Automobile rearview mirror control system, automobile rearview mirror and new energy automobile

Abstract

The invention discloses an automobile rearview mirror control system, an automobile rearview mirror and a new energy automobile, the automobile rearview mirror control system comprises an inside rearview mirror, an outside rearview mirror, a vehicle-mounted camera and a controller, and the inside rearview mirror, the outside rearview mirror and the vehicle-mounted camera are all electrically connected with the controller; the controller is provided with a rearview mirror angle control module, an image preprocessing module, an electronic rearview mirror display control module, a user posture monitoring module and an adjusting instruction automatic input module. The vehicle-mounted camera comprises a first camera and a second camera, the first camera is arranged in front of a driver's seat in the vehicle, and the second camera is arranged behind the vehicle; the interior rearview mirror comprises a first electronic rearview mirror; the user posture monitoring module comprises a head action recognition unit, a sight tracking unit and a rearview mirror observation area judgment unit. According to the automobile rearview mirror control system and the automobile rearview mirror, real-time automatic adjustment of the rearview mirror can be achieved.

Description

Technical Field

[0001] This invention belongs to the field of automotive rearview mirror technology, specifically referring to an automotive rearview mirror control system, an automotive rearview mirror, and a new energy vehicle. Background Technology

[0002] During vehicle operation, the rearview mirror serves as a crucial device for drivers to observe the environment behind and to the sides of the vehicle. Its ease of adjustment and adaptability directly impact driving safety and the driving experience. However, current mainstream automotive rearview mirror systems suffer from significant deficiencies in adjustment modes and driver adaptability, failing to meet diverse driving needs. Specific problems include:

[0003] The rearview mirrors (including interior and exterior mirrors) of existing new energy vehicles generally follow the adjustment logic of traditional fuel vehicles, relying on manual adjustment or fixed-mode electronic control adjustment, lacking automatic adjustment capabilities based on driver needs. Drivers need to manually rotate knobs, toggle mechanical levers, or repeatedly press touch buttons to gradually adjust the rearview mirror angle to find a suitable field of vision. The entire process is not only cumbersome but also requires distraction by looking down to find the operating parts. In scenarios requiring concentration, such as high-speed driving or urban congestion, this manual adjustment behavior can easily cause the driver's line of sight to deviate from the road ahead, increasing the risk of rear-end collisions, scrapes, and other traffic accidents. More importantly, the existing adjustment method relies entirely on the driver's active operation and cannot automatically correct the rearview mirror angle based on changes in the driver's posture during driving (such as slight forward leaning or seating adjustments). When the driver needs to temporarily adjust their seating position due to changes in road conditions, the original rearview mirror field of vision will shift accordingly, requiring manual adjustment again to restore a clear view. This is inefficient, affects driving continuity, and contradicts the user experience demands of "high efficiency and intelligence" in new energy vehicles.

[0004] Meanwhile, existing rearview mirror systems cannot effectively adapt to the different body types and observation habits of drivers, resulting in a serious lack of adaptability. Because different drivers have significant differences in height, posture, and observation habits, existing systems lack personalized adaptation mechanisms: each time the driver or passenger changes, the new driver needs to manually recalibrate all rearview mirror angles, and the calibration process relies on repeated attempts based on personal experience, making it difficult to accurately match their own field of vision needs; although some high-end new energy vehicles offer a seat and rearview mirror linkage memory function, it can only store 2-3 sets of fixed angles, unable to dynamically optimize the field of vision based on the driver's real-time head position and line of sight focus. For example, when the driver adjusts their line of sight height due to changes in posture or body type, the preset fixed angles cannot be adapted, still requiring manual correction, making operation inconvenient. Summary of the Invention

[0005] In order to overcome the problems existing in the prior art, the present invention designs a car rearview mirror control system and a car rearview mirror, which can realize real-time automatic adjustment of the rearview mirror.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a car rearview mirror control system, including an interior rearview mirror, an exterior rearview mirror, a vehicle-mounted camera, and a controller. The interior rearview mirror, the exterior rearview mirror, and the camera are all electrically connected to the controller. The controller is equipped with a rearview mirror angle control module, an image preprocessing module, an electronic rearview mirror display control module, a user posture monitoring module, and an automatic adjustment command input module.

[0007] The rearview mirror angle control module is used to control the horizontal orientation and vertical angle of the interior rearview mirror and the exterior rearview mirror;

[0008] The vehicle-mounted camera includes a first camera and a second camera. The first camera is positioned in front of the driver's seat inside the vehicle to capture images of the driver, and the second camera is positioned behind the vehicle to capture images of the rear of the vehicle. The image preprocessing module is used to preprocess the images captured by the vehicle-mounted camera and send them to the electronic rearview mirror display control module and the user posture monitoring module.

[0009] The vehicle rearview mirror includes a first electronic rearview mirror, and the electronic rearview mirror display control module is used to control the first electronic rearview mirror to display the image captured by the second camera after being preprocessed by the image preprocessing module;

[0010] The user posture monitoring module includes a head motion recognition unit, a gaze tracking unit, and a rearview mirror observation area determination unit. Images preprocessed by the image preprocessing module are sent to the head motion recognition unit and the gaze tracking unit. The head motion recognition unit identifies the driver's head position and rotation angle from the preprocessed image. The gaze tracking unit identifies the driver's pupil position from the preprocessed image and, combined with the head position and rotation angle feedback from the head motion recognition unit, determines the driver's facial orientation. The rearview mirror observation area determination unit determines the rearview mirror the driver is observing based on the data from the head motion recognition unit and the gaze tracking unit.

[0011] The first camera is provided in two parts, the two first cameras are located at the same height, and the horizontal angle between the two first cameras is 45 degrees.

[0012] The automatic adjustment command input module determines whether the rearview mirror angle needs to be adjusted based on the head movement detected by the head movement recognition unit when the driver observes the rearview mirror, and sends the adjustment command to the rearview mirror angle control module. The rearview mirror angle control module adjusts the angle of the rearview mirror that needs to be adjusted according to the adjustment command.

[0013] The electronic rearview mirror display control module is equipped with a marking and reminder unit. The marking and reminder unit performs image recognition on the image captured by the second camera to determine the distance of the vehicle behind. It compares adjacent frames of the image captured by the second camera and determines the speed of the vehicle behind by combining the current vehicle speed. It estimates the time required for a rear-end collision based on the speed and distance of the vehicle behind. When the time is less than a warning threshold, the electronic rearview mirror display control module controls the first electronic rearview mirror to select the vehicle in the displayed image.

[0014] Furthermore, the specific method by which the rearview mirror observation area determination unit determines whether the driver is observing the rearview mirror is as follows:

[0015] Step S1: Construct a 3D model of each rearview mirror in a virtual 3D space in advance, and obtain the current angle of each rearview mirror through the rearview mirror angle control module to adjust the angle of the 3D model of the rearview mirror in real time.

[0016] Step S2: The head motion recognition unit extracts facial features from the captured image and extracts key facial points, including key points of the corners of the eyes, nose, mouth, and pupils.

[0017] Step S3: Construct a 3D head model, and adjust the eye position and distance of the 3D head model so that the eye position of the 3D head model is consistent with the eye position of the driver;

[0018] Step S4: Adjust the position and rotation angle of the 3D head model according to the driver's head position and rotation angle fed back by the head motion recognition unit, and adjust the position and angle of the 3D head model in real time so that the key points of the 3D head model coincide with the key points of the driver's face in the captured image.

