Vehicle-mounted cosmetic mirror adjusting method and system, vehicle-mounted cosmetic mirror and vehicle

Abstract

The application provides a vehicle-mounted cosmetic mirror adjusting method and system, a vehicle-mounted cosmetic mirror and a vehicle, comprising: obtaining a driver face image, and obtaining an illumination area image based on the driver face image; taking the pixel proportion of the illumination area image and the driver face image as an illumination influence range value, and under the condition that the illumination influence range value is greater than or equal to a first threshold value, adjusting and controlling the vehicle-mounted cosmetic mirror according to the driver sitting height. The application can analyze the optical intensity in real time by obtaining the driver face image, and then automatically and intelligently adjust the vehicle-mounted cosmetic mirror in combination with the driver sitting height, so as to intelligently adjust the vehicle-mounted cosmetic mirror in a strong light irradiation environment, so as to accurately shield the dazzling light and ensure the clear vision of the driver. Compared with manually adjusting the vehicle-mounted cosmetic mirror, the application significantly improves the driving safety by automatically and intelligently adjusting the vehicle-mounted cosmetic mirror, and can provide the driver with a more comfortable and intelligent driving experience.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method and system for adjusting a vehicle-mounted vanity mirror, a vehicle-mounted vanity mirror, and a vehicle. Background Technology

[0002] In modern driving environments, most car vanity mirrors require manual adjustment by the driver. Typically, the driver needs to physically adjust the mirror's direction and angle (such as flipping the sun visor or rotating the mirror) to suit lighting conditions or personal needs. Especially in strong sunlight (such as direct sunlight), the driver needs to manually lower the mirror and adjust its angle, but the adjustment range is limited, making it difficult to quickly and accurately block the glare. This forces the driver to be distracted by operating the vanity mirror to block the glare in bright sunlight, which not only diverts the driver's attention from the vehicle but may also create safety hazards due to this momentary shift in focus.

[0003] With the rapid development of automotive intelligent technology, visual sensors have been widely installed in the cockpit. The widespread use of these sensors has provided a solid foundation for the intelligent upgrading of vehicles. Therefore, how to use visual sensors to adjust the in-vehicle vanity mirror is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a method and system for adjusting a vehicle vanity mirror, a vehicle vanity mirror, and a vehicle, to solve or alleviate the technical problems described above that exist when drivers manually adjust the vehicle vanity mirror while driving.

[0005] This application provides a method for adjusting a car vanity mirror, including the following steps: Acquire a driver's facial image, and obtain an image of the illuminated area based on the driver's facial image; The pixel ratio of the illuminated area image and the driver's face image is used as the illumination influence range value. Under the condition that the illumination influence range value is greater than or equal to a first threshold, the vehicle vanity mirror is adjusted and controlled according to the driver's sitting posture height obtained in advance or in real time.

[0006] In one embodiment of this application, the process of adjusting and controlling the vehicle vanity mirror based on the driver's seating height detected in advance or in real time includes: Based on the sun's center point in the image coordinate system, the calibration parameters of the image capturing device, and the coordinates of the principal point of the image capturing device in the image coordinate system, the two-dimensional horizontal coordinate of the illuminated area image is converted into the incident light direction angle in three-dimensional space, and the two-dimensional vertical coordinate of the illuminated area image is converted into the incident light elevation angle in three-dimensional space; wherein, the image coordinate system is determined based on the driver's facial image and / or the illuminated area image, and the image capturing device is used to acquire the driver's facial image; The incident ray vector is determined based on the incident ray direction angle and the incident ray elevation angle, and the vector from the center of the car vanity mirror to the driver's eye position is taken as the reflected ray vector. The normal vector of the car vanity mirror is determined by the incident ray vector and the reflected ray vector. The vehicle vanity mirror is adjusted and controlled based on the normal vector and the driver's seating height.

[0007] In one embodiment of this application, the process of adjusting and controlling the vehicle vanity mirror according to the normal vector and the driver's sitting posture height includes: Perform Euler angle transformation on the normal vector, and record the Euler angle obtained based on the ordinate of the normal vector as the pitch angle, and record the Euler angle obtained based on the abscissa and ordinate of the normal vector as the yaw angle; The height compensation angle is obtained based on the pitch angle and the driver's seating height, and the height compensation angle is correlated with the yaw angle as the target angle for adjusting and controlling the vehicle vanity mirror. The motor control quantity is calculated using the target angle and the current angle fed back by the encoder; The motor control quantity is converted into a pulse width modulation duty cycle, and the motor is driven to rotate according to the pulse width modulation duty cycle. The motor is also used to control the movement of the vehicle vanity mirror towards or away from the vehicle's windshield.

[0008] In one embodiment of this application, the method further includes: The image of the illuminated area obtained before adjusting the vanity mirror is recorded as the image of the illuminated area before adjustment, the image of the driver's face obtained before adjusting the vanity mirror is recorded as the image of the driver's face before adjustment, and the image of the illuminated area obtained after adjusting the vanity mirror is recorded as the image of the illuminated area after adjustment. Based on the pixels of the adjusted illumination area image and the driver's face image before adjustment, the adjusted illumination influence range value is obtained. Under the condition that the adjusted illumination influence range value is greater than a second threshold, the incremental adjustment angle of the vehicle vanity mirror is calculated according to the adjusted illumination influence range value and the second threshold; wherein, the second threshold is less than the first threshold. The vehicle vanity mirror is adjusted and controlled according to the incremental adjustment angle until the adjusted light influence range value is less than or equal to the second threshold.

