Rearview mirror adjusting method and controller

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a rearview mirror adjusting method and a controller, and the method comprises the steps: obtaining environment information collected by each environment sensor in a vehicle, driving auxiliary information fed back by an auxiliary driving system of the vehicle, and vehicle state information of the vehicle; and adjusting the rearview mirror based on at least one of the environment information, the driving assistance information and the vehicle state information. According to the technical scheme, dynamic adjustment of the rearview mirror in various complex scenes can be achieved, and the adaptability of rearview mirror adjustment to different scenes is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicles, and in particular to a rearview mirror adjustment method and controller. BACKGROUND

[0002] A rearview mirror is a tool for a driver to directly obtain external environment information behind, on the side and below the vehicle while sitting on a seat in a driver's cabin. The rearview mirror on a vehicle can be manually or automatically adjusted.

[0003] At present, the automatic adjustment logic of the rearview mirror is mainly preset parameter response, that is, a fixed parameter suitable for the driver is pre-configured, and the rearview mirror is adjusted based on the fixed parameter after the driver starts the vehicle.

[0004] However, the existing automatic adjustment method of the rearview mirror has poor adaptability to different use scenarios. SUMMARY

[0005] In view of the above problems, embodiments of the present application provide a rearview mirror adjustment method and controller to solve the problem of poor adaptability of the rearview mirror adjustment scheme in the prior art to different scenarios.

[0006] According to an aspect of an embodiment of the present application, a rearview mirror adjustment method is provided, and the method comprises:

[0007] obtaining environment information collected by each environment sensor in a vehicle, driving assistance information fed back by an auxiliary driving system of the vehicle, and vehicle state information of the vehicle;

[0008] adjusting the rearview mirror based on at least one of the environment information, the driving assistance information and the vehicle state information.

[0009] According to another aspect of an embodiment of the present application, a controller is provided, comprising a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus;

[0010] The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations of the method as described above.

[0011] According to another aspect of an embodiment of the present application, a vehicle is provided, comprising a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus;

[0012] The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations of the method as described above.

[0013] The embodiment of the present application can realize multi-modal information fusion by cooperating with various environment sensors and vehicle-mounted systems such as driving assistance systems on the vehicle, obtaining environment information, driving assistance information and vehicle state information, realizing perception of different scenes in which the vehicle is located based on this, and adjusting the rearview mirror based on the perceived scene, so that dynamic adjustment of the rearview mirror in various complex scenes can be realized, and the adaptability of the rearview mirror adjustment to different scenes is improved.

[0014] The above description is only a summary of the technical solutions of the embodiments of the present application, in order to more clearly understand the technical means of the embodiments of the present application, and can be implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are included to provide a further understanding of the application and are incorporated herein and constitute a part of the detailed description. It should be noted that in the accompanying drawings, the same or similar elements are denoted by the same reference numerals.

[0016] Figure 1 The rearview mirror adjustment method flowchart provided by the embodiment of the present application is shown in the figure;

[0017] Figure 2 The rearview mirror adjustment method flowchart provided by another embodiment of the present application is shown in the figure;

[0018] Figure 3 The rearview mirror adjustment method flowchart provided by another embodiment of the present application is shown in the figure;

[0019] Figure 4 The rearview mirror adjustment method flowchart provided by another embodiment of the present application is shown in the figure;

[0020] Figure 5 The rearview mirror control flowchart provided by the embodiment of the present application is shown in the figure;

[0021] Figure 6 The rearview mirror adjustment device structure diagram provided by the embodiment of the present application is shown in the figure;

[0022] Figure 7 The controller structure diagram provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0023] Exemplary embodiments of the present application will be described below in greater detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein.

[0024] The rearview mirror adjustment technology is one of the core elements to improve driving safety. Currently, the optimization of rearview mirror adjustment mainly focuses on mechanical structure, suspension adaptive adjustment, environmental light response (such as electronic rearview mirror brightness adjustment) and driver position tracking. However, the current rearview mirror adjustment technology still has the following limitations: (1) Single scene coverage: only for specific driving scenarios (such as right turn or suspension change), without considering the impact of complex environments (such as rainy and snowy weather, night low light) on the function of rearview mirror; (2) Insufficient dynamic adaptability: the adjustment logic is mostly preset parameter response, lacking long-term learning ability for driver habits; (3) Low system integration: weak coordination with other intelligent systems of the vehicle (such as Advanced Driving Assistance System (ADAS)), difficult to achieve global safety optimization.

[0025] To solve the above problems, the embodiments of the present application provide a rearview mirror adjustment method and controller, which cooperates with various sensors and driving assistance systems and other vehicle-mounted systems on the vehicle to obtain vehicle surrounding environment information, driving assistance information and vehicle state information, can realize multi-modal information fusion, based on which the perception of different scenes of the vehicle is realized, and the rearview mirror is adjusted based on the perceived scene, which can realize dynamic adjustment of the rearview mirror in various complex scenes and improve the adaptability of the rearview mirror adjustment to different scenes.

[0026] Figure 1 The rearview mirror adjustment method provided by the embodiments of the present application is shown in the flowchart, which is executed by the vehicle. As shown in Figure 1 The method comprises the following steps:

[0027] Step 110, obtaining the environment information collected by each environment sensor in the vehicle, the driving assistance information fed back by the vehicle's driving assistance system, and the vehicle state information of the vehicle;

[0028] Step 120, adjusting the rearview mirror based on at least one of the environment information, the driving assistance information and the vehicle state information.

[0029] The traditional rearview mirror adjustment is mainly mechanical adjustment, and the function is single. At the same time, it cannot be coordinated with other vehicle systems, and the system coordination is poor. The traditional rearview mirror adjustment mainly depends on the preset fixed parameters or short-term position tracking, and cannot realize personalized adjustment. In the embodiment, the vehicle system function such as vehicle sensor, ADAS, and vehicle controller area network (CAN) can be coordinated to obtain the vehicle surrounding environment information, driving assistance information fed back by the auxiliary driving system, and vehicle state information, realize multi-modal fusion of information, and realize real-time perception of the scene where the vehicle is located based on this, and dynamically adjust the rearview mirror. In this way, the adaptability of the rearview mirror in different scenes can be improved.

[0030] Specifically, for the above step 110, the vehicle state information can include vehicle speed, steering angle, and suspension height data, which can be obtained through the CAN bus. In addition, in some embodiments, the driving assistance information fed back by the auxiliary driving system can be a lane departure warning signal of the ADAS system. Through the lane departure warning signal, the vehicle driving trajectory can be predicted, such as whether the vehicle will perform lane changing or curve driving. Based on the scene of lane changing or curve driving, the rearview mirror can be dynamically adjusted accordingly.

