Automotive non-parallel lane safety lane changing method and system based on variable angle rearview mirror

Abstract

This invention discloses a method and system for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror. The method includes: after confirming the need to change lanes in a non-parallel lane, the driver operates the turn signal switch in the direction of lane change, transmitting a rearview mirror adjustment command to the control circuit. Upon receiving the command, the control circuit drives the rearview mirror folding motor to rotate forward via an H-bridge circuit; simultaneously, it calculates the optimal adjustment angle based on vehicle sensor data and corrects angle deviation using closed-loop control with motor load current feedback; the driver observes the rear through the adjusted rearview mirror, and the system verifies safety conditions using multiple sensors; after confirming safety, the driver activates the regular turn signal to change lanes; the vehicle enters the target lane, and the driver resets the mirror in the direction of lane change, while the system simultaneously assesses the reset status; if the mirror is not manually reset within 10 seconds, a reset command is automatically triggered. This improves the safety and convenience of lane changing in non-parallel lanes.

Description

Technical Field

[0001] This invention belongs to the field of automotive active safety control technology, and more specifically, relates to a method and system for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror. Background Technology

[0002] During driving, lane changes in non-parallel lanes (such as crossing medians or merging from ramps onto the main road) require a much higher level of driver visibility than lane changes in parallel lanes due to the angle between the lanes. Traditional car rearview mirrors have a fixed angle design, and their field of vision is only suitable for driving in regular parallel lanes. They cannot be dynamically adjusted according to the needs of non-parallel lane change scenarios, which leads to blind spots for drivers when changing lanes in non-parallel situations. For example, when crossing a wide median, a fixed-angle rearview mirror may not be able to cover the lane on the other side of the median, and vehicles or non-motorized vehicles behind may be out of the driver's sight. When entering a sharp curve ramp, the rearview mirror's field of vision cannot compensate for the visual shift caused by the curve, making it easy to miss vehicles approaching from behind.

[0003] While some vehicles are currently equipped with electrically adjustable rearview mirrors, the existing electric adjustment functions are mostly used for angle calibration when parking or for adjusting the driver's seating position. During driving, to ensure driving safety, drivers do not manually operate the buttons to adjust the rearview mirror angle. As a result, when changing lanes in parallel lanes, the electric adjustment function cannot be used to adapt to the needs of the scenario, and drivers can only rely on a fixed field of vision to judge road conditions. At the same time, traditional lane-changing safety judgments rely entirely on the driver's subjective observation and experience, lacking multi-dimensional safety verification at the system level. Drivers can only obtain limited information by observing the rearview mirror with their naked eyes, making it difficult to accurately judge the relative speed of vehicles behind, the lateral distance of close-range targets to the side, and whether the paths of their own vehicle and vehicles behind them intersect. In complex road conditions (such as rainy days or nighttime when visibility is obstructed), the reliability of safety judgments is further reduced, and the collision risk of changing lanes in parallel lanes is significantly increased.

[0004] Furthermore, even if drivers temporarily adjust the rearview mirror angle through other means in some scenarios, forgetting to reset it to the normal driving angle after changing lanes will result in abnormal visibility when driving in parallel lanes, also affecting driving safety. Currently, there is no dedicated dynamic adjustment and safety verification solution for rearview mirrors in non-parallel lane changing scenarios. This fails to fundamentally solve problems such as poor visibility adaptation, reliance on subjective experience for safety judgment, and the lack of a reset mechanism during non-parallel lane changes, thus hindering the safety and convenience of non-parallel lane changing. There is an urgent need for a technical solution that can automatically adapt to non-parallel lane changing scenarios while driving, provide system safety verification, and have a reliable reset function to improve the safety and driving convenience of non-parallel lane changing. Summary of the Invention

[0005] This invention aims to solve the problems of traditional rearview mirrors having a fixed field of view that cannot adapt to different scenarios when changing lanes in non-parallel lanes, the unsafety of manually adjusting the rearview mirror while driving, the reliance on subjective experience to judge lane change safety, and the easy forgetting to reset the rearview mirror after changing lanes. By automatically adjusting the rearview mirror angle, controlling the angle accuracy with current feedback, verifying safety with multiple sensors, and combining manual and automatic reset, the safety and convenience of changing lanes in non-parallel lanes are improved.