[0019] Step S5: Identify the key points of the driver's pupils in the image captured by the first camera, and adjust the orientation of the eyeball model of the 3D head model so that the key points of the pupils of the 3D head model coincide with the key points of the driver's pupils in the captured image;

[0020] Step S6: Construct a cylindrical detection area with the extension of the line connecting the center of the eyeball model and the center of the pupil as the axis. When the cylindrical detection area coincides with the three-dimensional model of any rearview mirror for a duration of more than 1 second, it is determined that the driver is observing the rearview mirror.

[0021] Furthermore, the user posture monitoring module also includes a calibration unit and a calibration guidance unit. The calibration unit is used in step S3 to calibrate the eye position and eye distance parameters of the head 3D model according to the driver's facial features.

[0022] The calibration guidance unit emits voice guidance through a speaker installed in the vehicle, guiding the driver to turn their head in different directions in sequence.

[0023] Furthermore, the user posture monitoring module also includes a face recognition unit and a data storage unit. The face recognition unit identifies the driver using captured facial images. Each driver's 3D head model is stored in the data storage unit. Based on the driver's identity identified by the face recognition unit, the data storage unit is queried to see if corresponding data exists. If so, the rearview mirror observation area judgment unit retrieves that data; otherwise, the calibration guidance unit prompts the driver to perform calibration. If the driver does not perform calibration, a default head 3D model is used. Once the driver's identity is identified, their data is automatically retrieved, eliminating the need for repeated calibration.

[0024] Furthermore, each of the left and right exterior rearview mirrors is equipped with a third camera at its top. The interior rearview mirror also includes two second electronic rearview mirrors, one on each side of the vehicle interior. The electronic rearview mirror display control module controls the two second electronic rearview mirrors to display the side and rear views captured by the left and right third cameras and preprocessed by the image preprocessing module. The image preprocessed image avoids glare, enhances road contours, and reduces rain and fog. When it is inconvenient to observe the exterior rearview mirrors, the second electronic rearview mirrors can be used.

[0025] Furthermore, a reflective rearview mirror is provided on the back of the first electronic rearview mirror. When the screen or camera of the first electronic rearview mirror malfunctions, the motor used to adjust the angle of the first electronic rearview mirror can be used to drive the first electronic rearview mirror to flip to the back and switch to using the reflective rearview mirror.

[0026] Furthermore, the controller also includes a vehicle speed feedback module, which adjusts the angles of the two exterior rearview mirrors according to changes in vehicle speed. When the vehicle speed exceeds a speed threshold, the rearview mirror angle control module controls the two exterior rearview mirrors to deflect outwards until the third camera captures a vehicle outline that does not exceed a preset detection area. Each speed threshold has a corresponding preset detection area. The vehicle speed feedback module determines the vehicle speed by recognizing the image from the third camera or by connecting to the vehicle system to obtain the real-time vehicle speed.

[0027] Furthermore, it also includes a manual control panel located on the driver's side. The manual control panel is electrically connected to the controller. The manual control panel has three switching buttons for switching the controlled rearview mirrors. Pressing the corresponding button switches between controlling the first electronic rearview mirror and the two exterior rearview mirrors. It also includes an orientation adjustment knob for controlling the horizontal orientation of the rearview mirrors, an angle adjustment knob for controlling the vertical tilt angle of the rearview mirrors, and a flip button for flipping the first electronic rearview mirror to the back to use the reflective rearview mirror. As an alternative control method, the driver can actively adjust the rearview mirror angle.

[0028] A car rearview mirror, applied to the aforementioned car rearview mirror control system, includes an interior rearview mirror and an exterior rearview mirror. The first electronic rearview mirror is mounted on an adjustment bracket, which includes a rotating base and an angle adjustment bracket. The rotating base is equipped with an orientation adjustment motor, and the angle adjustment bracket is equipped with an angle adjustment motor. The exterior rearview mirror is a conventional adjustable mirror.

[0029] A new energy vehicle uses the above-mentioned automotive rearview mirror control system, in which the vehicle's onboard battery supplies power to the interior rearview mirror, the exterior rearview mirror, the onboard camera, and the controller.

[0030] The beneficial effects of the automotive rearview mirror control system, automotive rearview mirror, and new energy vehicle of the present invention are as follows: A first camera captures the driver's image; a user posture monitoring module identifies head movements and gaze focus position; an automatic adjustment command input module judges and sends adjustment commands accordingly; and a rearview mirror angle control module controls the motor to adjust the angle. This achieves real-time automatic adjustment of the rearview mirror based on the driver's posture and observation needs, eliminating the need for repeated manual operation by the driver, reducing driver distraction, and improving driving safety and continuity. The user posture monitoring module includes a calibration unit and a calibration guidance unit, which can calibrate and re-divide the latent space judgment area according to different driver observation habits. A face recognition unit can identify the driver's identity, and a data storage unit retrieves data from the corresponding judgment area, effectively adapting to different drivers' height, body type, observation habits, and changes in glasses and hairstyles, eliminating the need for manual recalibration every time a driver changes. A third camera is installed at the top of the exterior rearview mirror, and second electronic rearview mirrors are installed on both sides inside the vehicle. The electronic rearview mirror display control module controls the display of pre-processed side and rear views. Pre-processing avoids glare, enhances road contours, and reduces the impact of rain and fog, improving the clarity of side and rear visibility in adverse weather or complex road conditions. A reflective rearview mirror is installed on the back of the first electronic rearview mirror. When the electronic rearview mirror screen or camera malfunctions, the reflective rearview mirror can be flipped by a motor to ensure the continuity of rearview mirror function and avoid loss of vision due to malfunction. The controller includes a vehicle speed feedback module, which can adjust the angle of the exterior rearview mirror according to changes in vehicle speed. When the vehicle speed exceeds a threshold, the rearview mirror is controlled to deflect outwards until the third camera captures the vehicle's contours within a preset detection area, adapting to the vision requirements at different vehicle speeds and reducing blind spots at high speeds. A manual operation panel is provided, allowing the driver to select the rearview mirror to control via a switch button, manually adjust the angle using the orientation and angle adjustment knobs, and switch to a reflective rearview mirror via a flip button, providing the driver with alternative control methods to meet their active adjustment needs and improve usability. Attached Figure Description

[0031] Figure 1 This is a system architecture diagram of a car rearview mirror control system according to the present invention;

[0032] Figure 2 This is a system architecture diagram of a marking reminder unit in a car rearview mirror control system according to the present invention;

[0033] Figure 3 This is a system architecture diagram of the user posture monitoring module of a car rearview mirror control system according to the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of the manual operation panel of a car rearview mirror control system according to the present invention.

[0035] Figure 5This is a schematic diagram of the structure of a first electronic rearview mirror for automobiles according to the present invention.

[0036] Among them, 1-interior rearview mirror, 11-first electronic rearview mirror, 12-second electronic rearview mirror, 13-reflective rearview mirror, 2-exterior rearview mirror, 3-vehicle camera, 31-first camera, 32-second camera, 33-third camera, 4-controller, 41-rearview mirror angle control module, 42-image preprocessing module, 43-electronic rearview mirror display control module, 44-user posture monitoring module, 441-head motion recognition unit, 442-eye tracking unit, 443- Rearview mirror observation area judgment unit, 444-calibration unit, 445-calibration guidance unit, 446-face recognition unit, 447-data storage unit, 45-adjustment command automatic input module, 46-vehicle speed feedback module, 5-manual operation panel, 51-switch button, 52-orientation adjustment knob, 53-angle adjustment knob, 54-flip knob, 6-adjustment bracket, 61-rotating base, 611-orientation adjustment motor, 62-angle adjustment bracket, 621-angle adjustment motor. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figure 1-4 As shown, the present invention is a car rearview mirror control system, including an interior rearview mirror 1, an exterior rearview mirror 2, a vehicle-mounted camera 3, and a controller 4. The interior rearview mirror 1, the exterior rearview mirror 2, and the vehicle-mounted camera 3 are all electrically connected to the controller 4. The controller 4 is equipped with a rearview mirror angle control module 41, an image preprocessing module 42, an electronic rearview mirror display control module 43, a user posture monitoring module 44, and an adjustment command automatic input module 45.