[0009] In one embodiment of this application, the process of obtaining an illumination area image based on the driver's facial image includes: Convert the driver's facial image from the RGB color space to the HSV color space; The brightness of the driver's face image after color space conversion is dynamically adjusted, and the dynamically adjusted driver's face image is input into a preset neural network. Target loss is added to the preset neural network for dynamic segmentation, and the segmentation results of multiple consecutive frames of driver's face images are weighted and averaged to obtain the illuminated area image.

[0010] In one embodiment of this application, the process of obtaining the driver's seating height includes: The distance between the radar sensor and the driver is calculated using the echo frequency difference, sweep bandwidth, sweep period, and speed of light, and is recorded as the target distance. The driver's seating height is calculated based on the target distance, the beam pitch angle of the radar sensor, and the preset distance used to compensate for vehicle seat adjustment.

[0011] In one embodiment of this application, the method further includes: The real-time raindrop density of the vehicle's windshield is obtained based on the reflected light intensity, the incident light intensity, and a preset scattering coefficient, and the external weather conditions of the vehicle are determined based on the real-time raindrop density; and, under the condition that the external weather conditions of the vehicle are sunny, the automatic unfolding command of the vanity mirror is activated, and an image of the driver's face is acquired; wherein, the reflected light intensity and the incident light intensity are obtained by a rain sensor inside the vehicle, and when the external weather conditions of the vehicle are sunny, the real-time raindrop density is less than or equal to the preset density. And / or, the temperature of the vehicle under sunlight is collected by a temperature sensor and recorded as the sunlight temperature; and the sunlight temperature is used to verify the external weather conditions of the vehicle; wherein the temperature sensor is located at the top of the vehicle exterior.

[0012] This application also provides a vehicle-mounted vanity mirror adjustment system, the system comprising: An image acquisition module is used to acquire an image of the driver's face and obtain an image of the illuminated area based on the image of the driver's face; The makeup mirror adjustment module is used to use the pixel ratio of the illumination area image and the driver's face image as the illumination influence range value, and under the condition that the illumination influence range value is greater than or equal to a first threshold, adjust and control the vehicle-mounted makeup mirror according to the driver's sitting posture height obtained in advance or in real time.

[0013] This application also provides a vehicle-mounted vanity mirror, which is applied to the vehicle-mounted vanity mirror adjustment method as described in any one of the above claims, or to the vehicle-mounted vanity mirror adjustment system as described in the above claims.

[0014] This application also provides a vehicle that includes a vehicle-mounted vanity mirror as described above.

[0015] This application also provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the vehicle vanity mirror adjustment method described in any one of the above.

[0016] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle vanity mirror adjustment method described in any one of the above.

[0017] The beneficial effects of this application are as follows: This application proposes a method and system for adjusting a vehicle-mounted vanity mirror, a vehicle-mounted vanity mirror, and a vehicle. It acquires a driver's facial image and obtains an illumination area image based on the driver's facial image. Then, it uses the pixel ratio of the illumination area image and the driver's facial image as the illumination influence range value. Under the condition that the illumination influence range value is greater than or equal to a first threshold, it adjusts and controls the vehicle-mounted vanity mirror according to the driver's seating height, either pre-detected or detected in real time. Therefore, this application can automatically and intelligently adjust the vehicle-mounted vanity mirror by acquiring the driver's facial image and analyzing the optical intensity in real time, and then combining this with the driver's seating height. This achieves intelligent adjustment of the vehicle-mounted vanity mirror in strong light environments to accurately block glare and ensure clear vision for the driver. Therefore, this application, by using a visual sensor in the cockpit to acquire the driver's facial image for intelligent adjustment of the vehicle-mounted vanity mirror, not only effectively avoids visual discomfort and distraction caused by direct glare, but also significantly improves driving safety compared to manual adjustment by the driver, providing a more comfortable and intelligent driving experience. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0019] In the attached diagram: Figure 1 This is a flowchart illustrating a method for adjusting a car vanity mirror according to an embodiment of this application. Figure 2 This is a schematic diagram of the hardware structure of a vehicle-mounted vanity mirror adjustment system provided in one embodiment of this application. Figure 3 This is a schematic diagram of the hardware structure of a computer device suitable for implementing one or more embodiments of this application. Detailed Implementation

[0020] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0021] It is understood that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0022] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0023] Figure 1 A flowchart illustrating a method for adjusting a car vanity mirror is shown. Specifically, in an exemplary embodiment, as... Figure 1 As shown, this embodiment provides a method for adjusting a car vanity mirror, including the following steps: S110, acquire the driver's facial image, and obtain the illumination area image based on the driver's facial image; S120 uses the pixel ratio of the illuminated area image and the driver's face image as the illumination influence range value, and adjusts and controls the vehicle vanity mirror according to the driver's sitting posture height obtained in advance or in real time, provided that the illumination influence range value is greater than or equal to the first threshold.

[0024] In some exemplary embodiments, before acquiring the driver's facial image, the real-time raindrop density of the vehicle's windshield can be obtained based on the reflected light intensity, incident light intensity, and a preset scattering coefficient, and the external weather conditions can be determined based on the real-time raindrop density. Furthermore, if the external weather conditions are sunny, the automatic unfolding command of the vanity mirror is activated, and the driver's facial image is acquired. The reflected light intensity and incident light intensity are obtained through a rain sensor inside the vehicle, and the real-time raindrop density is less than or equal to a preset density when the external weather conditions are sunny. Specifically, in some examples, the weather can be identified using a rain sensor. This rain sensor is primarily based on optical principles, detecting the presence and amount of raindrops through the reflection and scattering of infrared light. When the surface of the vehicle's windshield is dry, infrared light is almost completely reflected, and the light intensity received by the rain sensor is at its maximum. When there are raindrops on the surface of the vehicle's windshield, some light is scattered by the raindrops, resulting in a reduction in the reflected light intensity. The corresponding light intensity relationship is as follows:

[0025] In the formula, Indicates the intensity of reflected light; Indicates the intensity of incident light; Represents the scattering coefficient; This represents the raindrop density (the number of raindrops per unit area). Using this light intensity relationship, the weather for the day is identified. If the weather is sunny, the automatic unfolding command for the vanity mirror is activated, and intelligent adjustments to the vanity mirror are made. If the weather is rainy, the automatic unfolding command for the vanity mirror is disabled, and intelligent adjustments to the vanity mirror are not made.

