Frameless rearview mirror control method and device, electronic equipment and vehicle

Abstract

The embodiment of the invention provides a frameless rearview mirror control method and device, electronic equipment and a vehicle, and the method comprises the steps: obtaining a current position state of a frameless rearview mirror, and generating a folding / unfolding instruction through the current position state; executing the instruction, performing soft start on the frameless rearview mirror, and controlling a motor to output a duty ratio at a first preset growth slope to drive the frameless rearview mirror to move; when the frameless rearview mirror moves to the preset soft stop position, the motor is controlled to output a duty ratio at a first preset descending slope to drive the frameless rearview mirror to move to a target movement position; when a preset condition is met, responding to a lens direction adjusting instruction, carrying out soft start on the frameless rearview mirror, and controlling the motor to output a duty ratio at a second preset growth slope to carry out lens direction adjustment; and in response to the adjustment stopping instruction, the motor is controlled to output a duty ratio at a second preset descending slope to drive the frameless rearview mirror to complete lens direction adjustment, so that the product reliability and the user experience are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a frameless rearview mirror control method, device, electronic device, and vehicle. Background Technology

[0002] Car exterior rearview mirrors are crucial components for ensuring the driver's side and rear visibility and are related to driving safety. With the pursuit of aerodynamics and aesthetics in automotive industrial design, frameless rearview mirrors have emerged and gradually become more widespread. These mirrors differ fundamentally from traditional products in structure: they eliminate the separate lens frame, mechanically coupling the lens to the outer housing. This combines the folding / unfolding action of the rearview mirror with the lens angle adjustment action, all driven by a single motor. Simultaneously, to cope with accidental collisions, this design typically retains the mechanical characteristic that the entire rearview mirror assembly can be passively bent and reset.

[0003] Currently, the control strategies for frameless rearview mirrors are mostly extensions and improvements upon traditional frameless rearview mirror control schemes. A typical approach is to use a high-edge drive motor to directly move the system to a preset target angle. For traditional rearview mirrors that only need to drive lightweight lenses, this method has low power requirements, smooth movement, and no significant problems. However, when this control logic is directly applied to frameless rearview mirrors, because the entire assembly consisting of the lens and housing needs to be driven, its inertia and power requirements increase significantly. The direct-positioning drive method leads to substantial mechanical shock. This shock, over time, accelerates the wear of the transmission mechanism (such as gears), causing gear backlash to widen, which in turn leads to abnormal noises during adjustment, lens wobbling, and ultimately severely impacts the product's lifespan and user experience. Summary of the Invention

[0004] This application provides a frameless rearview mirror control method, device, electronic device, and vehicle, aiming to improve the current frameless rearview mirror control strategy, which can lead to significant mechanical impact. This impact, over time, accelerates the wear of the transmission mechanism (such as gears), causing increased gear clearance, which in turn leads to abnormal noises during adjustment, lens wobbling, and ultimately severely impacts the product's lifespan and user experience.

[0005] To address the aforementioned problems, this application discloses a method for generating frameless rearview mirror controls, the method comprising: Obtain the current position state of the frameless rearview mirror, and generate a folding / unfolding command containing the target movement position based on the current position state; Execute the folding / unfolding command to control the motor of the frameless rearview mirror to soft start the frameless rearview mirror, and drive the frameless rearview mirror to move with the duty cycle output at the first preset growth slope. When the frameless rearview mirror is detected to have moved to a preset soft stop position, the control motor outputs a duty cycle with a first preset descent slope to drive the frameless rearview mirror to the target movement position. When the frameless rearview mirror meets the preset conditions at the target movement position, in response to the user's lens direction adjustment command, the motor is controlled to soft start the frameless rearview mirror, and the duty cycle is output with a second preset growth slope to drive the frameless rearview mirror to adjust the lens direction. In response to the user's stop adjustment command, the control motor drives the frameless rearview mirror to complete the lens orientation adjustment with a second preset descent slope output duty cycle.

[0006] As can be seen from the above technical means, by determining the current position of the frameless rearview mirror, erroneous commands are avoided due to position misjudgment. Through "soft start" and "output duty cycle with a first preset growth slope," the motor power starts from a low value and increases smoothly and linearly, allowing the frameless rearview mirror to be smoothly "lifted" from a stationary state. This greatly reduces mechanical impact and protects the transmission gears. By setting a preset soft stop position, the motor power decreases smoothly with a first preset descent slope, allowing the frameless rearview mirror to smoothly "park" in the target moving position, avoiding the "hitting the wall" effect and mechanism vibration caused by a hard stop. This achieves shock-free control of the frameless rearview mirror's movement. During "lens adjustment," the same "soft start" and "output duty cycle with a second preset growth slope" ensure a smooth and shock-free adjustment process. The smooth descent of the motor power with a second preset descent slope ensures a smooth termination of the lens adjustment action, avoiding lens jitter during final positioning. This stabilizes the field of vision, improving the user's adjustment experience and driving safety. The speed curve control using a combination of "soft start" and "soft stop" in the above process solves the mechanical impact problem caused by the large inertia of the frameless rearview mirror, eliminates abnormal noise and shaking, reduces wear on the transmission mechanism, effectively extends the product's service life, and improves product reliability and user experience.