[0039] Both the interior rearview mirror 1 and the exterior rearview mirror 2 are equipped with motors for adjusting the rearview mirror angles. The motors are stepper motors. The rearview mirror angle control module 41 controls the horizontal orientation and vertical angle of the interior rearview mirror 1 and the exterior rearview mirror 2 by controlling the number of rotations of each motor. The rearview mirror angle control module 41 stores the mapping relationship between the number of rotations and the angle.

[0040] The rearview mirror angle control module 41 adopts a motor drive + position closed-loop control method. Specific parameters and logic are as follows:

[0041] Hardware selection: The orientation adjustment motor 611 adopts a 28BYJ-48 stepper motor with a step angle of 5.625° / 64, a reduction ratio of 1:64, and a torque of 0.4 kg・cm. The angle adjustment motor 621 adopts the same model and works with the AS5600 position sensor to achieve position feedback.

[0042] Adjustment accuracy control: 0.1° is set as one adjustment unit, which is achieved by stepper motor microstepping drive (microstepping coefficient 16), that is, every 2 pulses correspond to 0.1° adjustment, with an error ≤0.05°;

[0043] Control logic: After receiving the adjustment direction and unit quantity instructions from the automatic input module, the system first queries the current angle of the position sensor, calculates the difference between the target angle and the current angle. If the difference is positive, the motor rotates forward; if the difference is negative, the motor rotates in reverse. After reaching the target angle, the system sends an adjustment completion signal to controller 4.

[0044] The vehicle-mounted camera 3 includes a first camera 31 and a second camera 32. The first camera 31 is located in front of the driver's seat inside the vehicle to capture the driver, and the second camera 32 is located behind the vehicle to capture images of the rear of the vehicle. The image preprocessing module 42 is used to preprocess the images captured by the vehicle-mounted camera 3 and send them to the electronic rearview mirror display control module 43 and the user posture monitoring module 44.

[0045] The vehicle rearview mirror 1 includes a first electronic rearview mirror 11, and the electronic rearview mirror display control module 43 is used to control the first electronic rearview mirror 11 to display the image captured by the second camera 32 after being preprocessed by the image preprocessing module 42;

[0046] The image preprocessing module employs differentiated processing strategies for images from different cameras:

[0047] First camera 31 (driver's image):

[0048] Noise reduction: Gaussian filtering (kernelsize 3×3, σ=1.2) is used.

[0049] Cropping: Based on the face detection results, retain the face area extended by 20 pixels and remove background redundancy;

[0050] Second camera 32 / Third camera 33 (exterior view):

[0051] High-light processing: HDR compositing (3 frames of images with different exposure times of 10ms, 20ms, and 40ms) is used to suppress glare from high beams;

[0052] Rain and fog handling: A dark channel prior algorithm (window size 15×15) is used to remove rain and fog interference and improve the clarity of road outlines;

[0053] Size normalization: The image is scaled to 1280×720 pixels to match the electronic rearview mirror screen resolution (1280×720).

[0054] The user posture monitoring module 44 includes a head motion recognition unit 441, a gaze tracking unit 442, and a rearview mirror observation area determination unit 443. Images preprocessed by the image preprocessing module 42 are sent to the head motion recognition unit 441 and the gaze tracking unit 442, respectively. The head motion recognition unit 441 identifies the driver's head position and rotation angle from the preprocessed images. The gaze tracking unit 442 identifies the driver's pupil position from the preprocessed images and, combined with the driver's head position and rotation angle fed back by the head motion recognition unit 441, determines the driver's facial orientation. The rearview mirror observation area determination unit 443 is used to determine the rearview mirror the driver is observing based on the data fed back by the head motion recognition unit 441 and the gaze tracking unit 442.

[0055] The head action recognition unit 441 uses the 68-point face landmark detection model (model: shape_predictor_68_face_landmarks.dat) from the Dlib open-source algorithm library to locate the key points of the eyebrows, eyes, nose, and jaw, and obtain the coordinates of each key point on the image in real time. The specific implementation steps are as follows: Step A1: Perform grayscale processing on the driver image captured by the first camera (using the weighted average method: Y=0.299R+0.587G+0.114B) to eliminate redundant information in the color channel and improve feature extraction efficiency;

[0056] Step A2: Locate the face region using a Haar cascade classifier (training set based on 100,000 in-vehicle driver face images), crop out a 256×256 pixel face ROI (region of interest), and eliminate background interference;

[0057] Step A3: Call the Dlib68 point model to locate the pixel coordinates of the eyebrows (17 key points), eyes (12 key points, 6 for each eye), nose (13 key points), jaw (17 key points), and corners of the mouth (9 key points), and output the key point matrix (68×2, with columns representing the X-axis and Y-axis coordinates respectively).

[0058] Step A4: Select core reference points (center of both eyes: average X / Y coordinates of 6 key points in the left eye, average X / Y coordinates of 6 key points in the right eye; tip of the nose: key point No. 31; midpoint of the chin: key point No. 9). Two first cameras 31 are provided, based on the principle of binocular stereo vision (the two first cameras have a horizontal angle of 45°, a baseline distance of 150mm, and a focal length of 8mm), through binocular vision... Figure 3 The angularization formula calculates the three-dimensional spatial coordinates of the core reference point:

[0059] Triangulation formula: Let the coordinates of point P in the left camera coordinate system be... The coordinates of point P in the right camera coordinate system are Based on the epipolar constraint and the camera intrinsic parameter matrix (which has been pre-calibrated: intrinsic parameter matrix K=[[800,0,128],[0,800,128],[0,0,1]], distortion coefficients k1=-0.38, k2=0.15), the world coordinates (Xw,Yw,Zw) of P are obtained.

[0060] Step A5: Using the world coordinates of the center of the eyes as the geometric center of the head, calculate the direction vector of the line connecting the geometric center of the head and the tip of the nose. The angle between this vector and the Z-axis of the vehicle coordinate system (vertical to the ground and upward) is the head pitch angle, and the angle between this vector and the X-axis (the direction of vehicle movement) is the head left and right rotation angle.

[0061] The specific sub-steps of step A5:

[0062] Step A51: Determine the coordinates of key feature points: Based on the facial feature points (corners of the eyes, tip of the nose) extracted by the image preprocessing module 42 and the constructed 3D head model, obtain the world coordinates P of the center of the eyes in the vehicle coordinate system. eye (x eye ,y eye ,z eye (Take the center point P of the left and right pupils) left (x l ,y l ,z l ), P right (x r ,y r ,z r Connect the midpoints of the line, formula: x eye =(x l +x r ) / 2, y eye =(y l +y r ) / 2, z eye =(z l +z r () / 2), and simultaneously obtain the world coordinates P of the nose tip point. nose (xnose ,y nose ,z nose );

[0063] Step A52: Calculate the direction vector: with the center of both eyes P eye Given the geometric center of the head, calculate the direction vector of the line connecting the geometric center of the head and the tip of the nose. ,formula: =P nose -P eye =(x nose -x eye ,y nose -y eye ,z nose -z eye );

[0064] Step A53: Calculate the head pitch angle: Let the unit vector of the vehicle coordinate system's Z-axis (vertical to the ground and upward) be... Calculate the direction vector using the dot product formula (i.e., head pitch angle), formula: The pitch angle is obtained by α = arccos(cosα).