[0031] In addition, the environment information can include whether there are other traffic participants (such as pedestrians, other vehicles, etc.) around the vehicle. The environment information can be obtained through vehicle-mounted cameras, laser radars and other sensors. At the same time, the rain sensor, light sensor, and temperature and humidity sensor on the vehicle can be combined to monitor the weather conditions (such as rain, fog, strong light) and road conditions (such as water reflection, night glare) in real time as the environment information around the vehicle.

[0032] The traditional rearview mirror adjustment is mainly for specific driving scenes (such as right turn or suspension change), and does not comprehensively consider the influence of complex environment (such as rainy and snowy weather, night low light) on the function of the rearview mirror. In the embodiment, the rain sensor, light sensor, temperature and humidity sensor, and camera on the vehicle are used to monitor the weather conditions (such as rain, fog, strong light) and road conditions (such as water reflection, night glare) in real time as the environment information around the vehicle. In this way, the influence of different driving scenes on the function of the rearview mirror can be considered, for example, when there is water reflection, the temperature of the rearview mirror can be adjusted (achieved by the rearview mirror heating function), thereby improving the coverage scene of the rearview mirror adjustment and improving the applicability in different scenes.

[0033] For the above step 120, the content of the rearview mirror adjustment mainly includes the angle of the rearview mirror housing, the angle of the mirror surface, the curvature of the housing, the curvature of the mirror surface, the temperature of the mirror surface, the vibration frequency of the mirror surface, the relative position relationship between the housing and the mirror surface, and the position of the mirror surface protection component of the rearview mirror.

[0034] Among them, the scene (such as rain and snow weather and curve driving scene) in which the vehicle is currently located can be determined according to at least one of the environment information, the driving assistance information and the vehicle state information, and then the rearview mirror is adjusted based on the scene in which the vehicle is currently located.

[0035] For example, in some embodiments, Figure 2 The flowchart of the rearview mirror adjustment method provided by another embodiment of the application is shown in FIG. 2, which can include the following steps: Figure 2 As shown in the figure, the method can include the following steps:

[0036] Step 210, obtaining vehicle state information, environment information around the vehicle and driving assistance information;

[0037] Step 220, determining whether the vehicle is in an emergency state based on the vehicle state information, the environment information around the vehicle and the driving assistance information;

[0038] Step 230, if the vehicle is in an emergency state, adjusting the rearview mirror of the vehicle according to the emergency state;

[0039] Step 240, if the vehicle is not in an emergency state, adjusting the rearview mirror of the vehicle according to the driver information of the vehicle.

[0040] Among them, the driver information includes the eye height and the visual angle range of the driver.

[0041] In the embodiments of the application, by obtaining the vehicle state information, the environment information around the vehicle and the driving assistance information, multi-modal fusion of information is realized to perceive the scene (such as whether in an emergency state) in which the vehicle is located, and different rearview mirror adjustment strategies are taken based on this, which can realize personalized adjustment of the rearview mirror of the vehicle based on the driver information on the premise of ensuring the safety of the vehicle, and improve the adaptability of the rearview mirror in different scenes.

[0042] For the above step 220, the emergency state of the vehicle can refer to a state that may have an impact on the safety of the vehicle, such as other vehicles quickly approaching the vehicle from behind, such as the existence of an obstacle (such as a pedestrian squatting at the tail of the vehicle) in the blind area of the driver that affects the driving of the vehicle, such as the vehicle is making a sharp turn on a waterlogged road, and the like, which may collide with the obstacle.

[0043] For example, the vehicle surrounding environment information can be directly collected based on the vehicle-mounted sensors to determine whether the vehicle is in an emergency state. For example, when the vehicle is about to reverse, the camera detects that a child is sitting on the tail in the blind area of the field of view, and it is determined that the vehicle is in an emergency state at this time. The vehicle state can also be directly used to determine whether the vehicle is in an emergency state. For example, when the vehicle is turning or changing lanes, the vehicle speed is monitored to be high, and a collision with an obstacle on the curve can occur. At this time, it can also be determined that the vehicle is in an emergency state.

[0044] Specifically, in some embodiments, at least one of the weather condition of the region where the vehicle is located, the road condition, and the movable target existing around the vehicle can be determined based on the vehicle surrounding environment information; in a case where the weather condition or the road condition meets a preset condition, it is determined that an emergency state exists; in a case where the movable target approaches the vehicle at a target speed, it is determined that an emergency state exists. The target speed is greater than a preset speed threshold.

[0045] In this embodiment, by setting a preset speed threshold and monitoring whether a target object approaches the vehicle at a target speed by the auxiliary driving system (for example, the ADAS system) of the vehicle, the cooperation of the rearview mirror adjustment and the auxiliary driving system is realized, thereby realizing global safety optimization.

[0046] The preset speed threshold can be set in combination with the actual situation. For example, the driver sets the preset speed threshold according to the time required to avoid the movable target. Generally, the longer the time required, the smaller the preset speed threshold.

[0047] The ADAS system can be used to determine the driving track of the movable target, thereby determining whether the movable target approaches the vehicle. For example, when the ADAS predicts that the vehicle is currently on the driving track of the movable target and the moving speed of the movable target is the target speed, it is directly determined that the vehicle is in an emergency state.

[0048] For the weather condition, the preset condition can be that the weather of the region where the vehicle is located is rain, fog, light rain, heavy rain, high-intensity light weather, and the like. The weather can affect the driver's vision and easily cause a safety accident. For the road condition, the preset condition can be a night water accumulation reflection section, a high-intensity light section, and the like. These sections can also affect the driver's vision and easily cause a safety accident. Therefore, based on driving safety, the above preset conditions are set, and when the weather condition meets the above corresponding preset condition or the road condition meets the above corresponding preset condition, it is determined that the vehicle is in an emergency state.

[0049] For the above step 230, a specific adjustment process of the rearview mirror can be performed by the adaptive actuator of the vehicle, for example, a safety instruction is generated by the rearview mirror controller according to the emergency state and sent to the adaptive actuator. The purpose of adjusting the rearview mirror based on the safety instruction is to ensure the safety of the vehicle. Among them, when the vehicle is in an emergency state, the safety instruction is used to adjust the rearview mirror.

[0050] Specifically, in some embodiments, when the obstacle in the blind area triggers the vehicle to enter the emergency state, the rearview mirror is adjusted based on the safety instruction, which can specifically refer to adjusting the angle or curvature of the rearview mirror, so that the driver's field of view is wider and the blind area is reduced, for example, the rearview mirror is adjusted to wide-angle mode.