[0007] Optionally, executing the folding / unfolding command to control the motor of the frameless rearview mirror to soft-start the frameless rearview mirror includes: Execute the folding / unfolding command to control the motor of the frameless rearview mirror to run at a first preset duty cycle; When the time during which the motor operates at a first preset duty cycle reaches a first preset time, a soft start is performed on the frameless rearview mirror.

[0008] As can be seen from the above technical means, by starting with low power and maintaining a buffer time, the instantaneous impact and rigid wear caused by traditional starting methods to core transmission components such as gears and worm gears are fundamentally eliminated. This effectively prevents the loosening of the mechanism, gear damage and abnormal noise caused by long-term impact, thereby ensuring the structural integrity, smoothness of movement and overall reliability of the frameless rearview mirror in long-term use.

[0009] Optionally, the step of driving the frameless rearview mirror to move with the duty cycle output at a first preset growth slope includes: The output duty cycle of the motor is controlled to increase according to the first preset growth slope, with the first preset duty cycle as the first initial value. If the increasing output duty cycle is determined to reach a duty cycle threshold, the output duty cycle of the motor is controlled to stop increasing; The frameless rearview mirror is driven to move by the output duty cycle of the motor. During the movement of the frameless rearview mirror, the folding angle of the frameless rearview mirror is detected in real time by an angle sensor. If the folding angle reaches the angle threshold, it is determined that the frameless rearview mirror has moved to the preset soft stop position.

[0010] As can be seen from the above technical means, by introducing a linear power acceleration process after soft start and finally making electronic prediction based on real-time angle feedback, the movement of the rearview mirror is made more stable and smooth, effectively avoiding shocks and vibrations during the start-up and operation phases, and laying a solid foundation for achieving precise and gentle soft stop in the future. This significantly improves the accuracy and stability of motor control, as well as the durability of the entire mechanical system and the user experience.

[0011] Optionally, the control motor drives the frameless rearview mirror to move to the target movement position with a first preset descent slope output duty cycle, including: The output duty cycle of the motor is controlled to be the second initial value with a duty cycle threshold, and the motor descends according to the first preset descent slope. The frameless rearview mirror is driven to move by the output duty cycle of the motor. Real-time monitoring of the movement position of the frameless rearview mirror; If the output duty cycle drops to the first preset duty cycle, and the movement position of the frameless rearview mirror does not reach the target movement position, then the motor is controlled to drive the frameless rearview mirror to move at a constant speed to the target movement position at the first preset duty cycle.

[0012] As can be seen from the above technical means, this application first achieves active deceleration with a smoothly decreasing duty cycle, which significantly reduces mechanical shock; then, when the duty cycle drops to a low value, it switches to constant low-speed drive, which can provide sufficient torque to overcome resistance and accurately reach the target position, and can also avoid insufficient torque or stopping vibration caused by continuous deceleration. Thus, while eliminating shock and protecting the mechanism, it ensures the accuracy of the final position.

[0013] Optionally, after the control motor drives the frameless rearview mirror to move to the target movement position with a first preset descent slope output duty cycle, the method further includes: Identify the actual position state of the frameless rearview mirror when the target is in motion; If the actual position state is in the unfolded state, the current lens angle of the frameless rearview mirror is identified by the angle sensor; If the current lens angle is within a preset adjustable range, then the frameless rearview mirror is determined to meet the preset conditions at the target movement position.

[0014] As can be seen from the aforementioned technical means, this application, through a layered and progressive logical judgment mechanism, ensures that the overall state and lens angle of the frameless rearview mirror are within a safe and usable range after it moves to the target position. This not only improves the accuracy and automation of operation, avoiding ineffective or dangerous adjustments to the lens in erroneous states (such as when the rearview mirror is folded), but also effectively prevents potential structural interference or functional abnormalities, thereby enhancing the reliability of subsequent adjustments and the user experience.

[0015] Optionally, obtaining the current position state of the frameless rearview mirror and generating a folding / unfolding command containing the target movement position based on the current position state includes: Obtain the current position status of the frameless rearview mirror and identify the current position status; If the current position is detected to be in the unfolded state, a folding command containing the target movement position is generated. The folding command is used to control the frameless rearview mirror to move to the folded state. If the current position is detected to be in a folded state, an unfolding command containing the target movement position is generated. The unfolding command is used to control the frameless rearview mirror to move to the unfolded state.