[0065] Step A54: Calculate the left and right head rotation angles: Let the unit vector of the vehicle coordinate system's X-axis (vehicle forward direction) be... Similarly, calculate the direction vector. (i.e., the angle of left and right head rotation), formula: The left and right rotation angles are obtained by β=arccos(cosβ).

[0066] The gaze tracking unit 442 uses the pupil-corneal reflex method, combined with head movement data, to determine the direction of gaze. The specific process is as follows:

[0067] Step B1: Binarize the face ROI image to separate the pupil and iris regions. The threshold is set using the Otsu adaptive algorithm. The pupil center coordinates are located by Hough circle detection with the following parameters: minimum radius 6 pixels, maximum radius 15 pixels.

[0068] Step B2: Using the near-infrared fill light built into the first camera with a wavelength of 850nm, capture the corneal reflective spot, calculate the pixel offset between the pupil center and the reflective spot, and combine it with the camera intrinsic parameters to convert it into the pupil's orientation vector in three-dimensional space.

[0069] Step B3: Call the head rotation angle output by the head motion recognition unit to perform coordinate correction on the pupil orientation vector (to eliminate the interference of head rotation on the direction of vision) and obtain the direction vector of the driver's actual line of sight in the vehicle coordinate system.

[0070] Step B4: Combine the line of sight vector with the head's left and right rotation angle and pitch angle to output facial orientation data, providing a basis for judging the observation area in the rearview mirror.

[0071] Redundancy handling in low-light scenarios: To address the issue of feature recognition failure due to insufficient lighting inside the vehicle (such as at night or while driving in tunnels), a multi-level redundancy strategy is implemented:

[0072] Redundancy 1: The first camera integrates a light intensity sensor (model: BH1750, detection range 1-65535lx). When the ambient light intensity is detected to be <30lx, the near-infrared fill light (power 1W, brightness adjustable in stages) is automatically turned on. The fill light intensity is negatively correlated with the light intensity (100% fill light intensity at 10lx light intensity, 30% fill light intensity at 30lx light intensity) to ensure that facial features are clearly visible.

[0073] Redundancy 2: If ≥40 facial key points still cannot be detected after supplemental lighting, it is determined that the lighting is severely insufficient. The controller will automatically switch to the basic adjustment mode and adjust the rearview mirror angle based on the vehicle speed feedback module data. For example, when the vehicle speed is >60km / h, the exterior rearview mirror will be deflected outward by 2°. At the same time, a voice prompt will be issued through the in-vehicle speaker: "Insufficient lighting, basic mode has been switched."

[0074] Handling strategies for scenarios where the face is obscured: For situations where the driver is wearing a mask, glasses, hat, or other covering, a tiered approach will be adopted:

[0075] For mild occlusion, 40-50 facial key points were detected. For example, if the jaw is covered by a mask, a facial symmetry completion algorithm is used to generate the missing key points on the other side based on the detected unilateral facial key points (such as the left eye and the left corner of the mouth) through mirror symmetry.

[0076] In cases of moderate occlusion, 30-40 facial key points are detected. For example, when wearing a mask and glasses, the core key points such as the eyes and the tip of the nose are prioritized and the occluded jaw and corner of the mouth are ignored. The direction of the gaze is determined by a simplified model using the core point-gaze vector. At the same time, the driver is prompted that the face is occluded and the adjustment accuracy decreases.

[0077] In cases of severe occlusion, if less than 30 facial key points are detected, such as when wearing a full-face mask, the automatic adjustment function will be automatically turned off, switching to manual mode. The indicator light on the manual control panel will be illuminated, and a voice prompt will be given: "Face occlusion is severe, please manually adjust the rearview mirror."

[0078] The automatic adjustment command input module 45 determines whether the rearview mirror angle needs to be adjusted based on the head movement detected by the head movement recognition unit 441 when the driver observes the rearview mirror, and sends the adjustment command to the rearview mirror angle control module 41. The rearview mirror angle control module 41 adjusts the angle of the rearview mirror that needs to be adjusted according to the adjustment command. When the rearview mirror observation area determination unit 443 determines that the driver is observing the left-side exterior rearview mirror 2, if the head movement recognition unit 441 detects that the driver's head has moved to the left, and determines that the angle between the left-side exterior rearview mirror 2 and the vehicle body is too large, then the rearview mirror angle control module 41 controls the left-side exterior rearview mirror 2 to adjust inward by several units of angle; when the rearview mirror observation area determination unit 443 determines that the driver is observing the left-side exterior rearview mirror 2, if the head movement recognition unit 441 detects that the driver's head has moved to the right, and determines that the angle between the left-side exterior rearview mirror 2 and the vehicle body is too small, then the rearview mirror angle control module 41 controls the left-side exterior rearview mirror 2 to adjust outward by several units of angle; when the rearview mirror observation area determination unit 443 determines that the driver is observing the right-side exterior rearview mirror 2 or the first electronic rearview mirror 11, if If the head movement recognition unit 441 detects that the driver's head has moved to the left, and determines that the angle between the right-side rearview mirror 2 and the vehicle body is too small, then the rearview mirror angle control module 41 controls the right-side rearview mirror 2 to adjust outward by a certain number of units. The specific number of units to adjust is determined based on the change in viewing angle caused by the head movement. If the head movement recognition unit 441 detects that the driver's head has moved to the right, and determines that the angle between the right-side rearview mirror 2 and the vehicle body is too large, then the rearview mirror angle control module 41 controls the right-side rearview mirror 2 to adjust inward by a certain number of units. The default unit angle is 'a' degrees. Based on the change in viewing angle 'b' caused by the head movement recognition unit 441 detecting the driver's head movement, the rearview mirror angle control module 41 determines the specific adjustment by 'c' units. The calculation formula is: c = kb / a, where k is set to 0.5 by default and a is set to 0.1 degrees by default.

[0079] The electronic rearview mirror display control module 43 is equipped with a marking and reminder unit 431. The marking and reminder unit 431 performs image recognition on the images captured by the second camera 32 to determine the distance to vehicles approaching from behind. It determines the distance by recognizing the position of the bottom outline of the vehicle behind in the image. It also compares adjacent frames of the images captured by the second camera 32 and determines the speed of the vehicle behind by combining the current vehicle speed. The relative speed of the vehicle behind is obtained by dividing the change in distance between adjacent frames by the time difference between adjacent frames. The sum of the vehicle's speed and the relative speed of the vehicle behind equals the absolute speed of the vehicle behind. The real-time driving speed of the vehicle is obtained through the vehicle's CAN bus or a vehicle speed sensor, and the speed data is synchronized with the image frames by timestamp to avoid... To avoid errors caused by time offset, the system estimates the time required for a rear-end collision based on the speed and distance of vehicles approaching from behind. When the time is less than a warning threshold, the electronic rearview mirror display control module 43 controls the first electronic rearview mirror 11 to select the vehicle in the displayed image. A speaker is electrically connected to the controller 4, which is connected to the vehicle system. The controller 4 acquires driver input through the vehicle system. When the driver activates the turn signal, and the estimated time for a rear-end collision with a vehicle in the lane about to change lanes is less than the warning threshold, a voice alarm is issued through the speaker to remind the driver to postpone the lane change. Furthermore, when the estimated time for a rear-end collision with a vehicle directly behind is less than the warning threshold, a voice alarm is issued through the speaker to remind the driver to accelerate or avoid the collision.