[0051] In addition, in some embodiments, when other vehicles are approaching quickly behind the vehicle, the rearview mirror is adjusted based on the safety instruction, which can specifically refer to adjusting the angle or curvature of the rearview mirror, so that the other vehicles behind appear in the rearview mirror and can be clearly observed by the driver, so that the driver can take evasive action in time, and the safety of the vehicle is improved.

[0052] For the above step 240, a specific adjustment process of the rearview mirror can be performed by the adaptive actuator of the vehicle. For example, a driver behavior learning module can be constructed in advance, and the driver information is used as the input of the preset driver behavior learning model to obtain the output of the preset driver behavior learning model as the target control parameter for adjusting the rearview mirror.

[0053] Among them, based on the target control parameter, the rearview mirror controller can generate a personalized adjustment instruction and send it to the adaptive actuator. The purpose of adjusting the rearview mirror of the vehicle based on the personalized adjustment instruction is to improve the applicability of the rearview mirror in different scenarios, for example, when it is raining or foggy, the temperature of the rearview mirror can be increased. For example, different height drivers may have different driving postures, at which time the rearview mirror can be automatically adjusted in combination with the driver's posture to meet the needs of different drivers.

[0054] In some embodiments, when adjusting the rearview mirror, at least one of the environmental information, the driving assistance information, and the vehicle state information is used to determine the target control parameter for adjusting the rearview mirror, so that the rearview mirror controller can generate a corresponding adjustment instruction to adjust the rearview mirror.

[0055] Among them, the rearview mirror controller can generate an adjustment instruction and send it to the adaptive actuator, and the adaptive actuator of the vehicle can perform a specific adjustment process of the rearview mirror.

[0056] Exemplarily, in some embodiments, the target control parameter can include at least one of a mirror surface temperature, a mirror surface vibration frequency, a mirror surface angle, a mirror surface curvature, a relative position between the mirror surface and a rearview mirror housing, and a rearview mirror housing angle.

[0057] In the embodiment, by designing the adaptive actuator, a dual-axis linkage mechanism based on a micro motor is used to support the cooperative control and adjustment of the mirror surface angle, the curvature (e.g., wide-angle mode), and the heating function.

[0058] In the embodiment, the rearview mirror can be divided into two parts, one part is the housing of the rearview mirror, and the other part is the mirror surface of the rearview mirror. The mirror surface is usually installed on the housing and can change position relative to the housing (for example, by adjusting the mirror surface angle and the curvature, the mirror surface can change position relative to the housing). Similarly, the housing can also be rotated by adjusting the curvature and the angle of the housing.

[0059] In the embodiment, taking the triggering of the vehicle into an emergency state in light rain as an example, when it is raining lightly, the mirror surface of the rearview mirror can condense water droplets, thereby interfering with the driver's line of sight. At this time, the heating function of the rearview mirror can be triggered to heat the temperature of the mirror surface to quickly remove the water droplets on the mirror surface. In addition, a certain vibration frequency can be used to control the mirror surface to vibrate to quickly remove the water droplets on the mirror surface. Further, the relative position relationship between the housing and the mirror surface can be adjusted to allow the mirror surface to be as much as possible to be retracted into the housing to prevent being splashed by raindrops.

[0060] Further, the mirror surface protection assembly can also be a rain curtain. Taking the triggering of the vehicle into an emergency state in heavy rain as an example, at this time, the rain curtain in the rearview mirror can be controlled to extend out of the rearview mirror to prevent the mirror surface from being splashed by raindrops. After the heavy rain, the rain curtain can be controlled to retract into the rearview mirror.

[0061] In addition, the mirror surface protection assembly can also be an anti-glare assembly. Taking the triggering of the vehicle into an emergency state in high-intensity light weather or night water reflection sections as an example, at this time, the anti-glare assembly can be controlled to extend out of the housing of the rearview mirror to avoid strong light entering the mirror surface and affecting the driver's line of sight. When the vehicle exits the emergency state, the anti-glare assembly can be retracted into the housing.

[0062] In the embodiment, the angle of the mirror surface or the shell can refer to the included angle between the horizontal plane, which can be usually expressed by degrees, and determines the viewing angle and range of the driver observing the rear object through the rearview mirror. For example, when the angle is too large, the driver can only see the area close to the rear of the vehicle, and cannot observe a wider range. The curvature can refer to the bending degree, which directly affects the size of the mirror image and the breadth of the field of view. Generally, the greater the curvature (i.e., the more curved the shell or mirror surface), the wider the field of view can be provided.

[0063] The traditional rearview mirror adjustment scheme is completely independent of other vehicle systems, while in the embodiment, the adjustment of the rearview mirror can be coordinated with other vehicle systems, so as to achieve global safety optimization and improve the safety of the vehicle. In addition, the traditional rearview mirror adjustment is mainly mechanical adjustment, and the function is relatively single, while the embodiment can support multi-dimensional control of the angle, curvature, cleaning, heating, etc. of the rearview mirror by using an adaptive actuator, thereby improving the adjustment effect of the rearview mirror.

[0064] In some embodiments, in the process of adjusting the rearview mirror by using the environmental information, the following steps can be implemented:

[0065] Step 11, determining the weather condition and / or road condition of the area where the vehicle is located based on the environmental information.

[0066] Step 12, obtaining the target control parameter according to the weather condition and / or road condition.

[0067] In the embodiment, when the weather condition or road state meets the preset condition, for example, it is determined that the vehicle meets a certain preset scene according to the weather condition or road state, the rearview mirror adjustment parameter corresponding to the preset scene can be obtained as the target control parameter.

[0068] The adjustment of the rearview mirror by the target control parameter can specifically include at least one of adjusting the angle of the shell, the angle of the mirror surface, the curvature of the shell, the curvature of the mirror surface, the temperature of the mirror surface, the vibration frequency of the mirror surface, the relative position relationship between the shell and the mirror surface, and the position of the mirror surface protection component of the rearview mirror.

[0069] For example, as mentioned above, when it is drizzling, water droplets can condense on the mirror surface of the rearview mirror, thereby interfering with the driver's vision. At this time, the heating function of the rearview mirror can be triggered to heat the temperature of the mirror surface to quickly remove the water droplets on the mirror surface.

[0070] For another example, in a water accumulation and reflection section at night, the anti-glare component of the rearview mirror can be controlled to extend from the inside of the shell of the rearview mirror, so as to avoid strong light entering the mirror surface and affecting the driver's vision.