[0016] As can be seen from the above technical means, by intelligently recognizing the current position status (unfolded or folded) of the rearview mirror and automatically generating precise reverse motion commands (such as folding commands when the mirror is unfolded), the system can make correct and targeted actions under any initial conditions, effectively avoiding erroneous operations or motor stalling caused by misjudgment of the status, and improving the reliability, safety and user experience of the control.

[0017] Optionally, after obtaining the current position state of the frameless rearview mirror, the method further includes: Control the frameless rearview mirror to be in a pre-calibrated position; The control motor drives the frameless rearview mirror to move to the left according to the second preset duty cycle; During the leftward movement of the frameless rearview mirror, the change in the movement position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, then the frameless rearview mirror is determined to have moved to the left extreme point position. The control motor drives the frameless rearview mirror to move to the right according to the second preset duty cycle; During the rightward movement of the frameless rearview mirror, the change in the movement position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, then the frameless rearview mirror is determined to have moved to the right extreme point. After controlling the frameless rearview mirror to return to the pre-calibrated position, control the motor to drive the frameless rearview mirror to move upward according to the second preset duty cycle; During the upward movement of the frameless rearview mirror, the change in the position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, then the frameless rearview mirror is determined to have moved to the upper pole position. The control motor drives the frameless rearview mirror to move downwards according to the second preset duty cycle; During the downward movement of the frameless rearview mirror, the change in the position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, then the frameless rearview mirror is determined to have moved to the lower pole position. The target motion position of the frameless rearview mirror is updated using the left pole position, right pole position, upper pole position, and lower pole position.

[0018] As described above, an automatic calibration method based on position change detection detects and records the mechanical movement limits (extreme positions) of the rearview mirror in various directions, thereby dynamically updating its precise achievable range of motion. This process effectively compensates for mechanical clearances and positional drift caused by long-term wear, temperature changes, or individual manufacturing differences, ensuring that the target position for all subsequent actions such as folding, unfolding, and lens adjustment remains within a safe and reliable physical travel range. This fundamentally avoids the risks of motor stalling, mechanism jamming, or misoperation, significantly improving the system's adaptability, long-term stability, and service life. Furthermore, this process can effectively adapt to different frameless rearview mirror components, reducing the impact of production errors and making it more suitable for pre-set scenarios in actual use.

[0019] To address the aforementioned issues, this application also discloses a frameless rearview mirror control generation device, the device comprising: The first acquisition module is used to acquire the current position state of the frameless rearview mirror and generate a folding / unfolding command containing the target movement position based on the current position state. The soft-start module is used to execute the folding / unfolding command, control the motor of the frameless rearview mirror to soft-start the frameless rearview mirror, and drive the frameless rearview mirror to move with a duty cycle output at a first preset growth slope. The first control module is used to control the motor to drive the frameless rearview mirror to the target movement position when it is detected that the frameless rearview mirror has moved to the preset soft stop position. The second control module is used to control the motor to soft start the frameless rearview mirror in response to the user's lens direction adjustment command when the frameless rearview mirror meets the preset conditions at the target movement position, and drive the frameless rearview mirror to adjust the lens direction with the second preset growth slope output duty cycle. The third control module is used to respond to the user's stop adjustment command and control the motor to drive the frameless rearview mirror to complete the lens direction adjustment with a second preset descent slope output duty cycle.

[0020] To address the aforementioned problems, this application also discloses an electronic device, including a processor and a memory, wherein... Memory, used to store computer programs; The processor is used to execute the program stored in the memory to implement the frameless rearview mirror control generation method.

[0021] To address the aforementioned issues, this application also discloses a vehicle that includes the frameless rearview mirror control device described above, or the electronic device described above.

[0022] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a frameless rearview mirror control method provided in one embodiment of this application; Figure 2 yes Figure 1 The flowchart shown is a step 102 of a frameless rearview mirror control method provided in an embodiment of this application; Figure 3 yes Figure 1 The diagram shown illustrates the duty cycle variation in a frameless rearview mirror control method according to an embodiment of this application. Figure 4 This is a structural diagram of a frameless rearview mirror control device provided in an embodiment of this application; Figure 5 This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0025] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] In related technologies, a rearview mirror driving device has been proposed. By adjusting the rearview mirror's position in all directions, it is brought to the desired position using uniform speed control. However, this driving method can lead to significant mechanical impact. As the usage time increases, the clearance in the transmission mechanism (such as gears) will widen, resulting in abnormal noises and mirror wobbling during adjustment, severely affecting the product's lifespan.