[0006] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror, comprising: S1. After observing the road environment and combining the road condition data fed back by the vehicle assistance system, the driver confirms that a non-parallel lane change is required, and then operates the turn signal switch according to the direction of the lane change to transmit the rearview mirror adjustment command to the control circuit. S2. After receiving the command, the control circuit firstly drives the original vehicle's rearview mirror folding motor to rotate forward by activating the corresponding component through the H-bridge circuit; secondly, it calculates the optimal adjustment angle based on data collected by the vehicle sensors and achieves closed-loop control through motor load current feedback, correcting angle deviations in real time and triggering... Limiting device; S3. The driver observes the traffic conditions behind through the adjusted rearview mirror, and the system verifies whether the safety conditions are met through multi-sensor fusion calculation and provides prompt feedback; after the driver confirms that it is safe, he turns on the regular turn signal for the corresponding direction and performs a lane change; S4. After the vehicle has fully entered the target lane, the driver performs a reset operation in the direction of lane change; at the same time, the system determines whether the rearview mirror has been fully reset by the motor load current and confirms whether the vehicle is driving stably by the steering wheel angle sensor; if it is not manually reset within 10 seconds, the system will automatically trigger a reset command.

[0007] Furthermore, the specific process of operating the turn signal switch according to the lane change direction in S1 is as follows: when changing lanes to the left, flick the switch upwards twice consecutively; when changing lanes to the right, flick the switch downwards twice consecutively.

[0008] Furthermore, S1 also includes: distinguishing between rearview mirror adjustment commands and regular turn signal operations by recognizing the characteristics of the turn signal switch operation and the current scene to filter invalid triggers, including: filtering by press operation mode and filtering by scene matching; The system filters out regular turn signal operations based on the operation method, which involve a single flick, while triggering the rearview mirror adjustment requires two consecutive flicks, and the turn signal does not flash after the operation. The scenario-based filtering means that if there is no need for a non-parallel lane change, even if the system dials twice in a row, it will determine that there is no need to change lanes based on the road conditions and will not activate the rearview mirror adjustment.

[0009] Furthermore, the process in S2 where the H-bridge circuit activates the corresponding component to drive the original vehicle's rearview mirror folding motor to rotate in the forward direction is specifically as follows: If the left rearview mirror needs to be adjusted, the H-bridge circuit will activate the left rearview mirror folding motor side. The component connects the left wire of the motor to the power supply and the right wire to the ground. When the motor is powered in the forward direction, it drives the rotating shaft to rotate, thus rotating the left rearview mirror in the forward direction. If the right rearview mirror needs to be adjusted, the H-bridge circuit connects the right rearview mirror folding motor side. The components also connect the left wire of the motor to the power supply and the right wire to the ground, so that the motor runs in the forward direction to drive the right rearview mirror to rotate in the forward direction.

[0010] Furthermore, the specific method for calculating the optimal adjustment angle in S2, combining the data collected by the vehicle sensors, is as follows: Let the current speed of the vehicle be... Data is collected via CAN bus; the width of the road median strip is... Data collected by cameras; the radius of curvature of the curves on the road section is... Data is collected by GPS; and a scene reference angle is set according to the lane change scenario. Simultaneously define scene feature threshold variables: vehicle speed threshold. , threshold for isolation zone width Curvature radius threshold ; and scene feature conversion variables: vehicle speed conversion factor Width conversion factor Curvature conversion factor Optimal adjustment angle Calculated using the following all-variable formula: , Final calculation Must satisfy: If Then take ;like Then take .

[0011] Furthermore, the specific process of achieving closed-loop control through motor load current feedback in S2 is as follows: First, calculate the deviation between the real-time current and the theoretical current, using the following formula: , in, Indicates at time At that time, the absolute value of the deviation between the real-time collected value of the motor load current and the theoretical load current corresponding to the target angle; At any moment At that time, the real-time value of the motor load current is obtained by the current acquisition module; This indicates when the motor is driven to the target angle. The theoretical load current at that time is pre-stored in the control circuit and is obtained by establishing the angle-current mapping relationship through the previous calibration experiment. Based on the previously calibrated angle-current linear mapping relationship, the angle deviation and current deviation satisfy: , in, Indicates time At that time, the actual angle of the motor is different from the target angle. Deviation; The correction amount for motor power supply time is calculated based on the angle deviation, using the following formula: , in, For a moment Correction amount for motor power supply time; The reference power supply time for the motor to drive a unit angle is a pre-stored fixed value; when hour, If the value is positive, the control circuit extends the forward power supply time of the motor. The drive motor continues to rotate to the target angle; when hour, When the value is negative, the control circuit reverses the motor's direction, and the power supply time is... Adjust the angle back to the target value.