[0071] Exemplarily, the lamp strip can also be arranged around the mirror surface of the rearview mirror, and the brightness of the lamp strip can be adjusted according to the influence degree of different emergency states on the safety of the vehicle, for example, when the vehicle enters the emergency state triggered by light rain, the lamp strip is lighted up but the brightness is low, and when the vehicle enters the emergency state triggered by heavy rain, the brightness of the lamp strip is high, so as to achieve the purpose of prompting the driver.

[0072] In the embodiment of the present application, the target adjustment parameter of the rearview mirror is determined by using the weather condition and / or the road condition, so that the adjustment of the rearview mirror in different weather conditions and different road conditions can be realized, and the scene adaptability of the rearview mirror is improved.

[0073] In some embodiments, in the process of adjusting the rearview mirror by using the driving assistance information, the following steps can be implemented:

[0074] Step 21, obtaining the driving trajectory of the vehicle at the next moment based on the driving assistance information;

[0075] Step 22, obtaining the target control parameter according to the driving trajectory.

[0076] In the embodiment, the driving assistance information can be the relevant information output by the driving assistance system, and the driving trajectory of the vehicle at the next moment can include the driving direction, the lane, etc. Based on the driving trajectory of the vehicle at the next moment, it can be determined whether the vehicle needs to change lanes, and whether it is driving on some curved roads or narrow roads, so as to determine the scene in which the vehicle is located, and to configure the corresponding target control parameter.

[0077] Exemplarily, based on the driving trajectory of the vehicle at the next moment, it is found that the vehicle needs to change lanes to the right side, at this time, the right rearview mirror can be adjusted to the wide-angle mode (at this time, the wide-angle mode represents the target control parameter), so that the driver can obtain a wider view of the rear of the vehicle on the right side, avoid collision with straight vehicles when changing lanes, and improve the safety of the vehicle.

[0078] In addition, in some embodiments, the driving trajectory of the vehicle at the next moment can also be used to predict whether the vehicle will collide with other vehicles, pedestrians or obstacles, etc. If a collision is about to occur, the target control parameter can be determined according to the position of the other vehicles, pedestrians or obstacles, and the rearview mirror can be adjusted by the target control parameter, so that the other vehicles, pedestrians or obstacles can be presented in the rearview mirror and observed by the driver, which can also improve the safety.

[0079] Further, in some embodiments, the distance between the vehicle and other vehicles, pedestrians or obstacles can also be predicted based on the driving trajectory of the vehicle at the next moment, and the closest target object is selected, and the target control parameter is determined based on the position of the target object, and the target control parameter is used to adjust the rearview mirror, so that the target object can be presented in the rearview mirror and observed by the driver, which can also improve safety.

[0080] In the embodiments of the present application, the target adjustment parameter of the rearview mirror is determined by using the driving assistance information, so that the system between the adjustment of the rearview mirror and the auxiliary driving system can be realized, the global safety optimization in the adjustment process of the rearview mirror is realized, and the safety of the vehicle is ensured.

[0081] In some embodiments, in the process of adjusting the rearview mirror by using the vehicle state information, the following steps can be implemented:

[0082] Step 31, obtaining the driving parameter of the vehicle based on the vehicle state information.

[0083] The driving parameter includes at least one of the vehicle speed, the steering angle and the suspension height.

[0084] Step 32, obtaining the target control parameter according to at least one of the vehicle speed, the steering angle and the suspension height.

[0085] In the present embodiment, the target control parameter is determined by at least one of the vehicle speed, the steering angle and the suspension height, which is mainly used to enable the driver to obtain more information behind the vehicle as much as possible.

[0086] For example, when the vehicle speed is high, in order to improve the driving safety and enable the driver to detect the movement of the rear vehicle earlier, the angle of the rearview mirror can be adjusted to be high (for example, higher than the horizon position) to expand the field of view, and when the vehicle is low speed or parked (for example, reversing), the angle of the rearview mirror can be adjusted to be low to reduce the viewing angle so that the driver can observe the ground obstacles.

[0087] For another example, when the steering angle is large (for example, large angle steering), the blind area of the driver will increase, and at this time, the angle of the rearview mirror needs to be temporarily adjusted to cover the area that is originally difficult to see, so as to facilitate the driver to take reasonable driving strategy for steering.

[0088] For another example, the change of the suspension height of the vehicle will affect the posture of the vehicle body, and then change the effective field of view of the rearview mirror. If the suspension is raised, the vehicle body will be higher, and at this time, the angle of the rearview mirror can be adjusted to be high to avoid too much sky entering the field of view of the driver, and when the suspension of the vehicle is lowered, the angle of the rearview mirror is slightly adjusted to be low to avoid too much ground entering the field of view of the driver.

[0089] In the embodiments of the present application, the target adjustment parameter of the rearview mirror is determined by using the vehicle state information, so that the field of view of the driver can be expanded as much as possible, more information can be provided for the driver, the driver can take reasonable driving strategies, and the driving safety of the vehicle is further improved.

[0090] In addition, in other embodiments, other movable targets and / or obstacles existing around the vehicle can also be acquired based on the environment information, and then whether the vehicle is about to collide with the movable targets or obstacles is determined based on the vehicle state information and the driving assistance information.

[0091] If the vehicle is about to collide with the movable targets or obstacles, the target control parameter for adjusting the rearview mirror can be determined according to the movable target or obstacle information.

[0092] In the embodiments of the present application, the environment information, the driving assistance information and the vehicle state information are fused to determine the scene in which the vehicle is located, and the rearview mirror is adjusted based on the scene, so that the cooperation with various vehicle systems can be realized, and the scene requirements can be met while the safety of the vehicle is ensured during the adjustment of the rearview mirror.

[0093] In the embodiments, the obstacles can be fixed obstacles such as trees, stones or buildings around the road, and the movable targets can be pedestrians, other vehicles and the like on the road.

[0094] In the embodiments, in the scene in which the vehicle is about to collide, at least one of the angle of the shell, the curvature of the shell, the angle of the mirror surface and the curvature of the mirror surface of the rearview mirror can be adjusted. The target control parameter is determined by taking the situation that the movable target or obstacle about to collide appears in the mirror surface or the field of view blind area of the driver in the vehicle is less than or equal to a set threshold value as the target.

[0095] The collision of the vehicle can be caused by the fact that the driver does not notice the obstacle or the movable target, or the obstacle or the movable target is in the field of view blind area and does not appear in the mirror surface, so that the driver does not observe it. At this time, the angle or curvature of the shell or the mirror surface can be adjusted to reduce the field of view blind area, so that the obstacle is directly exposed in the mirror surface, so that the driver can observe the obstacle in time, so that the driver can take targeted evasive action to avoid the collision of the vehicle.

[0096] For example, the rearview mirror can be automatically switched to the wide-angle mode by the adaptive actuator, so that the obstacle is directly exposed in the mirror surface.