[0027] Based on this, an embodiment of this application provides a frameless rearview mirror control method, comprising: acquiring the current position state of the frameless rearview mirror, and generating a folding / unfolding command containing a target movement position based on the current position state; executing the folding / unfolding command, controlling the motor of the frameless rearview mirror to soft-start the frameless rearview mirror, and driving the frameless rearview mirror to move with a first preset increasing slope output duty cycle; when the frameless rearview mirror is detected to have moved to a preset soft stop position, controlling the motor to drive the frameless rearview mirror to move to the target movement position with a first preset decreasing slope output duty cycle; when the frameless rearview mirror meets a preset condition at the target movement position, responding to the user's lens direction adjustment command, controlling the motor to soft-start the frameless rearview mirror, and driving the frameless rearview mirror to adjust the lens direction with a second preset increasing slope output duty cycle; responding to the user's stop adjustment command, controlling the motor to drive the frameless rearview mirror to complete the lens direction adjustment with a second preset decreasing slope output duty cycle. This embodiment of the application determines the current position of the frameless rearview mirror to avoid sending incorrect commands due to position misjudgment. Through "soft start" and "output duty cycle with a first preset growth slope," the motor power increases smoothly and linearly from a low value, allowing the frameless rearview mirror to be smoothly "lifted" from a stationary state. This greatly reduces mechanical impact and protects the transmission gears. By setting a preset soft stop position, the motor power decreases smoothly with a first preset descent slope, allowing the frameless rearview mirror to smoothly "park" in the target moving position, avoiding the "hitting the wall" effect and mechanism oscillation caused by a hard stop. This achieves shock-free control of the frameless rearview mirror's movement. During "lens adjustment," the same "soft start" and "output duty cycle with a second preset growth slope" ensure a smooth and shock-free adjustment process. The smooth descent of the motor power with a second preset descent slope ensures a smooth termination of the lens adjustment action, preventing lens jitter during final positioning, stabilizing the field of vision, and improving the user's adjustment experience and driving safety. The speed curve control using a combination of "soft start" and "soft stop" in the above process solves the mechanical impact problem caused by the large inertia of the frameless rearview mirror, eliminates abnormal noise and shaking, reduces wear on the transmission mechanism, effectively extends the product's service life, and improves product reliability and user experience.

[0028] Example 1 This application provides a frameless rearview mirror control method. Please refer to... Figure 1 This includes the following steps: Step 101: Obtain the current position status of the frameless rearview mirror, and generate a folding / unfolding command containing the target movement position based on the current position status.

[0029] The frameless rearview mirror in this embodiment has two states: folded and unfolded. The driver (user) needs to determine the specific command to be generated based on the current position of the frameless rearview mirror. That is, if the frameless rearview mirror is in the folded state, only an unfold request can be made, i.e., an unfold command is generated; if the frameless rearview mirror is in the unfolded state, only a fold request can be made, i.e., a folding command is generated. However, the folding / unfolding command is generated based on the user's needs and the current position. For example, if the current position of the frameless rearview mirror is in the unfolded state, and the user needs the frameless rearview mirror to be in the unfolded state, then there is no need to send an unfold command. Only subsequent lens orientation adjustment is needed. Therefore, step 101 specifically includes the following sub-steps: Step 1011: Obtain the current position status of the frameless rearview mirror and identify the current position status.

[0030] Step 1012: If the current position is identified as unfolded, a folding command containing the target movement position is generated. The folding command is used to control the frameless rearview mirror to move to the folded state.

[0031] Step 1013: If the current position is detected to be in a folded state, an unfold command containing the target movement position is generated. The unfold command is used to control the frameless rearview mirror to run to the unfolded state.

[0032] The above steps intelligently identify the current position (unfolded or folded) of the rearview mirror and automatically generate precise reverse movement commands (such as folding commands when the mirror is unfolded). This ensures that the system can make correct and targeted actions under any initial conditions, effectively avoiding erroneous operations or motor stalling caused by misjudgment of the state, and improving the reliability, safety and user experience of the control.

[0033] This application embodiment includes a self-learning mechanism for newly installed frameless rearview mirrors. This mechanism learns the extreme positions of the frameless rearview mirror, eliminating the need for manual adjustment of the mirror's range, reducing manual intervention, and effectively improving production and maintenance efficiency. During learning, the frameless rearview mirror is first returned to its pre-calibrated position, which is the midpoint between the upper, lower, left, and right extreme points. Then, the motor of the frameless rearview mirror is controlled to output a first preset duty cycle, completing a soft start within a first preset duration. It then moves at maximum speed (the motor output duty cycle can be 100%) to the left extreme point. The change in position within a set stall time (preset cycle) is checked to see if it is less than a set position change threshold. If so, the left extreme point is identified, and its value is learned. This left extreme point value can be measured by the angle sensor in the frameless rearview mirror. The same process is repeated to learn the right extreme point, and the learned left and right extreme point values ​​are stored in a non-volatile storage area. After horizontal learning is complete, the frameless rearview mirror is controlled to return to the pre-calibrated position, and vertical learning begins. At this point, the frameless rearview mirror's motor outputs a first preset duty cycle, completing a soft start within a first preset duration. Then, it moves to the upper pole at maximum speed. The position change within a set stall time (preset cycle) is checked to see if it is less than a set position change threshold. If so, the upper pole is identified, and the upper pole value is learned. This upper pole value can also be measured by the angle sensor in the frameless rearview mirror. The same process is repeated to learn the lower pole, storing the learned upper and lower pole values ​​in a non-volatile storage area. After vertical learning is complete, the mirror returns to the pre-calibrated position, completing self-learning. At this point, when folding or unfolding, the positions of the left and right poles can be set as the initial target movement positions of the frameless rearview mirror. Therefore, the steps described above include: Control the frameless rearview mirror to the pre-calibrated position; The control motor drives the frameless rearview mirror to move to the left according to the second preset duty cycle; During the leftward movement of the frameless rearview mirror, the change in the movement position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the threshold for position change, then the frameless rearview mirror is determined to have moved to the left extreme point. The control motor drives the frameless rearview mirror to move to the right according to the second preset duty cycle; During the rightward movement of the frameless rearview mirror, the change in the movement position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the threshold for position change, then the frameless rearview mirror is determined to have moved to the right extreme position. The control motor drives the frameless rearview mirror to move upward according to the second preset duty cycle; During the upward movement of the frameless rearview mirror, the change in the position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the threshold for position change, then the frameless rearview mirror is determined to have moved to the upper extreme position. The control motor drives the frameless rearview mirror to move downwards according to the second preset duty cycle; During the downward movement of the frameless rearview mirror, the change in the position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, the frameless rearview mirror is determined to have moved to the lower pole position. The target motion position of the frameless rearview mirror is updated by using the left pole position, right pole position, upper pole position, and lower pole position.