[0026] In some exemplary embodiments, to eliminate interference from other light sources (non-sunlight) on the adjustment of the makeup mirror, a temperature sensor can be introduced as an auxiliary device. Its main function is to detect ambient temperatures that are low (or show no significant upward trend), which do not match the temperature characteristics expected under strong sunlight during the day. Specifically, the temperature sensor can collect the vehicle's temperature under sunlight, recorded as the sunlight temperature; and the sunlight temperature can be used to verify the vehicle's external weather conditions. The temperature sensor is located at the top of the vehicle's exterior. In some examples, the temperature sensor can be installed on the roof, not on the hood, to eliminate the possibility of misjudgment due to heat generated during engine or range extender operation.

[0027] In some exemplary embodiments, an image of the driver's face can be acquired using an onboard vision sensor, wherein the vision sensor includes, but is not limited to, an image capturing device, such as an onboard camera.

[0028] In some exemplary embodiments, the process of obtaining an illuminated region image based on a driver's facial image may include: converting the driver's facial image from a first color space to a second color space; dynamically adjusting the brightness of the driver's facial image after color space conversion; inputting the dynamically adjusted driver's facial image into a preset neural network; adding a target loss to the preset neural network for dynamic segmentation; and performing a weighted average of the segmentation results of multiple consecutive frames of driver's facial images to obtain the illuminated region image. The first color space is obtained based on red, green, and blue, and the second color space is obtained based on chroma, saturation, and brightness. In some examples, the first color space may also be referred to as the RGB space, and the second color space may also be referred to as the HSV space. In some examples, the preset neural network may be a neural network for image segmentation, including but not limited to U-Net or DeepLabv3+.

[0029] In some exemplary embodiments, when obtaining an image of the illuminated area based on a driver's facial image, the driver's facial image can be captured by an in-vehicle camera. Then, a lightweight face detection model is used to locate the target area. Subsequently, traditional image processing and deep learning segmentation algorithms are combined to accurately and quickly identify the illuminated area image. Specifically, in the task of detecting sunlight-illuminated areas, a dynamic segmentation algorithm can be used for optimization. The core of this optimization lies in accurately distinguishing between directly illuminated areas and natural facial reflections, while adapting to dynamic environmental changes, such as cloud cover and shadow changes caused by vehicle movement. Therefore, for traditional image processing methods, HSV spatial highlight detection can be utilized. The principle is that direct sunlight typically exhibits a combination of "high brightness (Value channel) and specific color temperature (Hue channel)". Dynamic segmentation is performed here through the following steps: Color space conversion transforms the driver's facial image from RGB to HSV space, separating the chroma (H), saturation (S), and luminance (V) information of the driver's facial image.

[0030]

[0031] In the formula, Represents the number of pixels in the output image brightness value, Indicates taking The maximum of the three values, This represents the hue value of the output image at pixel (x, y). , , This represents the intensity values ​​of the red, green, and blue channels. Adaptive brightness threshold: dynamically adjusts the brightness channel threshold based on ambient light. To avoid overexposure or undersegmentation caused by a fixed threshold, the following measures can be taken:

[0032] In the formula, This represents the average value of the current frame's luminance channel. This represents the standard deviation of the current frame's luminance channel. This represents an empirical coefficient, typically ranging from 1.5 to 2.0.

[0033] Lightweight U-Net or DeepLabv3+ is used as the dynamic segmentation network. The input is a facial region image after color space conversion, and the output is a pixel-level mask of the sunlight region, i.e., the set of pixels illuminated by sunlight. The corresponding illuminated region image can be obtained from the driver's facial image using the pixel-level mask of the sunlight region.

[0034] When using a dynamic segmentation network for image segmentation, a target loss can also be incorporated, resulting in:

[0035]

[0036]

[0037] In the formula, Indicates target loss. This represents the binary cross-entropy loss. This represents the output probability predicted by the model for the entire image. Labels that indicate authenticity In the image The probability value predicted by the model at that location. In the image The actual label value; where, This is used to solve the problem of pixel imbalance between sunlight areas and facial backgrounds. This represents the boundary reinforcement loss, used to increase the penalty weight on the edges of the sunlight region, thereby improving the segmentation sharpness.

[0038] When obtaining the image of the illuminated area, temporal continuity processing can be performed. A weighted average of the segmentation results from multiple consecutive frames of driver facial images can be applied to avoid instantaneous misjudgments. For example:

[0039] In the formula, This represents the final output mask for segmenting the sunlight-illuminated region at the current time t, after time-domain continuity processing. This represents the current frame segmentation mask generated directly by the image segmentation model at the current time t, without any temporal processing. This represents the final output mask for segmenting the sunlight-illuminated region at the previous time t-1, after time-domain continuity processing. It is used to control the smoothness and prevent flickering.