[0080] Furthermore, the specific method by which the rearview mirror observation area determination unit 443 determines whether the driver is observing the rearview mirror is as follows:

[0081] Step S1: Construct a three-dimensional model of each rearview mirror in a virtual three-dimensional space in advance, and obtain the current angle of each rearview mirror through the rearview mirror angle control module 41 to adjust the angle of the three-dimensional model of the rearview mirror in real time.

[0082] Step S2: The head motion recognition unit 441 extracts facial features from the captured image and extracts key facial points, including key points of the corners of the eyes, nose, mouth, and pupils.

[0083] Step S3: Construct a 3D head model, adjust the eye position and distance of the 3D head model so that the eye position of the 3D head model is consistent with the driver's eye position located by the 68-point facial key point model; the eye socket position of the 3D facial key point model is equipped with an eyeball model that can rotate around the center of the sphere.

[0084] Step S4: Adjust the position and rotation angle of the 3D head model based on the driver's head position and rotation angle fed back by the head motion recognition unit 441, and adjust the position and angle of the 3D head model in real time to make the key points of the 3D head model coincide with the key points of the driver's face in the captured image; through dual vision... Figure 3 Angularity calculations are performed to obtain the spatial coordinates of each key point in the 3D facial key point model, which are used to adjust the eye position and eye distance of the 3D head model.

[0085] Step S5: Identify the key points of the driver's pupils in the image captured by the first camera 31, and adjust the orientation of the eyeball model of the three-dimensional head model so that the key points of the pupils of the three-dimensional head model coincide with the key points of the driver's pupils in the captured image;

[0086] Step S6: Construct a cylindrical detection area with the extension of the line connecting the center of the eyeball model and the center of the pupil as the axis. When the cylindrical detection area coincides with the three-dimensional model of any rearview mirror for a duration of more than 1 second, it is determined that the driver is observing the rearview mirror.

[0087] To prevent unintentional head tilting from accidentally triggering adjustment, an intention verification mechanism is implemented:

[0088] Step D1: When the head motion recognition unit detects continuous head deflection (e.g., turning to the left > 10°), start a 3-second timer;

[0089] Step D2: During the timing period, the rearview mirror observation area judgment unit continuously detects whether the line of sight direction vector coincides with the three-dimensional model of the rearview mirror (cylindrical detection area parameters: radius 5cm, length 30cm, starting from the center of the eyeball).

[0090] Step D3: If the line of sight overlaps with the rearview mirror model for ≥1.5 seconds within 3 seconds, it is determined to be intentional observation, and an adjustment command is triggered; if the overlap time is <1.5 seconds, it is determined to be unintentional head tilting, no adjustment command is sent, and the timer is reset.

[0091] Step D4: If unintentional head tilting is detected 5 times in a row, the controller records it as driver instability and pauses automatic adjustment for 1 minute to avoid frequent misoperation.

[0092] Furthermore, the user posture monitoring module 44 also includes a calibration unit 444 and a calibration guidance unit 445. The calibration unit 444 is used in step S3 to calibrate the eye position and eye distance parameters of the head three-dimensional model according to the driver's facial features.

[0093] The calibration guidance unit 445 emits voice guidance through a speaker installed in the vehicle, guiding the driver to turn their head in different directions in sequence, which facilitates taking multi-angle head photos, improves the accuracy of facial key point positioning, and more accurately calibrates the eye position and eye distance parameters of the head 3D model.

[0094] Furthermore, the user posture monitoring module 44 also includes a face recognition unit 446 and a data storage unit 447. The face recognition unit 446 identifies the driver using a captured image of the driver's face. The 3D head model data for each driver is stored in the data storage unit 447. Based on the driver's identity identified by the face recognition unit 446, the data storage unit 447 is queried to see if there is corresponding data. If so, the rearview mirror observation area judgment unit 443 retrieves the data; otherwise, the calibration guidance unit 445 prompts the driver to perform calibration. If the driver does not perform calibration, the default head 3D model is used. Once the driver's identity is identified, their data is automatically retrieved, eliminating the need for repeated calibration.

[0095] Furthermore, the face recognition unit 446 employs existing face recognition technologies, such as LBP (Local Binary Pattern) combined with Support Vector Machine (SVM). It extracts facial texture features through LBP and combines them with SVM for classification and matching. Specific implementation steps are as follows:

[0096] Step C1: Extract LBP features (neighborhood radius 3 pixels, sampling points 8) from the preprocessed face image to generate a 256-dimensional feature vector;

[0097] Step C2: Input the feature vector into the pre-trained SVM classifier (the training set contains facial data of 500 drivers, 100 images of each driver under different poses and lighting conditions are collected, and the classification accuracy is ≥98%), and output the driver identification result.

[0098] Step C3: The data storage unit uses the lightweight SQLite database, with the storage format being "driver ID - head 3D model parameters (eye distance, eye height, facial contour key points) - rearview mirror preferred angle", and the retrieval latency is ≤100ms;

[0099] Sub-steps of step C2:

[0100] Step C21: Retrieve the trained SVM classifier model parameters (including support vectors, class labels, and kernel function parameters) from the data storage unit 447. These model parameters are generated based on the facial data of 500 drivers to ensure that the model can adapt to the differences in facial features of different drivers.

[0101] Step C22: Standardize the 256-dimensional LBP feature vector extracted in step C1 using the Z-Score formula: x norm = , where μ is the mean of the feature vector and σ is the standard deviation of the feature vector) eliminates the dimensional differences of features of different dimensions, ensuring that the feature data input to the SVM classifier are within the same numerical range, thereby improving classification accuracy;

[0102] Step C23: Input the standardized feature vector into the SVM classifier. The classifier calculates the similarity between the feature vector and all support vectors using a kernel function. Based on the similarity result and the preset classification threshold, it determines the driver's identity to which the feature vector belongs and outputs the corresponding driver identity recognition result.

[0103] Step C24: Verify the credibility of the output driver identification result. Determine the confidence level of the classification result by using the decision function value output by the SVM classifier. If the confidence level is ≥ the preset threshold, the driver identification result is confirmed to be valid. If the confidence level is < the preset threshold, the driver identification result is determined to be questionable, and the calibration guidance unit 445 is triggered to prompt the driver to recalibrate.

[0104] Step C25: Send the driver identification result with a confidence level to the rearview mirror observation area judgment unit 443, and simultaneously store it in the temporary cache area of ​​the data storage unit 447 for subsequent retrieval of the head 3D model data corresponding to the driver. When the driver identification result is questionable, output a signal that the driver's valid identity has not been identified.

[0105] Furthermore, if the driver is wearing a mask or glasses, facial recognition may be impaired due to facial obstruction, preventing the complete identification of facial key points. In this case, a voice prompt will be sent via speaker to remind the driver to remove the unnecessary facial obstruction. If some facial key points cannot be identified due to facial obstruction, the system can automatically fill in and predict the positions of the remaining facial key points based on facial symmetry and pre-stored facial models to monitor the user's posture. If this is insufficient for accurate judgment, the automatic rearview mirror angle adjustment function will not be activated to avoid incorrect adjustment of the rearview mirror angle due to misjudgment. If the number of valid key points is less than 50, the system is deemed insufficient for accurate judgment.

[0106] Furthermore, the controller 4 is equipped with a voice-controlled recognition and reset module. A microphone is provided at the driver's seat for the driver to input voice commands. When the voice-controlled recognition and reset module detects that the driver says "reset" through voice recognition, it resets the exterior rearview mirror 2 to the previously adjusted angle. If the driver issues the "reset" command twice during a single driving session, it is determined that the rearview mirror angle adjustment may be malfunctioning, and the automatic rearview mirror angle adjustment function is turned off.