[0097] For example, the target control parameter for adjusting the rearview mirror can be determined by the following method:

[0098] Manner one: taking minimizing the visual field blind area of the driver in the vehicle as the target, determining the target control parameter to adjust the rearview mirror;

[0099] Manner two: taking the movable target approaching the vehicle that can be discovered by the driver in the vehicle through the rearview mirror as the target, determining the target control parameter to adjust the rearview mirror.

[0100] In the above, it is mentioned that the specific adjustment operation of the rearview mirror can be performed by the adaptive actuator. In the embodiment, the adaptive actuator can be designed as a double-shaft linkage mechanism based on a micro motor, which supports the cooperative control adjustment of the mirror surface angle, curvature and heating function.

[0101] For the above-mentioned manner two, in some embodiments, the head-up display (HUD) can also be triggered synchronously, and the related warning information such as “there is a vehicle approaching from behind, and the rearview mirror has been adjusted to the wide-angle mode” can be displayed through the HUD.

[0102] In addition, in some embodiments, a lamp strip or the like can also be arranged at a suitable position of the rearview mirror (for example, around the mirror surface), and when the movable target or obstacle that the vehicle is about to collide with is detected, the brightness of the lamp strip in the rearview mirror can be adjusted. For example, if the movable target or obstacle that the vehicle is about to collide with is detected, the lamp strip in the rearview mirror is lit.

[0103] In some embodiments, the vehicle can also be provided with a surround-view camera, a laser radar or the like to perform surround-view detection around the vehicle, wherein the sensor data collected by the surround-view camera and the laser radar can be used as part of the above-mentioned environment information. Thus, the target control parameter for adjusting the rearview mirror can be determined based on the environment information and the driving assistance information, and the specific steps are as follows:

[0104] Step 41: determining whether the vehicle is in an automatic driving mode based on the driving assistance information;

[0105] Step 42: if the vehicle is in the automatic driving mode, determining the blind area range of the vehicle according to the environment information;

[0106] Step 43: determining the target control parameter for adjusting the rearview mirror according to the blind area range.

[0107] In the embodiment, the environment information and the driving assistance information are fused to realize the adjustment of the rearview mirror, which can enable the driver to obtain more information that is not easy to be perceived through the rearview mirror during driving, and further improve the safety during vehicle driving.

[0108] In the embodiment, the auxiliary driving system can be an ADAS, and the adjustment of the rearview mirror can be performed in cooperation with the ADAS and sensors such as surround view cameras and laser radars, so that the rearview mirror can be accurately adjusted to the corresponding parameters, and accidents caused by improper adjustment can be avoided.

[0109] The driving assistance information output by the ADAS can be confirmation information for entering the automatic driving mode, for example, the driving assistance information is "the vehicle has entered the automatic driving mode". After the vehicle enters the automatic driving mode, the automatic driving system takes over the driving operation of the vehicle by the driver, at this time, the driver actually switches to a supervision role to supervise whether the automatic driving system makes mistakes, etc., at this time, the surround view cameras, laser radars and other sensors are used to scan around the vehicle to determine the blind area range of the vehicle, and the target control parameters are determined to adjust the rearview mirror with the goal of reducing the blind area range. In this way, the driver can get a larger field of view through the rearview mirror to obtain more information to supervise the automatic driving system, and the driver can immediately correct the error operation of the automatic driving system in the automatic driving mode to improve the driving safety.

[0110] In addition, the adjustment of the rearview mirror can also be linked with the risk warning of the ADAS, for example, when the ADAS detects that a target object is quickly approaching the vehicle from behind, the rearview mirror can be automatically switched to the wide-angle mode by the adaptive actuator to enable the driver in the vehicle to discover the target object approaching the vehicle through the rearview mirror.

[0111] On the basis of the above-mentioned embodiments, in some embodiments, during the adjustment of the rearview mirror, or after the adjustment of the rearview mirror is completed, a rearview mirror adjustment prompt can also be output.

[0112] For example, the rearview mirror adjustment prompt can be a voice, text, image or other form of prompt. For example, the text "please note that the rearview mirror is being adjusted" or "please note that the rearview mirror adjustment is complete" can be displayed on the vehicle-related display interface.

[0113] By outputting the rearview mirror adjustment prompt, the driver can be informed that the driver can manually confirm whether the adjustment is reasonable, and if not, the driver can continue to manually adjust the rearview mirror, and on the other hand, the driver can also be informed of the current position of the rearview mirror to improve the safety of the driver during driving.

[0114] In addition, the above Figure 2 and related descriptions mentioned that when the vehicle is not in an emergency state, the rearview mirror of the vehicle can be adjusted according to the driver information of the vehicle. Specifically, in some other embodiments, Figure 3 The rearview mirror adjustment method provided by another embodiment of the present application is shown in the flowchart of Figure 3As shown, it includes the following steps:

[0115] Step 310, obtaining driver information from a driver database, or determining driver information according to data collected by sensors in the vehicle.

[0116] Among them, the driver information includes the driver's eye height and the angle of view range.

[0117] Step 320, determining the visible angle of the driver in the mirror surface of the rearview mirror according to the driver's eye height and the angle of view range.

[0118] Step 330, based on the visible angle, adjusting at least one of the angle of the shell of the rearview mirror, the curvature of the shell, the angle of the mirror surface of the rearview mirror and the curvature of the mirror surface.

[0119] In this embodiment, the driver database is used to store various data of the driver during driving the vehicle. Among them, different folders can be set in the database for different drivers to store the corresponding data of the driver, so as to realize the classified storage of behavior data and avoid data confusion, so as to realize the personalized adjustment of the rearview mirror.

[0120] Among them, the driver database mainly stores the information of the driver who has the long-term use right of the vehicle, such as the owner or other drivers who have a close relationship with the owner. Their information can be directly stored in the driver database. For other people who have temporary driving right of the vehicle (such as a driver), the sensor (such as a camera, a pressure sensor, etc.) built in the vehicle is needed to collect data, and then the temporary driver information is further obtained based on the sensor data. In this way, the temporary driver information will not be recorded in the driver database, which can reduce the information storage amount in the driver database.

[0121] In this embodiment, the driver's sitting posture, head position and other information can be recorded by using the vehicle-mounted camera and seat pressure sensor, and the driver's eye height and angle of view range are determined based on this, and then a driver's angle of view prediction model is established by using a machine learning algorithm, and the driver's visible angle is predicted by using the angle of view prediction model.