[0034] The above steps employ an automatic calibration method based on position change detection to detect and record the mechanical movement limits (extreme positions) of the rearview mirror in various directions, thereby dynamically updating its precise achievable range of motion. This process effectively compensates for mechanical clearances and positional drift caused by long-term wear, temperature changes, or individual manufacturing variations, ensuring that the target position for all subsequent actions such as folding, unfolding, and lens adjustment remains within a safe and reliable physical travel range. This fundamentally avoids the risks of motor stalling, mechanism jamming, or misoperation, significantly improving the system's adaptability, long-term stability, and service life. Furthermore, this process can effectively adapt to different frameless rearview mirror components, reducing the impact of manufacturing errors and making it more suitable for pre-set scenarios in actual use.

[0035] It should be noted that the target motion position carried in the folding command of this application can remain unchanged after self-learning, while the target motion position carried in the unfolding command can be updated based on the user's previous adjustment position to adapt to user expectations and meet the personalized needs of different users. For example, when a user detects that the frameless rearview mirror is in the unfolded state and needs to fold it, the current position of the frameless rearview mirror in the unfolded state can be determined as the target motion position. When the unfolding command is executed next time, this target motion position information is carried to control the frameless rearview mirror to move to the target motion position.

[0036] Because the left and right extreme points of the driver's side rearview mirror and the passenger side rearview mirror are different, different identifiers can be set to distinguish them during storage. Setting the frameless rearview mirror to the pre-calibrated position during self-learning can avoid potential jamming caused by external mechanical interference and can also achieve standardized operation.

[0037] Step 102: Execute the folding / unfolding command to control the motor of the frameless rearview mirror to soft start the frameless rearview mirror, and drive the frameless rearview mirror to move with the duty cycle output at the first preset growth slope.

[0038] In this embodiment, when executing the folding / unfolding command, the frameless rearview mirror's movement position is monitored by its angle sensor. Because the angle sensor's output signal may be unstable, have low resolution, or contain noise when the motor is not yet rotating (i.e., in a "stationary position"), it cannot accurately and promptly acquire the frameless rearview mirror's minute initial position changes. If this insensitive feedback is relied upon to start the frameless rearview mirror, it may be misjudged as a "stalled" motor due to the inability to detect its movement, resulting in errors. Therefore, this application first controls the frameless rearview mirror's motor to continuously output a first preset duty cycle for a first preset duration to complete the soft start of the frameless rearview mirror. The first preset duration setting needs to ensure that the motor can overcome static friction and drive the load (frameless rearview mirror) a certain distance, thus completely leaving the "insensitive" stationary area of ​​the sensor and entering the normal operating range where the sensor can provide stable and reliable feedback.

[0039] After the frameless rearview mirror is soft-started, its motor can be controlled to drive the mirror's movement with a duty cycle that increases at a first preset growth rate. The motor's duty cycle increases gradually, not abruptly, thus avoiding mechanical shock. The first preset duty cycle and the first preset duration can be optimized experimentally. When the motor outputs the duty cycle at the first preset growth rate, it stops increasing once the duty cycle reaches a certain value, such as 100%. These values ​​are not specifically limited in this application.

[0040] Step 103: When the frameless rearview mirror is detected to have moved to the preset soft stop position, the control motor outputs a duty cycle with the first preset descent slope to drive the frameless rearview mirror to the target movement position.