[0107] Furthermore, each of the left and right exterior rearview mirrors 2 is equipped with a third camera 33 at its top. The interior rearview mirror 1 also includes a second electronic rearview mirror 12. There are two second electronic rearview mirrors 12, respectively located on both sides of the vehicle interior. The electronic rearview mirror display control module 43 controls the two second electronic rearview mirrors 12 to display the side and rear views captured by the left and right third cameras 33 and preprocessed by the image preprocessing module 42. When the angle of the exterior rearview mirrors 2 is adjusted by the rearview mirror angle control module 41, the shooting angle of the third cameras 33 also changes simultaneously. The image after image preprocessing can avoid glare, enhance road contours, and reduce rain and fog. When it is inconvenient to observe the exterior rearview mirrors 2, the second electronic rearview mirrors 12 can be used.

[0108] When the rearview mirror observation area determination unit 443 determines that the driver is observing the second electronic rearview mirror 12 on the left, if the head action recognition unit 441 detects that the driver's head has moved to the left, and determines that the angle between the left exterior rearview mirror 2 and the vehicle body is too large, causing the image captured by the left third camera 33 to be biased outward, then the rearview mirror angle control module 41 controls the left exterior rearview mirror 2 to adjust inward by several units of angle; if the head action recognition unit 441 detects that the driver's head has moved to the right, and determines that the angle between the left exterior rearview mirror 2 and the vehicle body is too small, causing the image captured by the left third camera 33 to be biased inward, then the rearview mirror angle control module 41 controls the left exterior rearview mirror 2 to adjust outward by several units of angle. When the rearview mirror observation area determination unit 443 determines that the driver is observing the second electronic rearview mirror 12 on the right, if the head movement recognition unit 441 detects that the driver's head has moved to the left, and determines that the angle between the right exterior rearview mirror 2 and the vehicle body is too small, causing the image captured by the right third camera 33 to be biased inward, then the rearview mirror angle control module 41 controls the right exterior rearview mirror 2 to adjust outward by several units of angle; when the rearview mirror observation area determination unit 443 determines that the driver is observing the second electronic rearview mirror 12 on the right, if the head movement recognition unit 441 detects that the driver's head has moved to the right, and determines that the angle between the right exterior rearview mirror 2 and the vehicle body is too large, causing the image captured by the right third camera 33 to be biased outward, then the rearview mirror angle control module 41 controls the left exterior rearview mirror 2 to adjust inward by several units of angle. When using electronic rearview mirrors, drivers often habitually move their heads to get a wider field of view because of their accustomed habits of using conventional reflective rearview mirrors. However, conventional electronic rearview mirrors display images captured by fixed cameras, and the displayed image does not change with the viewing angle. Drivers often find that the image does not change after moving their heads, and then manually control the camera to change the shooting angle. This is not only inconvenient to use, but also makes it difficult to observe the rear in a timely manner. Automatic adjustment is recommended to facilitate driver observation.

[0109] Furthermore, a reflective rearview mirror 13 is provided on the back of the first electronic rearview mirror 11. When the screen or camera of the first electronic rearview mirror 11 malfunctions, the first electronic rearview mirror 11 can be flipped to the back by the motor used to adjust the rearview mirror angle, and the reflective rearview mirror 13 can be used instead.

[0110] To address hardware failures such as those involving cameras, screens, and motors, a failover backup mechanism should be implemented.

[0111] If the second camera 32 has no image output (for 3 consecutive frames), the electronic rearview mirror display control module 43 automatically switches to the reflective mirror mode, and the rearview mirror angle control module 41 controls the first electronic rearview mirror 11 to flip to the back and use the reflective rearview mirror 13 instead.

[0112] If the third camera 33 has no image output (for 3 consecutive frames), the electronic rearview mirror display control module 43 controls the second electronic rearview mirror 12 to display a text prompt: Camera malfunction, the external reflective rearview mirror has been switched.

[0113] If the rearview mirror angle control module 41 sends an adjustment command and the motor position sensor (model: AS5600, 12-bit resolution) does not provide feedback (for 500ms), it is determined to be a motor fault, the automatic adjustment function of the rearview mirror is turned off, and the fault indicator light is illuminated.

[0114] If the screen of the first electronic rearview mirror does not display (for 2 seconds), the motor will automatically trigger to flip the rearview mirror and switch to the reflective rearview mirror. After the fault is repaired, the electronic mode can be restored by flipping button 54.

[0115] Furthermore, the controller 4 also includes a vehicle speed feedback module 46. The vehicle speed feedback module 46 adjusts the angles of the two exterior rearview mirrors 2 according to changes in vehicle speed. When the vehicle speed is greater than a speed threshold, the rearview mirror angle control module 41 controls the two exterior rearview mirrors 2 to deflect outwards until the third camera 33 captures the vehicle outline within a preset detection area, thus expanding the long-distance rearward field of view. Each speed threshold has a corresponding preset detection area. The vehicle speed feedback module 46 determines the vehicle speed by recognizing the image from the third camera 33, or by connecting to the vehicle system to obtain the real-time vehicle speed.

[0116] Furthermore, it also includes a manual control panel 5, which is located on the driver's side and electrically connected to the controller 4. The manual control panel 5 has three switching buttons 51 for switching the controlled rearview mirrors. Pressing the corresponding button 51 switches between the first electronic rearview mirror 11 and the two exterior rearview mirrors 2. An orientation adjustment knob 52 controls the horizontal orientation of the rearview mirrors, and an angle adjustment knob 53 controls the vertical tilt angle. A flip button 54 controls the first electronic rearview mirror 11 to flip to the back and use the reflective rearview mirror 13. As an alternative control method, the driver can actively adjust the rearview mirror angle.

[0117] The underlying timing logic for module cooperation: Data interaction between modules uses CAN bus communication (500kbps baud rate), and the timing flow is as follows:

[0118] Initialization phase (within 1 second after power-on): The controller sends a self-test command to all modules, and each module reports its status (normal / fault); the face recognition unit starts identity recognition, calls the head model data in the data storage unit, and sends it to the user posture monitoring module; the rearview mirror angle control module reads the current angle of each rearview mirror and sends it to the electronic rearview mirror display control module to build a 3D model of the rearview mirror.

[0119] During real-time operation (normal driving): The first camera captures one image frame every 33ms (30fps) and sends it to the image preprocessing module; the image preprocessing module outputs one preprocessed image frame every 33ms and sends it synchronously to the head motion recognition unit and the gaze tracking unit; the head motion recognition unit and the gaze tracking unit output a recognition result every 66ms (15fps) and send it to the rearview mirror observation area judgment unit; the rearview mirror observation area judgment unit outputs a judgment result on whether to observe the rearview mirror every 66ms and sends it to the automatic adjustment command input module; the automatic adjustment command input module generates an adjustment command every 100ms (if adjustment is required) and sends it to the rearview mirror angle control module;

[0120] Step E1: The first camera 31 works continuously at a frequency of acquiring one frame of driver image every 33ms (corresponding to a frame rate of 30fps). After acquisition, the raw image data is immediately sent to the image preprocessing module 42 via the CAN bus to ensure the real-time transmission of image data and provide basic data for subsequent preprocessing steps.

[0121] Step E2: After receiving the original image sent by the first camera 31, the image preprocessing module 42 completes differential preprocessing within 33ms to generate a preprocessed image. Then, the preprocessed image is synchronously sent to the head action recognition unit 441 and the gaze tracking unit 442 via the CAN bus to ensure that the two units can obtain the latest image data at the same time and avoid recognition deviation caused by data transmission delay. Differential preprocessing includes Gaussian filtering of the driver image and face region cropping.