[0040] In some exemplary embodiments, before using the dynamic segmentation network U-Net or DeepLabv3+ for image segmentation, the dynamic segmentation network can be trained. This includes using GANs (Generative Adversarial Networks) to generate images of sunlight illumination at different intensities and angles as training data, and adding dynamic occlusion (e.g., eyeglass reflections, dappled tree shadows) and motion blur to the training data for dynamic data augmentation. Simultaneously, the encoder in U-Net or DeepLabv3+ can be optimized by using MobileNetV3 as the backbone network to reduce the number of parameters. The attention mechanism in U-Net or DeepLabv3+ primarily involves adding a CBAM module to the skip connections to enhance attention to highlight regions.

[0041] In some exemplary embodiments, the process of obtaining the illumination influence range value may include: Facial region brightness analysis: First, relative illumination intensity quantization is performed to convert the driver's facial image to grayscale space. The average pixel brightness of the sunlit area in the driver's facial image is then calculated.

[0042] In the formula, This represents the average pixel brightness of the sunlit area in the driver's face image. This indicates the total number of pixels in the sunlight area. This represents a mask for the sunlight area (i.e., the set of pixels illuminated by sunlight). Represents pixels in a facial region image The grayscale value.

[0043] Then, absolute intensity calibration is performed to establish a linear mapping relationship between pixel brightness and physical illumination intensity, resulting in:

[0044] In the formula, Indicates physical light intensity. and This represents the experimental fit coefficient obtained through calibration. In some examples, the experimental fit coefficient is obtained through calibration. and This enables indirect estimation in sensorless scenarios. Simultaneously, a physical illumination intensity threshold (e.g.) can be set. The system can divide the driver's facial image into two categories: pixels that are significantly exposed to sunlight and pixels that are in shadow or under normal light, in order to determine whether the makeup mirror needs to be automatically opened in sunny weather.

[0045] Calculation of Irradiated Area Percentage: This involves calculating the proportion of the face exposed to sunlight, reflecting the extent of sunlight's influence.

[0046] In the formula, This indicates the range of influence of light. This represents the total number of pixels in the driver's facial image. In some examples, the first threshold can be set or selected according to the actual situation; a specific value is not limited here. For example, the first threshold could be 15%. When the illumination influence range value is greater than or equal to the first threshold... Under these conditions, it can be determined that the driver is experiencing significant light interference. In this case, the vehicle's vanity mirror can be adjusted and controlled based on the driver's seating height, either pre-detected or detected in real-time. Therefore, this method can output the light intensity level and influence range based on brightness distribution statistics and area proportion calculations, providing input for subsequent intelligent adjustment of the vanity mirror.

[0047] In some exemplary embodiments, the process of obtaining the driver's seating height may include: emitting a linear frequency modulated wave using a radar sensor, and calculating the distance between the radar sensor and the driver using the echo frequency difference, sweep bandwidth, sweep period, and speed of light, denoted as the target distance; calculating the driver's seating height based on the target distance, the beam pitch angle of the radar sensor, and a preset distance for compensating for vehicle seat adjustment. The radar sensor may include, but is not limited to, millimeter-wave radar. In some examples, the preset distance for compensating for vehicle seat adjustment may also be referred to as the seat compression compensation distance, and its specific value may be preset or selected according to the vehicle seat type.

[0048] In some examples, the process of detecting driver seating height using millimeter-wave radar includes: transmitting a linear frequency modulated wave in FMCW mode of the millimeter-wave radar, and calculating the target distance using the echo frequency difference, as follows:

[0049] In the formula, Indicates the sweep bandwidth. Indicates the frequency sweep period. Represents the speed of light. Indicates the distance to the target. This indicates the difference in echo frequency.

[0050] in, ,when , Millimeter-wave radar can effectively cover the inside of a vehicle's cockpit.

[0051] Based on the target distance, the beam elevation angle of the millimeter-wave radar, and the vehicle's seat compression compensation distance, the driver's seating height is calculated as follows:

[0052] In the formula, The beam elevation angle of the millimeter-wave radar can be pre-calibrated; This indicates the seat compression compensation distance in a vehicle, typically about 3cm. Indicates the vertical height of the vehicle's headliner panel from the ground. This indicates the driver's seating height.

[0053] In some exemplary embodiments, the process of adjusting and controlling the vehicle vanity mirror based on the driver's seating height detected in advance or in real time includes: Based on the sun's center point in the image coordinate system, the calibration parameters of the image capturing device, and the coordinates of the principal point of the image capturing device in the image coordinate system, the two-dimensional horizontal coordinate of the illuminated area image is converted into the incident light direction angle in three-dimensional space, and the two-dimensional vertical coordinate of the illuminated area image is converted into the incident light elevation angle in three-dimensional space; wherein, the image coordinate system is determined based on the driver's face image and / or the illuminated area image, and the image capturing device is used to acquire the driver's face image. The incident ray vector is determined based on the incident ray direction angle and incident ray elevation angle, and the vector from the center of the vanity mirror to the driver's eye position is used as the reflected ray vector. The normal vector of the vanity mirror is determined by the incident ray vector and the reflected ray vector. The system adjusts and controls the vehicle vanity mirror based on the normal vector and the driver's seating height. This includes: converting the normal vector into Euler angles, and recording the Euler angle obtained from the vertical coordinate of the normal vector as the pitch angle, and recording the Euler angle obtained from the horizontal and vertical coordinates of the normal vector as the yaw angle; obtaining the height compensation angle based on the pitch angle and the driver's seating height, and correlating the height compensation angle with the yaw angle as the target angle for adjusting and controlling the vehicle vanity mirror; calculating the motor control quantity using the target angle and the current angle fed back by the encoder; converting the motor control quantity into a pulse width modulation duty cycle, and driving the motor to rotate according to the pulse width modulation duty cycle; and controlling the vehicle vanity mirror to move closer to or away from the vehicle's windshield via the motor.