[0012] Furthermore, the specific process in S3 for verifying whether the safety conditions are met through multi-sensor fusion calculation is as follows: First, integrate the data collected from millimeter-wave radar, ultrasonic sensors, variable-angle rearview mirror cameras, and the CAN bus, and define the longitudinal relative distance between the rear target and the vehicle as... The vehicle's speed is The preset fixed safety braking time is The target behind is traveling at a speed of The lateral distance between the side target and the vehicle is The width of this vehicle body is And the vehicle and the target behind it during the lane change process. The real-time position coordinates at each time point are respectively , The preset fixed lane change completion time is Fixed safety distance is ; Then, the security conditions are verified by constructing a unified security decision logic: vertically, the following conditions must be met. Greater than and The product plus The ratio to twice the vehicle's maximum braking acceleration ensures no risk of rear-end collision; lateral requirements must be met. Greater than 1.5 times To avoid side collisions; the path must meet the following requirements. Any time period time, and The coordinate differences are all greater than Eliminate the risk of path intersection; If all three conditions—longitudinal, lateral, and path—are met, it is determined that it is safe to change lanes and a green light is triggered. If any one condition is not met, it is determined that lane changing is prohibited and a flashing red light and a buzzer warning are activated.

[0013] Furthermore, the specific process of the driver performing the reset operation according to the lane change direction in S4 is as follows: when changing lanes to the left, continuously flick the turn signal switch upwards 3 times; when changing lanes to the right, continuously flick the turn signal switch downwards 3 times.

[0014] As a second aspect of the present invention, a safe lane-changing system for non-parallel lanes based on a variable-angle rearview mirror is also provided, comprising: The adjustment command transmission unit is used by the driver to observe the road environment and combine the road condition data fed back by the vehicle assistance system to confirm that a non-parallel lane change is required, and then transmit the rearview mirror adjustment command to the control circuit according to the direction of the lane change by operating the turn signal switch. The angle adjustment unit, after receiving commands from the control circuit, performs two actions: first, it drives the original vehicle's rearview mirror folding motor to rotate forward by activating the corresponding component through the H-bridge circuit; second, it calculates the optimal adjustment angle based on data collected by vehicle sensors and achieves closed-loop control through motor load current feedback, correcting angle deviations in real time and triggering... Limiting device; The safe lane change verification unit is used by the driver to observe the traffic conditions behind through the adjusted rearview mirror. The system verifies whether the safety conditions are met through multi-sensor fusion calculation and provides prompt feedback. After the driver confirms that it is safe, he turns on the regular turn signal for the corresponding direction and executes the lane change. The rearview mirror position reset unit is used when the driver performs a reset operation in the direction of lane change after the vehicle has fully entered the target lane. At the same time, the system determines whether the rearview mirror has been fully reset by the motor load current and confirms whether the vehicle is driving stably by the steering wheel angle sensor. If the mirror is not manually reset within 10 seconds, the system will automatically trigger a reset command.

[0015] As a third aspect of the invention, a computer-readable storage medium is also provided, on which a computer program is stored, which is executed by a processor of any step of the described method for safe lane changing of a car in non-parallel lanes based on a variable-angle rearview mirror.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. The present invention provides a safe lane-changing method for vehicles using variable-angle rearview mirrors in non-parallel lanes. The driver, combining road environment data and vehicle assistance system road condition data, confirms the need for a non-parallel lane change and activates the turn signal switch to transmit a rearview mirror adjustment command to the control circuit. Simultaneously, the control circuit calculates the optimal adjustment angle based on vehicle sensor data and drives the rearview mirror folding motor to rotate forward via an H-bridge circuit. This technical feature ensures precise matching between the rearview mirror adjustment command triggering and actual road conditions, avoiding accidental triggering during routine operations. Furthermore, the calculation of the optimal adjustment angle can adapt to different non-parallel lane-changing scenarios, allowing the rearview mirror's field of view to specifically cover blind spots during lane changes. This solves the problem of traditional rearview mirrors having a fixed field of view and difficulty adapting to blind spots during non-parallel lane changes, improving the accuracy of pre-lane-change field of view coverage.

[0017] 2. The method for safe lane changing in non-parallel lanes based on variable-angle rearview mirrors of the present invention achieves closed-loop control through motor load current feedback. It collects the motor load current in real time and compares it with the theoretical current corresponding to the target angle, calculates the deviation, corrects the angle, and simultaneously triggers... The system includes a limit device, and verifies safety conditions through multi-sensor fusion calculations. This technical feature utilizes current feedback to dynamically correct angle deviations, ensuring that the actual angle of the rearview mirror precisely matches the target angle. The limit device prevents damage to components due to angle over-adjustment, while the multi-sensor fusion verification judges the safety of lane changes from dimensions such as longitudinal distance, lateral spacing, and path conflict, solving the problems of large deviations in manual angle adjustment and reliance on subjective experience in safety judgment, and ensuring accurate angle and reliable judgment of safety conditions before lane changes.