[0122] Step E3: After receiving the preprocessed image, the head motion recognition unit 441 and the gaze tracking unit 442 perform data processing in parallel. The head motion recognition unit 441 identifies the driver's head position and rotation angle using the Dlib68 point model. The gaze tracking unit 442 identifies the pupil position using the pupil-corneal reflex method and determines the face orientation by combining the head data. Both units output the recognition result every 66ms (corresponding to a frame rate of 15fps) and send the recognition result to the rearview mirror observation area judgment unit 443 via the CAN bus to ensure that the recognition result can match the requirements of subsequent judgment steps.

[0123] Step E4: After receiving the recognition results from the head action recognition unit 441 and the eye tracking unit 442, the rearview mirror observation area judgment unit 443 combines the data from both within 66ms and determines whether the driver is observing a certain rearview mirror by the overlap between the cylindrical detection area and the three-dimensional model of the rearview mirror. After the judgment is completed, the judgment result of whether the driver is observing the rearview mirror is immediately sent to the adjustment command automatic input module 45 via the CAN bus.

[0124] Step E5: After receiving the judgment result from the rearview mirror observation area judgment unit 443, the automatic adjustment command input module 45 generates an adjustment command in the direction and number of units within 100ms when it determines that the driver is observing a rearview mirror and is making head movements. When no adjustment is needed, the automatic adjustment command input module 45 does not generate a command. After generating the command, the automatic adjustment command input module 45 sends the adjustment command to the rearview mirror angle control module 41 via the CAN bus to trigger the rearview mirror angle adjustment action.

[0125] Step E6: After receiving the adjustment command from the adjustment command automatic input module 45, the rearview mirror angle control module 41 queries the AS5600 position sensor to obtain the current angle of the rearview mirror, calculates the difference between the target angle and the current angle, controls the corresponding orientation adjustment motor 611 and angle adjustment motor 621 to rotate to the target angle, and sends an adjustment completion signal to the controller 4 after the adjustment is completed, forming a complete adjustment closed loop.

[0126] Anomaly handling phase (when a fault is detected): The faulty module (such as the camera) immediately sends a fault code to the controller; the controller sends a switching command to the relevant module (such as the electronic rearview mirror display control module switching the reflector mode) within 50ms; the fault information is synchronously stored in the data storage unit for later diagnosis.

[0127] Emergency Situation Handling Mechanism: Special handling is set up for unexpected scenarios during driving (such as sudden braking, head shaking caused by bumps):

[0128] Emergency braking scenario: The controller receives the emergency braking signal (deceleration > 5m / s²) from the vehicle's ESP system via the CAN bus, immediately suspends the automatic adjustment function to prevent accidental triggering of adjustment due to head tilt during emergency braking, and resumes the function 2 seconds after braking ends;

[0129] In turbulent scenarios: The head motion recognition unit is set to a displacement filter to filter out head movements with a duration of <200ms and an amplitude of <0.5° (determined to be caused by turbulence), and no adjustment trigger signal is output;

[0130] Multi-module collaborative failure: If the user posture monitoring module and the vehicle speed feedback module fail simultaneously, the controller will automatically switch to emergency mode, and the rearview mirror angle will be fixed at the factory preset safe angle (15° between the exterior rearview mirror and the vehicle body, and 5° tilt angle of the interior rearview mirror) until the failure is resolved.

[0131] like Figure 5 As shown: A car rearview mirror, applied to the aforementioned car rearview mirror control system, includes an interior rearview mirror 1 and an exterior rearview mirror 2. The first electronic rearview mirror 11 is mounted on an adjustment bracket 6. The adjustment bracket 6 includes a rotating base 61 and an angle adjustment bracket 62. The rotating base 61 is equipped with an orientation adjustment motor 611, and the angle adjustment bracket 62 is equipped with an angle adjustment motor 621. The exterior rearview mirror 2 is a conventional adjustable mirror.

[0132] A new energy vehicle employs the aforementioned automotive rearview mirror control system, characterized in that: the vehicle's onboard battery supplies power to the interior rearview mirror 1, the exterior rearview mirror 2, the onboard camera 3, and the controller 4. The vehicle's onboard battery includes a high-voltage power battery and a low-voltage storage battery. The high-voltage power battery powers the vehicle's drive system, while the low-voltage storage battery powers the vehicle's electrical appliances. The low-voltage storage battery, after voltage matching via a DC-DC converter, supplies power to the interior rearview mirror 1, the exterior rearview mirror 2, the onboard camera 3, and the controller 4.

[0133] The beneficial effects of the automotive rearview mirror control system, automotive rearview mirror, and new energy vehicle of the present invention are as follows: A first camera captures the driver's image; a user posture monitoring module identifies head movements and gaze focus position; an automatic adjustment command input module judges and sends adjustment commands accordingly; and a rearview mirror angle control module controls the motor to adjust the angle. This achieves real-time automatic adjustment of the rearview mirror based on the driver's posture and observation needs, eliminating the need for repeated manual operation by the driver, reducing driver distraction, and improving driving safety and continuity. The user posture monitoring module includes a calibration unit and a calibration guidance unit, which can calibrate and re-divide the latent space judgment area according to different driver observation habits. A face recognition unit can identify the driver's identity, and a data storage unit retrieves data from the corresponding judgment area, effectively adapting to different drivers' height, body type, observation habits, and changes in glasses and hairstyles, eliminating the need for manual recalibration every time a driver changes. A third camera is installed at the top of the exterior rearview mirror, and second electronic rearview mirrors are installed on both sides inside the vehicle. The electronic rearview mirror display control module controls the display of pre-processed side and rear views. Pre-processing avoids glare, enhances road contours, and reduces the impact of rain and fog, improving the clarity of side and rear visibility in adverse weather or complex road conditions. A reflective rearview mirror is installed on the back of the first electronic rearview mirror. When the electronic rearview mirror screen or camera malfunctions, the reflective rearview mirror can be flipped by a motor to ensure the continuity of rearview mirror function and avoid loss of vision due to malfunction. The controller includes a vehicle speed feedback module, which can adjust the angle of the exterior rearview mirror according to changes in vehicle speed. When the vehicle speed exceeds a threshold, the rearview mirror is controlled to deflect outwards until the third camera captures the vehicle's contours within a preset detection area, adapting to the vision requirements at different vehicle speeds and reducing blind spots at high speeds. A manual operation panel is provided, allowing the driver to select the rearview mirror to control via a switch button, manually adjust the angle using the orientation and angle adjustment knobs, and switch to a reflective rearview mirror via a flip button, providing the driver with alternative control methods to meet their active adjustment needs and improve usability.