[0122] For example, the machine learning algorithm can be a long short-term memory (LSTM), wherein the prediction of the line of sight preference mainly includes the following steps:

[0123] (1) Data preprocessing, analyzing continuous image sequences by LSTM, identifying driver action turning points (such as lifting head, turning) and screening key frames, and using a labeling tool to label nose, eyes, shoulder and neck key skeleton points on the key frames to construct a two-dimensional / three-dimensional skeleton point coordinate set.

[0124] (2) Feature extraction and multi-modal fusion, specifically including image feature extraction and pressure feature extraction, for example, extracting the head posture and eye orientation of the driver through the image, extracting the seat posture tilt angle of the driver through the pressure feature, and then performing multi-modal feature fusion to form a global feature vector.

[0125] (3) Model prediction, outputting the visual angle prediction result through the global feature vector.

[0126] Wherein, the LSTM can be pre-trained through the historical data of the driver.

[0127] Further, in some embodiments, the behavior data of the driver in the vehicle can be obtained; and the driver information in the driver database is updated according to the behavior data. Wherein, the behavior data includes at least one of the seat posture adjustment behavior, the head position adjustment behavior and the visual focus adjustment behavior.

[0128] In this embodiment, whether in the case where the vehicle does not exist in the emergency state or in the case where the vehicle exists in the emergency state, the behavior data of the driver in the vehicle can be obtained, and the driver information is updated based on this, so that the latest driver information can be maintained, and the accuracy of the rearview mirror adjustment is improved.

[0129] Wherein, when the driver appears the seat posture adjustment behavior, the head position adjustment behavior and the visual focus adjustment behavior, the eye height and the visual angle range of the driver may change, and based on the changed eye height and the visual angle range, the visual angle prediction model can be used to predict the visual angle change of the driver.

[0130] Wherein, after adjusting the angle and / or curvature of the rearview mirror based on the visual angle, the adjustment parameters (such as how much the angle is adjusted, how much the curvature is adjusted) can be recorded. When the driver starts the vehicle next time, if the driver information in the driver database is not updated in real time, the rearview mirror can be adjusted directly based on the adjustment parameters. If the driver information in the driver database is updated, the visual angle of the driver can be re-determined based on the updated driver information, and the angle and / or curvature of the rearview mirror can be adjusted based on the re-determined visual angle. By updating the driver database in real time, the accuracy of the rearview mirror in personalized adjustment can be further improved.

[0131] The traditional rearview mirror adjustment logic is mainly preset parameter response, and lacks long-term learning ability for driver habits, but in the embodiment of the application, the angle and / or curvature of the rearview mirror housing and the mirror surface are adjusted so that they fall within the driver's visual angle, which can meet the needs of different drivers and further improve the safety during vehicle driving.

[0132] On the basis of the above embodiment, in other embodiments, the driver information further includes the target adjustment parameter of the rearview mirror by the driver when the vehicle is in the target scene at the historical moment, and the rearview mirror adjustment can be realized through the following steps. Figure 4 The rearview mirror adjustment method flowchart provided for another embodiment of the application is shown in FIG. 4, which specifically includes the following steps: Figure 4

[0133] Step 410, based on the vehicle state information and / or the vehicle surrounding environment information, determine whether the vehicle is in the target scene at the current moment;

[0134] Step 420, if the vehicle is in the target scene at the current moment, adjust the rearview mirror according to the target adjustment parameter.

[0135] In the embodiment, the surrounding environment information can be collected through linkage with the auxiliary driving system of the vehicle, such as the ADAS system, for example, real-time monitoring of weather conditions (such as rain, fog, strong light) and road conditions (such as water reflection, night glare), so as to determine the scene in which the vehicle is located (such as the vehicle being in the night road water scene, the rain and fog scene, and the strong light scene, etc.). If the scene in which the vehicle is located at the current moment has existed at the historical moment (i.e. the scene in which the vehicle is located at the current moment matches the target scene at the historical moment), the target adjustment parameter of the target scene can be directly used to adjust the rearview mirror.

[0136] The target adjustment parameter can be at least one of the angle of the housing, the angle of the mirror surface, the curvature of the housing, the curvature of the mirror surface, the temperature of the mirror surface, the vibration frequency of the mirror surface, the relative position relationship between the housing and the mirror surface, and the position of the mirror surface protection component of the rearview mirror.

[0137] The target scene in which the vehicle is located at the historical moment and the target adjustment parameter of the rearview mirror in the target scene can also be stored in the driver database mentioned above, and a dynamic adjustment strategy can be constructed based thereon, for example, according to the historical scene and the target adjustment parameter in the driver database, the driver's rearview mirror use habit in different scenes is predicted (for example: in rainy days, the mirror surface angle is inclined to be adjusted to reduce the interference of water droplets), so as to realize the individualized adjustment of the rearview mirror.

[0138] ​For example, assuming that the driver turned on the rearview mirror heating function and adjusted the rearview mirror temperature when driving the vehicle through a rain and fog environment at a historical time, the rearview mirror temperature can also be automatically adjusted if the vehicle is also driving in a rain and fog environment at the current time (i.e., in a target scene).

[0139] The conventional rearview mirror adjustment method has poor adaptability to the environment, and in this embodiment, the rearview mirror is adjusted by linkage with the vehicle system to obtain multi-modal data (such as weather, road conditions, etc.), which can improve the adaptability in different environmental scenes.

[0140] Further, on the basis of the above embodiment, the adaptive actuator mentioned above can perform specific adjustment operations on the rearview mirror, and in some embodiments, it can also be linked with sensors such as cameras in the vehicle system to detect whether the mirror surface of the rearview mirror is vibrating and / or whether the mirror surface has stains during driving. In the case of mirror vibration, at least one of the angle of the housing, the curvature of the housing, the angle of the mirror surface, and the curvature of the mirror surface can be adjusted; in the case of mirror stains, the cleaning mechanism of the rearview mirror can be controlled to clean the mirror surface.

[0141] In this embodiment, the mirror surface vibration and stain coverage of the rearview mirror can be detected by a piezoelectric sensor to trigger automatic cleaning or angle fine-tuning (such as reducing wind resistance at high speed). The mirror surface vibration and stain coverage of the rearview mirror can be checked at any time, regardless of whether the vehicle is in an emergency state.

[0142] In addition, in some embodiments, if there is angle fine-tuning when the vehicle is driving at high speed, it can also be recorded in the driver database mentioned above, and when the vehicle drives at high speed next time, the piezoelectric sensor can be automatically started to detect whether the rearview mirror surface is vibrating, and the rearview mirror surface can be adjusted based on the angle of the last fine-tuning when vibrating.

[0143] In this embodiment, by constructing a real-time feedback layer to independently operate, detect whether the rearview mirror is vibrating and / or whether the mirror surface has stains, abnormal processing of the rearview mirror can be realized to deal with sudden stains / vibration, further improving the safety of the vehicle.