[0018] 3. The present invention provides a safe lane-changing method for vehicles in non-parallel lanes based on variable-angle rearview mirrors. After the vehicle fully enters the target lane, the driver performs a reset operation. Simultaneously, the system uses the motor load current to determine whether the rearview mirror is fully reset and the steering wheel angle sensor to confirm whether the vehicle is driving stably. If the driver does not manually reset the mirror within 10 seconds, the system automatically triggers a reset command. This technical feature constructs a reset mechanism combining manual and automatic methods. The motor load current detection ensures that the rearview mirror is fully reset, the steering wheel angle sensor confirms the vehicle's driving status to avoid affecting driving stability during reset, and the automatic reset function prevents the driver from forgetting to reset, which could lead to abnormal visibility during subsequent driving. This solves the problems of traditional rearview mirror resets relying on manual intervention, being easily forgotten, and lacking reset status detection, ensuring that the rearview mirror function quickly returns to normal after lane changing. Attached Figure Description

[0019] Figure 1 This is a flowchart of a method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror according to an embodiment of the present invention. Figure 2 This is a schematic diagram of parallel lane changing according to an embodiment of the present invention; Figure 3 This is a schematic diagram of lane changing in the median strip according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a ramp lane change according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the adjustment circuit according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the system units in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0021] Example 1 Please refer to Figure 1 This embodiment 1 provides a method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror, including: S1. After observing the road environment and combining the road condition data fed back by the vehicle assistance system, the driver confirms that a non-parallel lane change is required, and then operates the turn signal switch according to the direction of the lane change to transmit the rearview mirror adjustment command to the control circuit. S2. After receiving the command, the control circuit firstly drives the original vehicle's rearview mirror folding motor to rotate forward by activating the corresponding component through the H-bridge circuit; secondly, it calculates the optimal adjustment angle based on data collected by the vehicle sensors and achieves closed-loop control through motor load current feedback, correcting angle deviations in real time and triggering... Limiting device; S3. The driver observes the traffic conditions behind through the adjusted rearview mirror, and the system verifies whether the safety conditions are met through multi-sensor fusion calculation and provides prompt feedback; after the driver confirms that it is safe, he turns on the regular turn signal for the corresponding direction and performs a lane change; S4. After the vehicle has fully entered the target lane, the driver performs a reset operation in the direction of lane change; at the same time, the system determines whether the rearview mirror has been fully reset by the motor load current and confirms whether the vehicle is driving stably by the steering wheel angle sensor; if it is not manually reset within 10 seconds, the system will automatically trigger a reset command.

[0022] (1) Transmission of adjustment instructions Please refer to Figure 2 , Figure 3 as well as Figure 4In non-parallel lane changing scenarios, traditional rearview mirrors, with their fixed angles, struggle to cover blind spots created by lane angles. Furthermore, manually adjusting the mirrors while driving can distract the driver and increase operational risks. To address this issue, drivers must first observe the road environment, including the width of median strips and the direction of ramp curves. Simultaneously, they must combine this information with real-time road condition data from vehicle assistance systems, such as the distance to vehicles behind and the position of targets to the side, to comprehensively determine whether a non-parallel lane change is truly necessary, such as crossing a median strip or merging onto the main road from a ramp.

[0023] After confirming the lane change request, the driver operates the turn signal switch according to the direction of the lane change, thereby transmitting the rearview mirror adjustment command: to change lanes to the left, the turn signal switch is flicked upwards twice consecutively; to change lanes to the right, the turn signal switch is flicked downwards twice consecutively. Simultaneously, to avoid confusion with regular turn signal operations and filter out invalid triggers, the system has a dual recognition mechanism: when filtering by operation method, a regular turn signal operation is a single flick followed by a flashing turn signal, while triggering rearview mirror adjustment requires two consecutive flicks, and this operation only activates the adjustment command, without flashing the turn signal. The system excludes regular operations based on the combination of "number of flicks + light status" characteristics. When filtering by scenario matching, the system considers the vehicle's current position, speed, and the dynamics of surrounding targets, such as whether it is near a ramp entrance, a gap in the median strip, or whether a wider field of vision is needed when merging at low speed. If it determines that a non-parallel lane change is not currently required, even if two consecutive flicks occur, the rearview mirror adjustment will not be activated, further reducing the probability of false triggers.

[0024] This process, through a combination of "manual judgment and system verification," ensures that the rearview mirror adjustment command is precisely matched with the non-parallel lane change requirement. This avoids the safety hazards of traditional manual adjustment and ensures operational accuracy through a dual filtering mechanism. It also prepares the subsequent steps for the control circuit to receive the command, drive the H-bridge circuit to conduct components, and call vehicle sensor data to calculate the optimal adjustment angle, ensuring the reliability of the entire lane change assistance process from the command triggering stage.