[0054] Specifically, in some examples, the process of adjusting and controlling the in-vehicle vanity mirror includes: First, determine the center point of the sunlight in the image coordinate system. ), vehicle camera calibration parameters (focal length) The distortion coefficients and the coordinates of the principal point of the vehicle camera in the image coordinate system are used to transform the 2D image coordinate system into the incident ray direction angle and incident ray elevation angle in 3D space through geometric mapping, resulting in:

[0055] In the formula, Indicates the angle of incidence of the ray. Indicates the angle of elevation of the incident ray. This represents the x-coordinate (in pixels) of the principal point of the vehicle camera in the image coordinate system. This represents the y-coordinate (in pixels) of the principal point of the vehicle camera in the image coordinate system.

[0056] Let the center of rotation of the makeup mirror be the origin, and the driver's eye position be... Assuming horizontal centering, that is .in, This represents the lateral (y-axis) coordinate of the driver's eye position in the vehicle coordinate system.

[0057] Based on the incident ray direction angle and incident ray elevation angle, the incident ray vector is determined as follows:

[0058] In the formula, This represents the unit vector of the incident ray.

[0059] Using the vector from the center of the car vanity mirror to the driver's eye level as the reflected ray vector, we have:

[0060] In the formula, This represents the unit vector of the reflected ray. In some examples, the vector from the center of the mirror to the eye is... Therefore, the unit vector of the reflected ray Because the Z-axis points upwards.

[0061] The normal vector of the car vanity mirror is determined by the incident ray vector and the reflected ray vector. Specifically, according to the law of reflection, the normal vector of the car vanity mirror is... It should be the incident light vector. and reflected light vector The direction of the angle bisector is:

[0062] In the formula, This represents the normal vector of the car vanity mirror. .

[0063] Perform Euler angle transformation on the normal vector of the car vanity mirror, and denote the Euler angle obtained based on the ordinate of the normal vector as the pitch angle, and the Euler angle obtained based on the abscissa and ordinate of the normal vector as the yaw angle, then:

[0064]

[0065] in, Indicates pitch angle, Indicates the yaw angle.

[0066] The height compensation angle is obtained from the pitch angle and the driver's seating height.

[0067] By correlating the altitude compensation angle and yaw angle as the target angle for adjusting and controlling the vehicle vanity mirror, we have: the target angle is... .

[0068] Using the target angle and the current angle fed back by the encoder, the motor control quantity is calculated in real time via PID control, resulting in:

[0069] In the formula, Indicates motor control quantity. This represents the proportional adjustment coefficient. This represents the integral adjustment coefficient. This represents the differential adjustment coefficient. express, , This indicates the current angle fed back by the encoder. The encoder outputs [value] per revolution. , For pulse counting; real-time position calibration is performed using the following formula, and the current angle is calculated as follows:

[0070] Converting the motor control input to a pulse width modulation duty cycle, we have:

[0071] In the formula, Indicates the duty cycle of pulse width modulation. This represents the minimum value in the controller's output range. This indicates the maximum value of the controller's output range.

[0072] The motor is driven to rotate according to the pulse width modulation duty cycle, and the current direction is controlled by an H-bridge circuit to achieve bidirectional rotation; including: positive duty cycle driving the motor to rotate in the forward direction, that is, controlling the vanity mirror to move closer to the windshield of the vehicle through the motor; or negative duty cycle driving the motor to rotate in the reverse direction, that is, controlling the vanity mirror to move away from the windshield of the vehicle through the motor.

[0073] In some exemplary embodiments, during the initial adjustment movement of the makeup mirror, the target angle of rotation of the makeup mirror is... It is a fixed value, and will not be recalculated due to changes in the environment, preventing abnormal situations from causing the target angle to become unstable and the makeup mirror to shake; when At this time, the proportion of the illuminated area on the driver's face is recalculated to determine whether secondary optimization adjustment is needed. Therefore, the vehicle vanity mirror adjustment method may also include: recording the illuminated area image obtained before adjusting the vehicle vanity mirror as the pre-adjustment illuminated area image, recording the driver's face image obtained before adjusting the vehicle vanity mirror as the pre-adjustment driver's face image, and recording the illuminated area image obtained after adjusting the vehicle vanity mirror as the post-adjustment illuminated area image; obtaining the post-adjustment illumination influence range value based on the pixels of the post-adjustment illuminated area image and the pre-adjustment driver's face image, and calculating the incremental adjustment angle of the vehicle vanity mirror based on the post-adjustment illumination influence range value and the second threshold, where the second threshold is less than the first threshold; continuing to adjust the vehicle vanity mirror according to the incremental adjustment angle until the post-adjustment illumination influence range value is less than or equal to the second threshold. In some examples, the second threshold can be selected or set according to the actual situation, and its specific value is not specified here; for example, the second threshold can be 6%.

[0074] Specifically, based on the pixels of the adjusted illumination area image and the driver's face image before adjustment, the adjusted illumination influence range value is obtained as follows:

[0075] In the formula, This indicates the range of influence of adjusted illumination. This represents the pixels of the image in the adjusted illuminated area. This represents the total number of pixels in the driver's facial image, which is also the number of pixels in the driver's facial image before adjustment.

[0076] when When the light intensity exceeds the second threshold, incremental adjustment is triggered. Based on the adjusted light influence range and the second threshold, the incremental adjustment angle of the car vanity mirror is calculated as follows:

[0077] In the formula, Indicates the incremental adjustment angle. This indicates adjusting the gain coefficient or scaling factor, for example, when hour, Additional rotation of the motor until the illumination duty cycle is less than the second threshold.