[0041] This embodiment of the application uses an angle sensor to detect the movement position of the frameless rearview mirror in real time. The movement position is determined by the angle value detected by the angle sensor, and different movement positions of the frameless rearview mirror correspond to different detected angle values. The preset soft stop position is a pre-calibrated position that can be set experimentally. The preset soft stop position is also stored as an angle value. When the angle value detected by the angle sensor matches the angle value corresponding to the stored preset soft stop position, it is determined that the frameless rearview mirror has moved to the preset soft stop position.

[0042] Typically, in this embodiment, when setting the first preset growth slope, the output duty cycle is ensured to reach a certain value before the frameless rearview mirror reaches the preset soft stop position. If the duty cycle has reached a certain value before reaching the preset soft stop position, the output duty cycle continues to be output according to the reached duty cycle, controlling the frameless rearview mirror to move at a constant speed to the preset soft stop position. If the output duty cycle has not reached a certain value (duty cycle threshold) when the frameless rearview mirror reaches the preset soft stop position, the motor output duty cycle will also stop increasing. After reaching the preset soft stop position, the motor is controlled to output the duty cycle at the first preset decrease slope, and the frameless rearview mirror continues to move until it reaches the target movement position. During movement, the movement position of the frameless rearview mirror is still detected in real time by the frameless rearview mirror's angle sensor. Typically, in this embodiment, the first preset decrease slope is adjusted to ensure that the output duty cycle is reduced to the first preset duty cycle before reaching the target movement position. Then, the motor is controlled to continuously output the first preset duty cycle, controlling the frameless rearview mirror to move at a constant speed to the target movement position. Therefore, step 103, "controlling the motor to drive the frameless rearview mirror to the target movement position with a duty cycle output at a first preset descent slope," specifically includes the following sub-steps: Sub-step 1031: Control the output duty cycle of the motor to use the duty cycle threshold as the second initial value, decrease according to the first preset descent slope, and drive the frameless rearview mirror to move through the output duty cycle of the motor.

[0043] Sub-step 1032: Real-time monitoring of the movement position of the frameless rearview mirror.

[0044] Sub-step 1033: If the output duty cycle drops to the first preset duty cycle and the movement position of the frameless rearview mirror does not reach the target movement position, then control the motor to drive the frameless rearview mirror to move at a constant speed to the target movement position at the first preset duty cycle.

[0045] The above steps first achieve active deceleration with a smoothly decreasing duty cycle, significantly reducing mechanical shock; then, when the duty cycle drops to a low value, it switches to constant low-speed drive, which can provide sufficient torque to overcome resistance and accurately reach the target position, while avoiding insufficient torque or stopping vibration caused by continuous deceleration. Thus, while eliminating shock and protecting the mechanism, it ensures the accuracy of the final position.

[0046] Step 104: When the frameless rearview mirror meets the preset conditions at the target movement position, in response to the user's lens direction adjustment command, the motor is controlled to soft-start the frameless rearview mirror, and the duty cycle is output with the second preset growth slope to drive the frameless rearview mirror to adjust the lens direction.

[0047] In this embodiment, after folding / unfolding the frameless rearview mirror, when adjusting the lens direction, it is necessary to first determine the position and lens state of the frameless rearview mirror. This is because lens direction adjustment can only be performed when the rearview mirror is unfolded; adjusting the lens in a folded state is meaningless or potentially risky. An angle sensor is also needed to accurately measure the actual current orientation angle of the lens to determine if it is within a preset adjustable range. If it is within this range, the entire frameless rearview mirror system is determined to have met the preset conditions at the target movement position, at which point subsequent operations can proceed safely. The steps for determining whether the preset conditions are met include: Identify the actual position state of the frameless rearview mirror when it is in the target moving position; If the actual position is in the unfolded state, the current lens angle of the frameless rearview mirror is identified by the angle sensor; If the current lens angle is within the preset adjustable range, the frameless rearview mirror is determined to meet the preset conditions at the target movement position.

[0048] The above steps, through a layered and progressive logical judgment mechanism, ensure that the overall state and lens angle of the frameless rearview mirror are within a safe and usable range after it moves to the target position. This not only improves the accuracy and automation of the operation, avoiding ineffective or dangerous adjustments to the lens in incorrect states (such as when the rearview mirror is folded), but also effectively prevents potential structural interference or functional abnormalities, thereby enhancing the reliability of subsequent adjustments and the user experience.

[0049] In this embodiment, the lens orientation adjustment of the frameless rearview mirror is controlled by the user. Too fast a speed might prevent the user from adjusting the lens to the desired position. Therefore, a speed that provides a good human-machine interface is needed for adjustment. Thus, a second preset growth slope is set to be less than the first preset growth slope. When the motor outputs at the second preset growth slope with a duty cycle, a second duty cycle threshold is also set, which is less than the first duty cycle threshold. For example, it can be set to a 50% duty cycle. Under this second duty cycle threshold, the frameless rearview mirror can be controlled to move slowly, meeting the user's adjustment needs.