[0144] For example, Figure 5 The rearview mirror control flowchart provided for another embodiment of the present application is shown in FIG. 2, which mainly includes the following processes: Figure 5

[0145] 1. Start;

[0146] 2. Start loop (timed trigger, event trigger);

[0147] ​3. Multi-modal environment perception: collect environment parameters and vehicle state;

[0148] 4. System-level safety coordination: determine if there is an emergency situation (fast-approaching vehicle behind).

[0149] 4.1. If there is an emergency situation:

[0150] 4.1.1. Generate safety adjustment instructions;

[0151] Exemplarily, the safety adjustment instructions can be to switch the rearview mirror to wide-angle mode and trigger the HUD warning;

[0152] 4.1.2 Send safety adjustment instructions to adaptive execution mechanism;

[0153] 4.1.3. Adaptive execution mechanism executes adjustment (multi-degree of freedom adjustment: angle, curvature);

[0154] 4.1.4. Real-time feedback mechanism: detect mirror vibration or dirt, and trigger cleaning or fine adjustment if necessary;

[0155] 4.1.5. Update driver database (record this safety adjustment and feedback);

[0156] 4.1.6. Enter waiting (wait for the next cycle to trigger);

[0157] 4.2 If there is no emergency situation:

[0158] 4.2.1. Driver behavior learning model: conduct personalized habit analysis (use LSTM network to analyze sitting posture and head position, etc.);

[0159] 4.2.2. Dynamic adjustment strategy generation: generate personalized adjustment parameters according to current environment and historical data;

[0160] 4.2.3. Send personalized adjustment instructions to adaptive execution mechanism;

[0161] 4.2.4. Adaptive execution mechanism executes adjustment (multi-degree of freedom adjustment: angle, curvature, heating);

[0162] 4.2.5. Real-time feedback mechanism: detect mirror vibration or dirt, and trigger cleaning or fine adjustment if necessary;

[0163] 4.2.6. Update driver database (record this adjustment and feedback);

[0164] 4.2.7. Enter waiting (wait for the next cycle to trigger);

[0165] 5. Cycle monitoring.

[0166] In 4.1.4 and 4.2.5, the real-time feedback mechanism can trigger additional actions (such as cleaning), which update the database after the actions are performed (record these events).

[0167] In the embodiments of the present application, a double-path decision is adopted, and the safety instruction triggered in the emergency state is prioritized over the personalized adjustment to ensure the safety of the vehicle. The adjustment result is fed back to the database each time to optimize the LSTM model, realizing closed-loop data processing. At the same time, the physical parameters (such as angle / curvature / heating) of the mirror are synchronously controlled by the adaptive actuator, realizing multi-agent collaboration. In addition, the real-time feedback layer operates independently to deal with sudden stains / vibrations, and abnormal processing can be realized.

[0168] Figure 6 A rearview mirror adjustment device structure diagram is provided for the embodiments of the present application. As shown in the figure, the rearview mirror adjustment device 600 includes an information acquisition module 610 and an adjustment module 620. Figure 6

[0169] The information acquisition module 610 is configured to acquire environmental information collected by various environmental sensors in the vehicle, driving assistance information fed back by the vehicle's auxiliary driving system, and vehicle state information of the vehicle.

[0170] The adjustment module 620 is configured to adjust the rearview mirror based on at least one of the environmental information, the driving assistance information, and the vehicle state information.

[0171] In an optional manner, the adjustment module can be specifically configured to acquire a target control parameter for adjusting the rearview mirror based on at least one of the environmental information, the driving assistance information, and the vehicle state information; and adjust the rearview mirror according to the target control parameter.

[0172] In an optional manner, the adjustment module can be specifically configured to determine weather conditions and / or road conditions of the area where the vehicle is located based on the environmental information; and acquire the target control parameter according to the weather conditions and / or the road conditions.

[0173] In an optional manner, the adjustment module can be specifically configured to acquire a driving trajectory of the vehicle at the next moment based on the driving assistance information; and acquire the target control parameter according to the driving trajectory.

[0174] In an optional manner, the adjustment module can be specifically configured to acquire a driving parameter of the vehicle based on the vehicle state information, the driving parameter including at least one of a vehicle speed, a steering angle, and a suspension height; and acquire the target control parameter according to at least one of the vehicle speed, the steering angle, and the suspension height.

[0175] ​In an optional mode, the adjusting module can be specifically configured to acquire other movable targets and / or obstacles existing around the vehicle based on the environment information; determine whether the vehicle is about to collide with the movable targets or obstacles based on the vehicle state information and the driving assistance information; and determine the target control parameter for adjusting the rearview mirror according to the movable target or obstacle information if the vehicle is about to collide with the movable targets or obstacles.

[0176] In an optional mode, the adjusting module can be specifically configured to determine whether the vehicle is in an automatic driving mode based on the driving assistance information; and determine the blind area range of the vehicle according to the environment information if the vehicle is in the automatic driving mode; and determine the target control parameter for adjusting the rearview mirror according to the blind area range.

[0177] In an optional mode, the adjusting module can be specifically configured to determine whether the vehicle is in an emergency state according to the environment information, the driving assistance information and the vehicle state information; and acquire the driver information of the vehicle if the vehicle is not in the emergency state, the driver information including the eye height and the visual angle range of the driver. The driver information is taken as the input of a preset driver behavior learning model, and the output of the preset driver behavior learning model is taken as the target control parameter for adjusting the rearview mirror.

[0178] In an optional mode, the target control parameter includes at least one of the mirror surface temperature, the mirror surface vibration frequency, the mirror surface angle, the mirror surface curvature, the relative position between the mirror surface and the rearview mirror housing and the rearview mirror housing angle.

[0179] In this embodiment, the vehicle surrounding environment information, the driving assistance information fed back by the auxiliary driving system and the vehicle state information can be acquired in cooperation with the vehicle-mounted system functions such as the vehicle-mounted sensors, the ADAS and the vehicle controller area network (CAN), and the like, the multi-modal fusion of information can be realized, and the scene in which the vehicle is located can be perceived in real time based on this, and the rearview mirror can be dynamically adjusted, so that the adaptability of the rearview mirror in different scenes can be improved.

[0180] Figure 7 A controller structure schematic diagram is provided for the embodiments of the present application. As shown in the figure, the controller 70 is connected with an environment sensor 700 and a camera 701, and the controller 70 includes one or more processors 702 and a communication interface 703. Figure 7

[0181] The environment sensor 700, the camera 701, the one or more processors 702 and the communication interface 703 communicate with each other through a communication bus. The environment sensor 700 and the camera 701 are configured to collect the environment information around the vehicle.