[0078] In some exemplary embodiments, in order to ensure the safe operation of the motor, a stall detection can be added. By monitoring the motor current, if the motor current exceeds 150% of the rated value and lasts for 200ms, the rotation will be stopped immediately. At the same time, a software limit mechanism is added to limit the angle adjustment of the makeup mirror to a certain range.

[0079] In summary, this application proposes a method for adjusting a vehicle vanity mirror. It acquires a driver's facial image and obtains an illumination area image based on this image. Then, the pixel ratio between the illumination area image and the driver's facial image is used as the illumination influence range value. When the illumination influence range value is greater than or equal to a first threshold, the vehicle vanity mirror is adjusted and controlled according to the driver's seating height, either pre-detected or detected in real-time. Therefore, this method can automatically and intelligently adjust the vehicle vanity mirror by acquiring the driver's facial image and analyzing the optical intensity in real time, combined with the driver's seating height. This achieves intelligent adjustment of the vehicle vanity mirror in strong light environments to accurately block glare and ensure clear vision for the driver. Thus, this method, by using a visual sensor in the cockpit to acquire the driver's facial image for intelligent adjustment of the vehicle vanity mirror, not only effectively avoids visual discomfort and distraction caused by direct glare but also significantly improves driving safety compared to manual adjustment by the driver, providing a more comfortable and intelligent driving experience. Furthermore, this method integrates existing sensor resources such as vehicle-mounted cameras and millimeter-wave radar without incurring additional hardware costs. It is entirely based on the existing vehicle sensor architecture and then optimizes the data from multiple sensor sources through software algorithms. This enables intelligent adjustment of the makeup mirror under strong light conditions, thus completing the intelligent upgrade of the makeup mirror.

[0080] In an exemplary embodiment of this application, as Figure 2 As shown, this embodiment provides a vehicle-mounted vanity mirror adjustment system, including: Image acquisition module 210 is used to acquire driver's facial image and obtain illumination area image based on driver's facial image; The makeup mirror adjustment module 220 is used to use the pixel ratio of the illuminated area image and the driver's face image as the illumination influence range value, and under the condition that the illumination influence range value is greater than or equal to a first threshold, adjust and control the vehicle-mounted makeup mirror according to the driver's sitting posture height obtained in advance or in real time.

[0081] It is understood that the in-vehicle vanity mirror adjustment system and the in-vehicle vanity mirror adjustment method provided in the above embodiments belong to the same concept. The specific way in which the in-vehicle vanity mirror adjustment method is executed has been described in detail in the above method embodiments and will not be repeated here. In practical applications, the in-vehicle vanity mirror adjustment system provided in the above embodiments can be assigned to different functional modules as needed. That is, the internal structure of the in-vehicle vanity mirror adjustment system can be divided into different functional modules, and then all or part of the functions of the corresponding functional modules can be implemented through the in-vehicle vanity mirror adjustment method described in the above embodiments. For example, all or part of the functions of the image acquisition module 210 can be implemented through the relevant execution process of step S110, and all or part of the functions of the vanity mirror adjustment module 220 can be implemented through the relevant execution process of step S120. No specific limitations are imposed here.

[0082] In summary, this application proposes a vehicle vanity mirror adjustment system. It acquires a driver's facial image and obtains an illumination area image based on this image. Then, it uses the pixel ratio of the illumination area image and the driver's facial image as the illumination influence range value. When the illumination influence range value is greater than or equal to a first threshold, it adjusts the vehicle vanity mirror according to the driver's seating height, either pre-detected or detected in real-time. Therefore, this system can automatically and intelligently adjust the vehicle vanity mirror by acquiring the driver's facial image and analyzing the optical intensity in real time, combined with the driver's seating height. This achieves intelligent adjustment of the vehicle vanity mirror in strong light environments to accurately block glare and ensure clear vision for the driver. Thus, this system, by using a visual sensor in the cockpit to acquire the driver's facial image for intelligent adjustment of the vehicle vanity mirror, not only effectively avoids visual discomfort and distraction caused by direct glare, but also significantly improves driving safety compared to manual adjustment by the driver, providing a more comfortable and intelligent driving experience. Furthermore, this system integrates existing sensor resources such as vehicle-mounted cameras and millimeter-wave radar without incurring additional hardware costs. It is entirely based on the existing vehicle sensor architecture and then optimizes the data from multiple sensor sources through software algorithms. This enables intelligent adjustment of the makeup mirror in strong light conditions, thus completing the intelligent upgrade of the makeup mirror.

[0083] In an exemplary embodiment of this application, a vehicle-mounted vanity mirror is provided, which can be applied to the vehicle-mounted vanity mirror adjustment method or system described in some of the embodiments above. The specific application methods of the vehicle-mounted vanity mirror have been described in detail in the above method or system embodiments, and will not be repeated here.

[0084] In an exemplary embodiment of the present invention, a computer device is also provided. The computer device may include a memory, a processor, and a computer program stored in the memory. The processor can execute the computer program to cause the computer device to perform actions such as... Figure 1 The steps for adjusting the car vanity mirror are shown below. Figure 3 A schematic diagram of the structure of a computer device 1000 is shown. (See attached diagram.) Figure 3 As shown, the computer device 1000 includes: a processor 1010, a memory 1020, a power supply 1030, a display unit 1040, and an input unit 1060.