[0050] Step 105: In response to the user's stop adjustment command, control the motor to drive the frameless rearview mirror to complete the lens direction adjustment with the second preset descent slope output duty cycle.

[0051] In this embodiment, when the user finishes adjusting the lens, the user can output a stop adjustment command via the vehicle display screen or voice control. At this point, a soft-stop process for lens adjustment begins. Unlike folding / unfolding actions, lens adjustment is actively stopped by the user, requiring a rapid stop to avoid over-adjustment. When the duty cycle begins to decrease linearly at a second descent slope, the second preset descent slope is set to be greater than the first preset descent slope. When the duty cycle output reaches 0, the driving of the frameless rearview mirror stops. Because the output duty cycle is small and the descent slope is large when adjusting the lens direction, this soft stop will not cause a visually perceptible error between the actual lens direction adjustment and the user's setting, thus not affecting the user experience.

[0052] Example 2 refer to Figure 2 , showed Figure 1 The flowchart shown in this application embodiment provides a frameless rearview mirror control method, specifically step 102, which includes the following steps: Step 1021: Execute the folding / unfolding command to control the motor of the frameless rearview mirror to run at the first preset duty cycle.

[0053] Upon receiving a folding or unfolding command, this embodiment first controls the motor to operate at a pre-set, low power level (first preset duty cycle). This first preset duty cycle can be set to 10%, 15%, etc., and is not specifically limited here. This is because the mechanical structure of the frameless rearview mirror (such as gears and worm gears) is most vulnerable at the moment of transition from rest to motion. Directly driving the motor at full power will generate a huge instantaneous impact force, which will violently strike the meshing surfaces of the transmission components, easily leading to gear wear or even damage over time. Therefore, controlling the motor to start the frameless rearview mirror at low power overcomes static friction and prevents the mechanical structure from being subjected to violent impacts from the source.

[0054] Step 1022: When it is detected that the motor has been running at the first preset duty cycle for a first preset duration, the soft start of the frameless rearview mirror is completed.

[0055] This embodiment starts a timer to control the motor to maintain this low-power operation until the duration reaches a first preset time, thus completing the soft start of the frameless rearview mirror. This setting ensures that the entire transmission system (from the motor to the mirror housing connection) can smoothly and seamlessly enter the motion state. This buffer time allows all the mechanical components of the frameless rearview mirror to gradually eliminate fit gaps and be evenly stressed, rather than experiencing a "clunk"-like rigid pull under sudden acceleration. This is crucial for protecting the unique and potentially more delicate support points and connecting mechanisms of the frameless rearview mirror, effectively preventing internal damage or abnormal noise caused by stress concentration.

[0056] The above steps, by starting with low power and maintaining a buffer period, fundamentally eliminate the instantaneous impact and rigid wear on core transmission components such as gears and worm gears caused by traditional starting methods. This effectively prevents loosening of the mechanism, gear damage, and abnormal noise caused by long-term impact, thereby ensuring the structural integrity, smoothness of movement, and overall reliability of the frameless rearview mirror during long-term use.

[0057] Step 1023: Control the output duty cycle of the motor to increase from the first preset duty cycle as the first initial value, and increase it according to the first preset growth slope.

[0058] In this embodiment, after a soft start is completed, the controller's output duty cycle starts from the "first preset duty cycle" (i.e., the power level of the soft start) and increases smoothly and linearly at a preset slope (first preset growth slope). This setting allows the motor torque and speed to rise smoothly, rather than abruptly, so that the rearview mirror can begin to accelerate smoothly, avoiding impacts caused by sudden acceleration.

[0059] Step 1024: When it is determined that the increasing output duty cycle has reached the duty cycle threshold, the output duty cycle of the motor is controlled to stop increasing.

[0060] In this embodiment of the application, when the continuously increasing output duty cycle reaches a preset "duty cycle threshold", it is controlled to stop increasing. Since the folding / unfolding of the frameless rearview mirror does not require the user to pay attention to the mirror surface, the faster the action is completed, the better. The maximum speed of PWM control is 100% duty cycle, so the duty cycle threshold at this time can be set to 100% duty cycle.

[0061] Step 1025: Drive the frameless rearview mirror to move by the output duty cycle of the motor.

[0062] In this embodiment of the application, the output duty cycle of the motor starts from a first preset duty cycle and increases at a first preset growth slope. The output duty cycle of the motor drives the frameless rearview mirror to move. At this time, the electrical signal can be converted into mechanical motion.

[0063] Step 1026: During the process of driving the frameless rearview mirror to move, the folding angle of the frameless rearview mirror is detected in real time by the angle sensor.

[0064] In this embodiment of the application, the folding angle of the rearview mirror is continuously and in real time detected by an angle sensor during its movement.

[0065] Step 1027: If the folding angle reaches the angle threshold, it is determined that the frameless rearview mirror has moved to the preset soft stop position.

