rearview mirror horizontal rotation actuator (301) to make the left rearview mirror lens (302) deflect to the left; S7: After the pressure is released, the turn signal control lever assembly (1) automatically springs back to the first position, and the left rearview mirror lens (302) slowly resets after a delay; S8: The driver manually resets the turn signal control lever assembly (1) from the first position to the neutral position.

7. A lane change assist control method for a vehicle lane change assist system according to claim 6, characterized in that, In steps S2 and S6, the deflection angles of the left rearview mirror lens (302) and the right rearview mirror lens (402) are negatively correlated with the vehicle speed. Specifically, the deflection angle is the largest when the vehicle speed is ≤30km / h, and the deflection angle is the smallest when the vehicle speed is ≥80km / h, with the intermediate value being linearly adjusted.

8. A vehicle lane change assist system according to claim 1, characterized in that, The system is applicable to auxiliary road entrances and main road merging scenarios. The wiring harnesses of the left rearview mirror module (3) and the right rearview mirror module (4) are arranged along the inner lining of the door. The turn signal (9) circuit is independently connected to the fuse box (13) and forms a parallel control with the turn signal operating lever assembly (1).

9. A vehicle lane change assist system according to claim 1, characterized in that, The electronic control unit (2) communicates with the vehicle's ESC system via a bus to obtain the vehicle's yaw rate during the adjustment process of the left rearview mirror horizontal rotation actuator (301) and the right rearview mirror horizontal rotation actuator (401), ensuring vehicle stability during the adjustment process.

10. A vehicle lane change assist system according to claim 1, characterized in that, The second position of the turn signal control lever assembly (1) is triggered by a pressure sensor (101), and the triggering condition is that the pressing time reaches a threshold of 0.5 seconds.

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