[0025] (2) Angle adjustment After receiving the command, the control circuit drives the original vehicle's rearview mirror folding motor to rotate forward via the H-bridge circuit. Please refer to... Figure 5 During this process, the circuit precisely controls the activation of the components to adjust the position of the rearview mirror as needed. When adjusting the left rearview mirror, the H-bridge circuit activates the left rearview mirror folding motor side. The component connects the left wire of the motor to the power supply and the right wire to the ground. Under the action of the positive current, the motor drives the rotating shaft to rotate, thus realizing the forward rotation of the left rearview mirror. When adjusting the right rearview mirror, the H-bridge circuit conducts power to the right rearview mirror folding motor side. The components use the same current conduction method, that is, the left wire of the motor is connected to the power supply and the right wire is grounded, driving the right rearview mirror to complete the forward rotation, ensuring that both rearview mirrors can be accurately started and adjusted according to the command.

[0026] On the other hand, the control circuit calculates the optimal adjustment angle by combining data collected by vehicle sensors. During the calculation, the system integrates multi-dimensional real-time road condition information, including the vehicle's current speed obtained via the CAN bus, the width of the road median captured by the camera, and the radius of curvature of the road curve obtained from GPS positioning. It also references a preset scenario reference angle for lane-changing scenarios, as well as pre-set thresholds for vehicle speed, median width, and curve radius, along with corresponding conversion factors. Specifically, the method for calculating the optimal adjustment angle using data collected by vehicle sensors is as follows: Let the current speed of the vehicle be... Data is collected via CAN bus; the width of the road median strip is... Data collected by cameras; the radius of curvature of the curves on the road section is... Data is collected by GPS; and a scene reference angle is set according to the lane change scenario. Simultaneously define scene feature threshold variables: vehicle speed threshold. , threshold for isolation zone width Curvature radius threshold ; and scene feature conversion variables: vehicle speed conversion factor Width conversion factor Curvature conversion factor Optimal adjustment angle Calculated using the following all-variable formula: , To ensure safe and reasonable adjustments, the system will limit the results, ensuring that the final optimal adjustment angle does not exceed 30° or fall below the scene's reference angle, so that the rearview mirror angle can accurately adapt to the field of vision requirements of the current non-parallel lane change scenario; the final calculated Must satisfy: If Then take ;like Then take .

[0027] Meanwhile, the system achieves closed-loop control through motor load current feedback to ensure the accuracy of rearview mirror angle adjustment. Specifically, the deviation between the real-time current and the theoretical current is first calculated, using the following formula: , in, Indicates at time At that time, the absolute value of the deviation between the real-time collected value of the motor load current and the theoretical load current corresponding to the target angle; At any moment At that time, the real-time value of the motor load current is obtained by the current acquisition module; This indicates when the motor is driven to the target angle. The theoretical load current at that time is pre-stored in the control circuit and is obtained by establishing the angle-current mapping relationship through the previous calibration experiment. Based on the previously calibrated angle-current linear mapping relationship, the angle deviation and current deviation satisfy: , in, Indicates time At that time, the actual angle of the motor is different from the target angle. Deviation; The correction amount for motor power supply time is calculated based on the angle deviation, using the following formula: , in, For a moment Correction amount for motor power supply time; The reference power supply time for the motor to drive a unit angle is a pre-stored fixed value; when hour, If the value is positive, the control circuit extends the forward power supply time of the motor. The drive motor continues to rotate to the target angle; when hour, When the value is negative, the control circuit reverses the motor's direction, and the power supply time is... Adjust the angle back to the target value.

[0028] During this process, the 30° limit device will be triggered simultaneously to prevent the rearview mirror adjustment angle from exceeding the safe range and avoid damage to the components due to excessive rotation.

[0029] (3) Safe lane change verification After adjusting the rearview mirror angle, the driver observes the traffic situation behind them using the adjusted mirror. At this point, the rearview mirror has been adjusted to the optimal angle to meet the blind spot requirements of non-parallel lane change scenarios. Compared to traditional fixed-angle rearview mirrors, it provides a clearer and more comprehensive view of the side and rear lanes, helping the driver intuitively grasp the driving status of vehicles behind, the position of non-motorized vehicles, and road obstacles, providing more sufficient visual support for subsequent manual judgment. Simultaneously, the system initiates a multi-sensor fusion computing method, forming a complete process from data acquisition to logical judgment, verifying whether the current conditions for a safe lane change are met, ensuring the scientific and reliable nature of the lane change decision.