[0085] The processor 1010 is the control center of the computer device 1000. It connects various components via interfaces and lines, and performs various functions of the computer device 1000 by running or executing computer programs / instructions stored in the memory 1020, thereby providing overall monitoring of the computer device 1000. In some embodiments, when the processor 1010 calls a computer program stored in the memory 1020, it can execute, for example... Figure 1 The steps of the in-vehicle vanity mirror adjustment method are shown. Optionally, the processor 1010 may include one or more processing units; preferably, the processor 1010 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. In some embodiments, the processor 1010 and the memory 1020 may be implemented on a single chip; in other embodiments, they may be implemented on separate chips.

[0086] The memory 1020 mainly includes a program storage area and a data storage area. The program storage area can store the operating system, various applications, etc.; the data storage area can store instruction data created according to the use of the computer device 1000. In addition, the memory 1020 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0087] The computer device 1000 also includes a power supply 1030 (such as a battery) that supplies power to various components. The power supply can be logically connected to the processor 1010 through a power management system, thereby enabling the management of functions such as charging, discharging, and power consumption through the power management system.

[0088] The display unit 1040 can be used to display information input by the user or information provided to the user, and can also be used to display various menus of the computer device 1000, etc. In this embodiment of the invention, it is mainly used to display the display interfaces of various applications in the computer device 1000, as well as text, pictures, and other objects displayed in the display interfaces. The display unit 1040 may include a display panel 1050. The display panel 1050 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0089] The input unit 1060 can be used to receive information such as numbers or characters input by the user. The input unit 1060 may include a touch panel 1070 and other input devices 1080. The touch panel 1070 can also be referred to as a touch screen, and the touch panel 1070 can collect touch operations on or near the user (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel 1070).

[0090] Specifically, the touch panel 1070 can detect user touch operations and the signals generated by these operations, convert these signals into touch point coordinates and send them to the processor 1010, and receive and execute commands transmitted by the processor 1010. Furthermore, the touch panel 1070 can employ various input methods such as resistive, capacitive, infrared, and surface acoustic waves to achieve interaction. Other input devices 1080 include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, and joystick.

[0091] Of course, the touch panel 1070 can also cover the display panel 1050. When the touch panel 1070 detects a touch operation on or near it, it can transmit the information to the processor 1010 to determine the type of touch event. Subsequently, the processor 1010 provides corresponding visual output on the display panel 1050 based on the type of touch event. Although in Figure 3 In this embodiment, the touch panel 1070 and the display panel 1050 are two separate components to realize the input and output functions of the computer device 1000. However, in some embodiments, the touch panel 1070 and the display panel 1050 can be integrated to realize the input and output functions of the computer device 1000.

[0092] The computer device 1000 may also include one or more sensors, such as pressure sensors, gravity acceleration sensors, proximity sensors, etc. Of course, depending on the specific application scenario, the computer device 1000 may also include other components such as cameras.

[0093] In an exemplary embodiment of the present invention, a computer-readable storage medium is also provided, which stores a computer program / instructions. When executed by a processor, the computer program / instructions enable the computer device to perform the functions described in the present invention. Figure 1 The steps for adjusting the car vanity mirror are shown below.

[0094] It will be understood by those skilled in the art that Figure 3 The examples of computer devices are merely illustrative and do not constitute a limitation on the device. The device may include more or fewer components than illustrated, or a combination of certain components, or different components. For ease of description, the above parts are divided into modules (or units) according to their functions and described separately. Of course, in implementing this invention, the functions of each module (or unit) can be implemented in one or more software or hardware components. For example, as some examples, the aforementioned computer device may be a vehicle, an in-vehicle system, etc.

[0095] Those skilled in the art will understand that the present invention can take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The present invention is described in accordance with flowcharts and / or block diagrams of a vehicle vanity mirror adjustment method, a vehicle vanity mirror adjustment system, and a computer program product, based on some embodiments. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be applied to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to create a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, produce functions for implementing the process... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0096] In another exemplary embodiment of this application, a vehicle is also provided, which includes a vehicle-mounted vanity mirror adjustment system as described in the above embodiments. Since the specific manner in which the vehicle-mounted vanity mirror adjustment system performs its operation has been described in detail in some of the above embodiments, the technical functions and effects of the vehicle provided in this embodiment can be referred to in the above embodiments, and will not be repeated here.

[0097] It is understood that although terms such as first, second, etc., may be used in this application to describe thresholds, these terms are only used to distinguish thresholds from each other. For example, without departing from the scope of embodiments of this application, a first threshold may also be referred to as a second threshold, and similarly, a second threshold may also be referred to as a first threshold.

[0098] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for adjusting a car vanity mirror, characterized in that, The method includes the following steps: Acquire a driver's facial image, and obtain an image of the illuminated area based on the driver's facial image; The pixel ratio of the illuminated area image and the driver's face image is used as the illumination influence range value. Under the condition that the illumination influence range value is greater than or equal to the first threshold, the vehicle vanity mirror is adjusted and controlled according to the driver's sitting posture height detected in advance or in real time to block light. The process of adjusting and controlling the vehicle vanity mirror based on the driver's seating height, either pre-detected or detected in real time, includes: Based on the sun's center point in the image coordinate system, the calibration parameters of the image capturing device, and the coordinates of the principal point of the image capturing device in the image coordinate system, the two-dimensional horizontal coordinate of the illuminated area image is converted into the incident light direction angle in three-dimensional space, and the two-dimensional vertical coordinate of the illuminated area image is converted into the incident light elevation angle in three-dimensional space; wherein, the image coordinate system is determined based on the driver's facial image and / or the illuminated area image, and the image capturing device is used to acquire the driver's facial image; The incident ray vector is determined based on the incident ray direction angle and the incident ray elevation angle, and the vector from the center of the car vanity mirror to the driver's eye position is taken as the reflected ray vector. The normal vector of the car vanity mirror is determined by the incident ray vector and the reflected ray vector. The vehicle vanity mirror is adjusted and controlled based on the normal vector and the driver's seating height.