[0134] The present invention and its embodiments have been described above. This description is not restrictive. The accompanying drawings are only one embodiment of the present invention. The actual content is not limited thereto. In short, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. A vehicle rearview mirror control system, characterized in that: The system includes an interior rearview mirror (1), an exterior rearview mirror (2), a vehicle camera (3), and a controller (4). The interior rearview mirror (1), the exterior rearview mirror (2), and the vehicle camera (3) are all electrically connected to the controller (4). The controller (4) is equipped with a rearview mirror angle control module (41), an image preprocessing module (42), an electronic rearview mirror display control module (43), a user posture monitoring module (44), and an automatic adjustment command input module (45). The rearview mirror angle control module (41) is used to control the horizontal orientation and vertical angle of the interior rearview mirror (1) and the exterior rearview mirror (2); The vehicle-mounted camera (3) includes a first camera (31) and a second camera (32). The first camera (31) is located in front of the driver's seat inside the vehicle to capture the driver, and the second camera (32) is located behind the vehicle to capture images of the rear of the vehicle. The image preprocessing module (42) is used to preprocess the images captured by the vehicle-mounted camera (3) and send them to the electronic rearview mirror display control module (43) and the user posture monitoring module (44). The vehicle rearview mirror (1) includes a first electronic rearview mirror (11), and the electronic rearview mirror display control module (43) is used to control the first electronic rearview mirror (11) to display the image captured by the second camera (32) after being preprocessed by the image preprocessing module (42); The user posture monitoring module (44) includes a head motion recognition unit (441), a gaze tracking unit (442), and a rearview mirror observation area determination unit (443). The images preprocessed by the image preprocessing module (42) are sent to the head motion recognition unit (441) and the gaze tracking unit (442), respectively. The head motion recognition unit (441) identifies the position and rotation angle of the driver's head in the preprocessed image. The gaze tracking unit (442) identifies the position of the driver's pupils in the preprocessed image and determines the driver's facial orientation based on the head position and rotation angle fed back by the head motion recognition unit (441). The rearview mirror observation area determination unit (443) is used to determine the rearview mirror that the driver is observing based on the data fed back by the head motion recognition unit (441) and the gaze tracking unit (442). There are two first cameras (31), and the horizontal angle between the two first cameras (31) is 45 degrees; The automatic input module (45) of the adjustment command determines whether the rearview mirror angle needs to be adjusted based on the head movement recognized by the head movement recognition unit (441) when the driver observes the rearview mirror, and sends the adjustment command to the rearview mirror angle control module (41). The rearview mirror angle control module (41) adjusts the angle of the rearview mirror that needs to be adjusted according to the adjustment command. The electronic rearview mirror display control module (43) is equipped with a marking reminder unit (431). The marking reminder unit (431) performs image recognition on the image captured by the second camera (32) to determine the distance of the vehicle behind; compares adjacent frames of the image captured by the second camera (32) and determines the speed of the vehicle behind by combining the current vehicle speed; and estimates the time required for the rear vehicle to be rear-ended by the speed and distance of the vehicle behind. When the time is less than the warning threshold, the electronic rearview mirror display control module (43) controls the first electronic rearview mirror (11) to select the vehicle in the displayed image. The specific procedure by which the rearview mirror observation area determination unit (443) determines whether the driver is observing the rearview mirror is as follows: Step S1: Construct a three-dimensional model of each rearview mirror in the virtual three-dimensional space in advance, and obtain the current angle of each rearview mirror through the rearview mirror angle control module (41) to adjust the angle of the three-dimensional model of the rearview mirror in real time. Step S2: The head action recognition unit (441) extracts facial features from the face in the acquired image and extracts key facial points, including key points of the corners of the eyes, nose, mouth, and pupils. Step S3: Construct a 3D head model, and adjust the eye position and distance of the 3D head model so that the eye position of the 3D head model is consistent with the eye position of the driver; Step S4: Adjust the position and rotation angle of the three-dimensional head model according to the driver's head position and rotation angle fed back by the head action recognition unit (441), and adjust the position and angle of the three-dimensional head model in real time so that the key points of the three-dimensional head model coincide with the key points of the driver's face in the captured image. Step S5: Identify the key points of the driver's pupils in the image captured by the first camera (31), and adjust the orientation of the eyeball model of the three-dimensional head model so that the key points of the pupils of the three-dimensional head model coincide with the key points of the driver's pupils in the captured image; Step S6: Construct a cylindrical detection area with the extension of the line connecting the center of the eyeball model and the center of the pupil as the axis. When the cylindrical detection area coincides with the three-dimensional model of any rearview mirror for a duration of more than 1 second, it is determined that the driver is observing the rearview mirror.

2. The automotive rearview mirror control system according to claim 1, characterized in that: The user posture monitoring module (44) further includes a calibration unit (444) and a calibration guidance unit (445). The calibration unit (444) is used in step S3 to calibrate the eye position and eye distance parameters of the head three-dimensional model according to the driver's facial features. The calibration guidance unit (445) emits voice guidance through a speaker installed in the vehicle, guiding the driver to turn their head in different directions in sequence.

3. A vehicle rearview mirror control system according to claim 2, characterized in that: The user posture monitoring module (44) further includes a face recognition unit (446) and a data storage unit (447). The face recognition unit (446) identifies the driver's identity using the captured driver's facial image. The head three-dimensional model data of each driver is stored in the data storage unit (447). Based on the driver's identity identified by the face recognition unit (446), the data storage unit (447) is queried to see if there is corresponding data. If there is, the rearview mirror observation area judgment unit (443) calls the head three-dimensional model data. If not, the calibration guidance unit (445) prompts the driver to perform calibration. If the driver does not perform calibration, the default head three-dimensional model data is called.

4. A vehicle rearview mirror control system according to claim 1, characterized in that: The top of each of the two exterior rearview mirrors (2) is equipped with a third camera (33). The interior rearview mirror (1) also includes a second electronic rearview mirror (12). There are two second electronic rearview mirrors (12), which are respectively located on the two sides of the vehicle interior. The electronic rearview mirror display control module (43) controls the two second electronic rearview mirrors (12) to display the side and rear images captured by the two third cameras (33) and preprocessed by the image preprocessing module (42).

5. A vehicle rearview mirror control system according to claim 1, characterized in that: The first electronic rearview mirror (11) has a reflective rearview mirror (13) on its back. When the screen or camera of the first electronic rearview mirror (11) malfunctions, the first electronic rearview mirror (11) can be flipped to the back by the motor used to adjust the rearview mirror angle of the first electronic rearview mirror (11) and the reflective rearview mirror (13) can be switched to be used.

6. A vehicle rearview mirror control system according to claim 4, characterized in that: The controller (4) also includes a vehicle speed feedback module (46). The vehicle speed feedback module (46) adjusts the angles of the two exterior rearview mirrors (2) according to the vehicle speed change. When the vehicle speed is greater than the speed threshold, the rearview mirror angle control module (41) controls the two exterior rearview mirrors (2) to deflect outward until the third camera (33) captures the outline of the vehicle body not exceeding the preset detection area. Each speed threshold has a corresponding preset detection area.

7. A vehicle rearview mirror control system according to claim 5, characterized in that: It also includes a manual operation panel (5), which is located on the driver's seat side and is electrically connected to the controller (4). The manual operation panel (5) is provided with a switching button (51), which is used to switch the controlled rearview mirror. There are three switching buttons (51). Pressing the corresponding switching button (51) can switch the control of the first electronic rearview mirror (11) and the two exterior rearview mirrors (2). There is an orientation adjustment knob (52) for controlling the horizontal orientation of the rearview mirror, and an angle adjustment knob (53) for controlling the vertical tilt angle of the rearview mirror. There is also a flip button (54) for controlling the first electronic rearview mirror (11) to flip to the back and use the reflective rearview mirror (13).

8. A car rearview mirror, applied to a car rearview mirror control system according to any one of claims 1-7, characterized in that: Includes the interior rearview mirror (1) and the exterior rearview mirror (2). The first electronic rearview mirror (11) is mounted on the adjustment bracket (6). The adjustment bracket (6) includes a rotating base (61) and an angle adjustment bracket (62). The rotating base (61) is provided with an orientation adjustment motor (611), and the angle adjustment bracket (62) is provided with an angle adjustment motor (621).

9. A new energy vehicle, employing a rearview mirror control system as described in any one of claims 1-7, characterized in that: The vehicle battery of the new energy vehicle supplies power to the interior rearview mirror (1), the exterior rearview mirror (2), the vehicle camera (3) and the controller (4).

Images