[0030] The system first integrates multi-source data, summarizing the speed and distance data of long-range targets collected by millimeter-wave radar, the data of near-range obstacles collected by ultrasonic sensors, the visual details and target shape data captured by the variable-angle rearview mirror camera, and the vehicle's driving speed, steering status, and other operational data transmitted via the CAN bus. From this, it extracts the key parameters required for safety judgment. These parameters include the longitudinal relative distance between the rear target and the vehicle, the vehicle's speed, the preset fixed safe braking time, the rear target's speed, the lateral distance between the side target and the vehicle, the vehicle's width, and the real-time position coordinates of the vehicle and the rear target at any moment during the lane change process. Simultaneously, it retrieves the fixed lane change completion time and fixed safe distance pre-stored in the system.

[0031] Specifically, in a preferred embodiment, the process of verifying whether the safety conditions are met using a multi-sensor fusion calculation method is as follows: First, integrate the data collected from millimeter-wave radar, ultrasonic sensors, variable-angle rearview mirror cameras, and the CAN bus, and define the longitudinal relative distance between the rear target and the vehicle as... The vehicle's speed is The preset fixed safety braking time is The target behind is traveling at a speed of The lateral distance between the side target and the vehicle is The width of this vehicle body is And the vehicle and the target behind it during the lane change process. The real-time position coordinates at each time point are respectively , The preset fixed lane change completion time is Fixed safety distance is ; Then, the security conditions are verified by constructing a unified security decision logic: vertically, the following conditions must be met. Greater than and The product plus The ratio to twice the vehicle's maximum braking acceleration ensures no risk of rear-end collision; lateral requirements must be met. Greater than 1.5 times To avoid side collisions; the path must meet the following requirements. Any time period time, and The coordinate differences are all greater than Eliminate the risk of path intersection; Only when all three conditions—longitudinal, lateral, and path—are met will the system determine that the current state is safe for lane changing, and immediately trigger a green light warning inside the vehicle, conveying a clear signal to the driver that lane changing is permissible. If any condition is not met, such as insufficient longitudinal distance, insufficient lateral spacing, or a risk of intersection, lane changing is deemed prohibited, and a flashing red light and a buzzer warning are activated to remind the driver of the danger of changing lanes. After seeing the green light warning and further confirming through the adjusted rearview mirror that there are no abnormalities behind, the driver then activates the corresponding turn signal to signal the intention to change lanes to other vehicles, officially executing the non-parallel lane change operation. The entire process achieves dual safety assurance through "human observation + system verification."

[0032] (4) Reset the rearview mirror position. After the vehicle has fully entered the target lane, the driver must reset the rearview mirror in the direction of the lane change. The specific operation corresponds to the adjustment command during the lane change: if the previous lane change was to the left, pull the turn signal switch upwards three times consecutively; if the previous lane change was to the right, pull the turn signal switch downwards three times consecutively.

[0033] While the driver performs the reset operation, the system activates a dual verification mechanism. On one hand, the system monitors the motor load current in real time to determine whether the rearview mirror has fully reset. When the rearview mirror returns to the normal driving angle, the motor load will reach the preset reset current threshold, and the system will confirm that the mechanical structure has returned to its initial position. On the other hand, the system uses data from the steering wheel angle sensor to confirm whether the vehicle is driving stably. Only when the steering wheel angle remains within a preset small angle range, indicating that the vehicle is driving straight along the target lane, is the rearview mirror allowed to complete its final reset, thus avoiding the need for temporary visibility when resetting while the vehicle is still turning.

[0034] If the driver fails to manually reset the mirror within 10 seconds of entering the target lane due to negligence or distraction, the system will automatically trigger a reset command. This automatic reset mechanism, as a supplement to manual operation, effectively prevents the rearview mirror from remaining at a non-parallel lane-changing angle due to driver forgetting to reset, avoiding visual deviations when driving in parallel lanes later, ensuring the rearview mirror function quickly returns to normal, and guaranteeing subsequent driving safety. The entire reset process, through a design combining manual operation, system verification, and automatic fallback, balances ease of operation with functional reliability.