2. The method for adjusting a car vanity mirror according to claim 1, characterized in that, The process of adjusting and controlling the vehicle vanity mirror based on the normal vector and the driver's seating height includes: Perform Euler angle transformation on the normal vector, and record the Euler angle obtained based on the ordinate of the normal vector as the pitch angle, and record the Euler angle obtained based on the abscissa and ordinate of the normal vector as the yaw angle; The height compensation angle is obtained based on the pitch angle and the driver's seating height, and the height compensation angle is correlated with the yaw angle as the target angle for adjusting and controlling the vehicle vanity mirror. The motor control quantity is calculated using the target angle and the current angle fed back by the encoder; The motor control quantity is converted into a pulse width modulation duty cycle, and the motor is driven to rotate according to the pulse width modulation duty cycle. The motor is also used to control the movement of the vehicle vanity mirror towards or away from the vehicle's windshield.

3. The method for adjusting a car vanity mirror according to claim 1 or 2, characterized in that, The method further includes: The image of the illuminated area obtained before adjusting the vanity mirror is recorded as the image of the illuminated area before adjustment, the image of the driver's face obtained before adjusting the vanity mirror is recorded as the image of the driver's face before adjustment, and the image of the illuminated area obtained after adjusting the vanity mirror is recorded as the image of the illuminated area after adjustment. Based on the pixels of the adjusted illumination area image and the driver's face image before adjustment, the adjusted illumination influence range value is obtained. Under the condition that the adjusted illumination influence range value is greater than a second threshold, the incremental adjustment angle of the vehicle vanity mirror is calculated according to the adjusted illumination influence range value and the second threshold; wherein, the second threshold is less than the first threshold. The vehicle vanity mirror is adjusted and controlled according to the incremental adjustment angle until the adjusted light influence range value is less than or equal to the second threshold.

4. The method for adjusting a car vanity mirror according to claim 1, characterized in that, The process of obtaining the illuminated area image based on the driver's facial image includes: The driver's facial image is converted from RGB color space to HSV color space; the brightness of the driver's facial image after color space conversion is dynamically adjusted, and the dynamically adjusted driver's facial image is input into a preset neural network. Target loss is added to the preset neural network for dynamic segmentation, and the segmentation results of multiple consecutive frames of driver's facial images are weighted and averaged to obtain the illuminated area image.

5. The method for adjusting a car vanity mirror according to claim 1 or 2, characterized in that, The process of obtaining the driver's seating height includes: The distance between the radar sensor and the driver is calculated using the echo frequency difference, sweep bandwidth, sweep period, and speed of light, and is recorded as the target distance. The driver's seating height is calculated based on the target distance, the beam pitch angle of the radar sensor, and the preset distance used to compensate for vehicle seat adjustment.

6. The method for adjusting a car vanity mirror according to claim 1 or 2, characterized in that, The method further includes: The real-time raindrop density of the vehicle's windshield is obtained based on the reflected light intensity, the incident light intensity, and a preset scattering coefficient, and the external weather conditions of the vehicle are determined based on the real-time raindrop density; and, under the condition that the external weather conditions of the vehicle are sunny, the automatic unfolding command of the vanity mirror is activated, and an image of the driver's face is acquired; wherein, the reflected light intensity and the incident light intensity are obtained by a rain sensor inside the vehicle, and when the external weather conditions of the vehicle are sunny, the real-time raindrop density is less than or equal to the preset density. And / or, the temperature of the vehicle under sunlight is collected by a temperature sensor and recorded as the sunlight temperature; and the sunlight temperature is used to verify the external weather conditions of the vehicle; wherein the temperature sensor is located at the top of the vehicle exterior.

7. A vehicle-mounted vanity mirror adjustment system, characterized in that, The system includes: An image acquisition module is used to acquire an image of the driver's face and obtain an image of the illuminated area based on the image of the driver's face; The makeup mirror adjustment module is used to take the pixel ratio of the illuminated area image and the driver's face image as the illumination influence range value, and, when the illumination influence range value is greater than or equal to a first threshold, adjust and control the vehicle-mounted makeup mirror according to the driver's sitting posture height detected in advance or in real time to block light. The process of adjusting and controlling the vehicle-mounted makeup mirror according to the driver's sitting posture height detected in advance or in real time includes: converting the two-dimensional horizontal coordinate of the illuminated area image into a three-dimensional horizontal coordinate based on the sunlight center point in the image coordinate system, the calibration parameters of the image capturing device, and the coordinates of the principal point of the image capturing device in the image coordinate system. The incident light direction angle and the incident light elevation angle are determined by converting the two-dimensional image ordinate of the illuminated area image into a three-dimensional image. The image coordinate system is determined based on the driver's facial image and / or the illuminated area image, and the image capturing device is used to acquire the driver's facial image. An incident light vector is determined based on the incident light direction angle and the incident light elevation angle, and the vector from the center of the vanity mirror to the driver's eye position is used as the reflected light vector. The normal vector of the vanity mirror is determined using the incident light vector and the reflected light vector. The vanity mirror is adjusted and controlled according to the normal vector and the driver's seating height.

8. A car-mounted vanity mirror, characterized in that, The vehicle-mounted vanity mirror is applied to the vehicle-mounted vanity mirror adjustment method as described in any one of claims 1 to 6, or to the vehicle-mounted vanity mirror adjustment system as described in claim 7.

9. A vehicle, characterized in that, The vehicle includes a vehicle-mounted vanity mirror as described in claim 8.

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