[0182] ​The processor 702 is configured to execute the steps in the rearview mirror adjustment method embodiments described above.

[0183] The communication interface 703 is configured to communicate with network elements such as clients or other servers, etc. In addition, the communication interface 703 can also be connected with the assisted driving system 704, and the communication interface 703 can also be connected with the vehicle controller area network 705 to obtain the vehicle state information of the vehicle.

[0184] The processor is configured to execute the programs stored in the memory, and can execute the related steps in the method embodiments described above.

[0185] Specifically, the program can include program codes, and the program codes include computer executable instructions. The processor can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors included in the vehicle can be the same type of processor, such as one or more CPUs; or can be different types of processors, such as one or more CPUs and one or more ASICs.

[0186] The memory is configured to store programs. The memory can include a high-speed RAM memory, and can also include a non-volatile memory such as at least one disk memory.

[0187] In the embodiment, the vehicle system functions such as ADAS can be cooperated to obtain the vehicle state and the vehicle surrounding environment information from various sensors, and based on the vehicle state and the vehicle surrounding environment information, the multi-modal perception fusion of data can be realized, and based on the fused data, the personalized adjustment of the vehicle rearview mirror can be realized under the premise of ensuring the safety of the vehicle, and the adaptability of the rearview mirror in different scenarios can be improved.

[0188] The embodiment of the present application also provides a vehicle including a vehicle body and the controller described above, and the controller is configured to execute the steps in the rearview mirror adjustment method embodiments described above.

[0189] The embodiment of the present application also provides a computer readable storage medium, and the storage medium stores at least one executable instruction, and the executable instruction makes the vehicle execute the method in any method embodiment described above when running on the vehicle. The algorithms or displays provided herein are not inherently related to any specific computer, virtual system or other device. In addition, the embodiments of the present application are not directed to any specific programming language.

[0190] The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Furthermore, embodiments of the present application are not described with reference to any particular programming language. It is appreciated that a variety of programming languages can be used to implement the teachings of the application as described herein.

[0191] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In other instances, well-known methods, structures and techniques have not been described in detail in order to avoid obscuring the understanding of this description. Also, the description is presented in terms of exemplary embodiments, which are shown and described by way of illustration. As previously discussed, elements of the application are capable of substantial modifications and alternative methods of practice without departing from the essence of the application as set forth in the following claims.

[0192] Those skilled in the art will appreciate that modules in the apparatuses of the embodiments can be adapted and placed in one or more apparatuses different from the embodiments. Modules or units or components in the embodiments can be combined into one module or unit or component, and further can be divided into more modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive.

[0193] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unit claim, any reference to 'composition' pertains to a composition comprising the specified elements means that the composition consists of the specified elements, and that the elements can be present in a plurality of numbers. The application is defined only by the claims. The use of the verb 'to comprise' and its conjugations does not exclude the presence of elements other than those stated in the claim. The use of the article 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unit claim, any reference to 'composition' pertains to a composition comprising the specified elements means that the composition consists of the specified elements, and that the elements can be present in a plurality of numbers. The application is defined only by the claims. The use of the verb 'to comprise' and its conjugations does not exclude the presence of elements other than those stated in the claim. The use of the article 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements.

Claims

1. A method for adjusting a rearview mirror, characterized in that, The method includes: The system acquires environmental information collected by various environmental sensors in the vehicle, driving assistance information fed back by the vehicle's driver assistance system, and vehicle status information. The rearview mirror is adjusted based on at least one of the environmental information, the driving assistance information, and the vehicle status information.

2. The method according to claim 1, characterized in that, Adjusting the rearview mirror based on at least one of the environmental information, the driving assistance information, and the vehicle status information includes: Based on at least one of the environmental information, the driving assistance information, and the vehicle status information, obtain the target control parameters for adjusting the rearview mirror; The rearview mirror is adjusted according to the target control parameters.

3. The method according to claim 2, characterized in that, Based on the environmental information, the target control parameters for adjusting the rearview mirror are obtained, including: Based on the environmental information, determine the weather conditions and / or road conditions of the area where the vehicle is located; The target control parameters are obtained based on the weather conditions and / or the road conditions.

4. The method according to claim 2, characterized in that, Based on the driving assistance information, the target control parameters for adjusting the rearview mirror are obtained, including: Based on the driving assistance information, the vehicle's driving trajectory at the next moment is obtained; Based on the driving trajectory, the target control parameters are obtained.

5. The method according to claim 2, characterized in that, Based on the vehicle status information, the target control parameters for adjusting the rearview mirror are obtained, including: Based on the vehicle status information, the vehicle's driving parameters are obtained, including at least one of vehicle speed, steering angle, and suspension height. The target control parameters are obtained based on at least one of the vehicle speed, steering angle, and suspension height.

6. The method according to claim 2, characterized in that, Based on the environmental information, the driving assistance information, and the vehicle status information, target control parameters for adjusting the rearview mirror are obtained, including: Based on the environmental information, other movable targets and / or obstacles existing around the vehicle are identified; Based on the vehicle status information and the driving assistance information, it is determined whether the vehicle is about to collide with the movable target or the obstacle; If the vehicle is about to collide with the movable target or the obstacle, the target control parameters for adjusting the rearview mirror are determined based on the information about the movable target or the obstacle.

7. The method according to claim 2, characterized in that, Based on the environmental information and the driving assistance information, target control parameters for adjusting the rearview mirror are obtained, including: Based on the driving assistance information, determine whether the vehicle is in autonomous driving mode; If the vehicle is in the autonomous driving mode, the blind spot range of the vehicle is determined based on the environmental information; Based on the blind spot range, the target control parameters for adjusting the rearview mirror are determined.

8. The method according to claim 2, characterized in that, Based on the environmental information, the driving assistance information, and the vehicle status information, target control parameters for adjusting the rearview mirror are obtained, including: Based on the environmental information, the driving assistance information, and the vehicle status information, determine whether the vehicle is in an emergency state; If the vehicle is not in the emergency state, then the driver information of the vehicle is obtained, including the driver's eye height and field of view. The driver information is used as input to a preset driver behavior learning model, and the output of the preset driver behavior learning model is obtained as the target control parameter for adjusting the rearview mirror.

9. The method according to any one of claims 2-8, characterized in that, The target control parameters include at least one of the following: mirror temperature, mirror vibration frequency, mirror angle, mirror curvature, relative position between the mirror and the rearview mirror housing, and the angle of the rearview mirror housing.

10. A controller, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of the method as described in any one of claims 1-9.

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