[0035] Example 2 Please refer to Figure 6 This embodiment 2 provides a safe lane-changing system for vehicles in non-parallel lanes based on a variable-angle rearview mirror, including: The adjustment command transmission unit is used by the driver to observe the road environment and combine the road condition data fed back by the vehicle assistance system to confirm that a non-parallel lane change is required, and then transmit the rearview mirror adjustment command to the control circuit according to the direction of the lane change by operating the turn signal switch. The angle adjustment unit, after receiving commands from the control circuit, performs two actions: first, it drives the original vehicle's rearview mirror folding motor to rotate forward by activating the corresponding component through the H-bridge circuit; second, it calculates the optimal adjustment angle based on data collected by vehicle sensors and achieves closed-loop control through motor load current feedback, correcting angle deviations in real time and triggering... Limiting device; The safe lane change verification unit is used by the driver to observe the traffic conditions behind through the adjusted rearview mirror. The system verifies whether the safety conditions are met through multi-sensor fusion calculation and provides prompt feedback. After the driver confirms that it is safe, he turns on the regular turn signal for the corresponding direction and executes the lane change. The rearview mirror position reset unit is used when the driver performs a reset operation in the direction of lane change after the vehicle has fully entered the target lane. At the same time, the system determines whether the rearview mirror has been fully reset by the motor load current and confirms whether the vehicle is driving stably by the steering wheel angle sensor. If the mirror is not manually reset within 10 seconds, the system will automatically trigger a reset command.

[0036] Example 3 This embodiment 3 also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement any step of the method for safe lane changing of a car in non-parallel lanes based on a variable-angle rearview mirror.

[0037] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0038] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.

[0039] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for safe lane changing in non-parallel lanes of a vehicle based on a variable-angle rearview mirror, characterized in that, include: S1. After observing the road environment and combining the road condition data fed back by the vehicle assistance system, the driver confirms that a non-parallel lane change is required, and then operates the turn signal switch according to the direction of the lane change to transmit the rearview mirror adjustment command to the control circuit. S2. After receiving the command, the control circuit firstly drives the original vehicle's rearview mirror folding motor to rotate forward by activating the corresponding component through the H-bridge circuit; secondly, it calculates the optimal adjustment angle based on data collected by the vehicle sensors and achieves closed-loop control through motor load current feedback, correcting angle deviations in real time and triggering... Limiting device; S3. The driver observes the traffic conditions behind through the adjusted rearview mirror, and the system verifies whether the safety conditions are met through multi-sensor fusion calculation and provides prompt feedback; after the driver confirms that it is safe, he turns on the regular turn signal for the corresponding direction and performs a lane change; S4. After the vehicle has fully entered the target lane, the driver performs a reset operation in the direction of the lane change; simultaneously, the system determines whether the rearview mirrors have fully reset via the motor load current and confirms whether the vehicle is driving stably via the steering wheel angle sensor; if not manually reset within 10 seconds, the system will automatically trigger a reset command; The specific process of achieving closed-loop control through motor load current feedback in S2 is as follows: First, calculate the deviation between the real-time current and the theoretical current, using the following formula: in, Indicates at time At that time, the absolute value of the deviation between the real-time collected value of the motor load current and the theoretical load current corresponding to the target angle; At any moment At that time, the real-time value of the motor load current is obtained by the current acquisition module; This indicates when the motor drives to the target angle. The theoretical load current at that time is pre-stored in the control circuit and is obtained by establishing the angle-current mapping relationship through the previous calibration experiment. Based on the previously calibrated angle-current linear mapping relationship, the angle deviation and current deviation satisfy: in, Indicates time At that time, the actual angle of the motor is different from the target angle. Deviation; The correction amount for motor power supply time is calculated based on the angle deviation, using the following formula: in, For a moment Correction amount for motor power supply time; The reference power supply time for the motor to drive a unit angle is a pre-stored fixed value; when hour, If the value is positive, the control circuit extends the forward power supply time of the motor. The drive motor continues to rotate to the target angle; when hour, When the value is negative, the control circuit reverses the motor's direction, and the power supply time is... Adjust the angle back to the target value.

2. The method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror according to claim 1, characterized in that, The specific process of operating the turn signal switch according to the lane change direction in S1 is as follows: when changing lanes to the left, flick the switch upwards twice consecutively; when changing lanes to the right, flick the switch downwards twice consecutively.

3. The method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror according to claim 1, characterized in that, S1 further includes: distinguishing between rearview mirror adjustment commands and regular turn signal operations by recognizing the characteristics of turn signal switch operation and the current scene to filter invalid triggers, including: filtering by press operation mode and filtering by scene matching; The system filters out regular turn signal operations based on the operation method, which involve a single flick, while triggering the rearview mirror adjustment requires two consecutive flicks, and the turn signal does not flash after the operation. The scenario-based filtering means that if there is no need for a non-parallel lane change, even if the system dials twice in a row, it will determine that there is no need to change lanes based on the road conditions and will not activate the rearview mirror adjustment.

4. A method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror according to claim 1, characterized in that, The process in S2 where the H-bridge circuit activates the corresponding components to drive the original vehicle's rearview mirror folding motor to rotate forward is as follows: If the left rearview mirror needs to be adjusted, the H-bridge circuit will activate the left rearview mirror folding motor side. The component connects the left wire of the motor to the power supply and the right wire to the ground. When the motor is powered in the forward direction, it drives the rotating shaft to rotate, thus rotating the left rearview mirror in the forward direction. If the right rearview mirror needs to be adjusted, the H-bridge circuit connects the right rearview mirror folding motor side. The components also connect the left wire of the motor to the power supply and the right wire to the ground, so that the motor runs in the forward direction to drive the right rearview mirror to rotate in the forward direction.

5. A method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror according to claim 1, characterized in that, The specific method for calculating the optimal adjustment angle in S2, based on data collected by the vehicle sensors, is as follows: Let the current speed of the vehicle be... Data is collected via CAN bus; the width of the road median strip is... Data collected by cameras; the radius of curvature of the curves on the road section is... Data is collected by GPS; and a scene reference angle is set according to the lane change scenario. Simultaneously define scene feature threshold variables: vehicle speed threshold. , threshold for isolation zone width Curvature radius threshold ; and scene feature conversion variables: vehicle speed conversion factor Width conversion factor Curvature conversion factor Optimal adjustment angle Calculated using the following all-variable formula: Final calculation Must satisfy: If Then take ;like Then take .

6. A method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror according to claim 1, characterized in that, The specific process in S3 for verifying whether the safety conditions are met using a multi-sensor fusion calculation method is as follows: First, integrate the data collected from millimeter-wave radar, ultrasonic sensors, variable-angle rearview mirror cameras, and the CAN bus, and define the longitudinal relative distance between the rear target and the vehicle as... The vehicle's speed is The preset fixed safety braking time is The target behind is traveling at a speed of The lateral distance between the side target and the vehicle is The width of this vehicle body is And the vehicle and the target behind it during the lane change process. The real-time position coordinates at each time point are respectively , The preset fixed lane change completion time is Fixed safety distance is ; Then, the security conditions are verified by constructing a unified security decision logic: vertically, the following conditions must be met. Greater than and The product plus The ratio to twice the vehicle's maximum braking acceleration ensures no risk of rear-end collision; lateral requirements must be met. Greater than 1.5 times To avoid side collisions; the path must meet the following requirements. Any time period time, and The coordinate differences are all greater than Eliminate the risk of path intersection; If all three conditions—longitudinal, lateral, and path—are met, it is determined that it is safe to change lanes and a green light is triggered. If any one condition is not met, it is determined that lane changing is prohibited and a flashing red light and a buzzer warning are activated.

7. A method for safe lane changing in non-parallel lanes based on a variable-angle rearview mirror according to claim 1, characterized in that, The specific process of the driver performing the reset operation according to the lane change direction in S4 is as follows: when changing lanes to the left, continuously flick the turn signal switch upwards 3 times; when changing lanes to the right, continuously flick the turn signal switch downwards 3 times.

8. A vehicle non-parallel lane changing safety system based on a variable-angle rearview mirror, used to implement the vehicle non-parallel lane changing safety method based on a variable-angle rearview mirror as described in claim 1, characterized in that, include: The adjustment command transmission unit is used by the driver to observe the road environment and combine the road condition data fed back by the vehicle assistance system to confirm that a non-parallel lane change is required, and then transmit the rearview mirror adjustment command to the control circuit according to the direction of the lane change by operating the turn signal switch. The angle adjustment unit, after receiving commands from the control circuit, performs two actions: first, it drives the original vehicle's rearview mirror folding motor to rotate forward by activating the corresponding component through the H-bridge circuit; second, it calculates the optimal adjustment angle based on data collected by vehicle sensors and achieves closed-loop control through motor load current feedback, correcting angle deviations in real time and triggering... Limiting device; The safe lane change verification unit is used by the driver to observe the traffic conditions behind through the adjusted rearview mirror. The system verifies whether the safety conditions are met through multi-sensor fusion calculation and provides prompt feedback. After the driver confirms that it is safe, he turns on the regular turn signal for the corresponding direction and executes the lane change. The rearview mirror position reset unit is used when the driver performs a reset operation in the direction of lane change after the vehicle has fully entered the target lane. At the same time, the system determines whether the rearview mirror has been fully reset by the motor load current and confirms whether the vehicle is driving stably by the steering wheel angle sensor. If the mirror is not manually reset within 10 seconds, the system will automatically trigger a reset command.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by a processor as described in any one of claims 1-7: a method for safe lane changing in non-parallel lanes of a vehicle based on a variable-angle rearview mirror.

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