[0066] In this embodiment, the real-time detected "folding angle" is compared with a preset "angle threshold". Once the threshold is reached, it is determined that the rearview mirror has moved to a preset soft stop position. At this time, the "soft stop position" is usually not the final mechanical limit point, but a pre-set electronic limit point with a buffer margin, creating conditions for subsequent smooth deceleration and stopping.

[0067] The above steps introduce a linear power acceleration process after soft start and ultimately make electronic predictions based on real-time angle feedback, making the movement of the rearview mirror more stable and smooth. This effectively avoids shocks and vibrations during the start-up and operation phases and lays a solid foundation for achieving precise and gentle soft stops. As a result, the accuracy and stability of motor control, as well as the durability of the entire mechanical system and the user experience are significantly improved.

[0068] In this embodiment, when executing the folding / unfolding command, after reaching the preset soft stop position, the control motor outputs a duty cycle at a first preset descent slope to drive the frameless rearview mirror to move. The descent stops after the output duty cycle drops to the first preset duty cycle, and then continues to output the duty cycle at the first preset duty cycle until the frameless rearview mirror moves to the target position. The change in the output duty cycle is as follows: Figure 3 As shown, during the time period from 0 to t1 (the first preset duration), the output PWM duty cycle is 10% (the first preset duty cycle). During the time period from t1 to t2, the output PWM duty cycle is increased to 100% (duty cycle threshold) with the first preset duty cycle as the first initial value and according to the first preset growth slope. Then, during the time period from t2 to t3, the output PWM duty cycle is kept at 100%, driving the frameless rearview mirror to move at a constant speed to the preset soft stop position. After that, during the time period from t3 to t4, the output PWM duty cycle decreases with the first preset decreasing slope. After the output PWM duty cycle decreases to 10%, it stops decreasing. During the time period from t4 to t5, the output PWM duty cycle is kept at 10%, driving the frameless rearview mirror to move at a constant speed to the target movement position.

[0069] This application also provides a frameless rearview mirror control device 20, please refer to... Figure 4 ,include: The first acquisition module 201 is used to acquire the current position state of the frameless rearview mirror and generate a folding / unfolding instruction containing the target movement position based on the current position state.

[0070] The soft-start module 202 is used to execute folding / unfolding commands, control the motor of the frameless rearview mirror to soft-start the frameless rearview mirror, and drive the frameless rearview mirror to move with a duty cycle output at a first preset growth slope.

[0071] The first control module 203 is used to control the motor to drive the frameless rearview mirror to the target movement position when the frameless rearview mirror is detected to have moved to the preset soft stop position. The motor outputs a duty cycle with a first preset descent slope.

[0072] The second control module 204 is used to control the motor to soft-start the frameless rearview mirror in response to the user's lens direction adjustment command when the frameless rearview mirror meets the preset conditions at the target movement position, and drive the frameless rearview mirror to adjust the lens direction with the duty cycle output by the second preset growth slope.

[0073] The third control module 205 is used to respond to the user's stop adjustment command and control the motor to drive the frameless rearview mirror to complete the lens direction adjustment with a second preset descent slope output duty cycle.

[0074] Optionally, the soft-start module 202 specifically includes: The first control submodule is used to execute folding / unfolding commands and control the motor of the frameless rearview mirror to run at a first preset duty cycle.

[0075] The first detection submodule is used to perform a soft start on the frameless rearview mirror when the time during which the motor runs at a first preset duty cycle reaches a first preset time.

[0076] The second control submodule is used to control the output duty cycle of the motor to increase from a first preset duty cycle as the first initial value and according to a first preset growth slope.

[0077] The third control submodule is used to control the motor's output duty cycle to stop increasing when the increasing output duty cycle reaches the duty cycle threshold.

[0078] The drive submodule is used to drive the frameless rearview mirror to move by the output duty cycle of the motor.

[0079] The second detection submodule is used to detect the folding angle of the frameless rearview mirror in real time using an angle sensor during the driving of the frameless rearview mirror movement.

[0080] The determination submodule is used to determine if the frameless rearview mirror has moved to a preset soft stop position if the folding angle reaches the angle threshold.

[0081] Optionally, the first control module 203 specifically includes: The fourth control submodule is used to control the output duty cycle of the motor to decrease according to the first preset descent slope with the duty cycle threshold as the second initial value, and to drive the frameless rearview mirror to move through the output duty cycle of the motor.

[0082] The monitoring submodule is used to monitor the movement position of the frameless rearview mirror in real time.

[0083] The fifth control submodule is used to control the motor to drive the frameless rearview mirror to move at a constant speed to the target position at the first preset duty cycle if the output duty cycle drops to the first preset duty cycle and the movement position of the frameless rearview mirror has not reached the target movement position.

[0084] Optionally, the frameless rearview mirror control device 20 also includes: The first recognition module is used to identify the actual position state of the frameless rearview mirror when it is in the target moving position.

[0085] The second recognition module is used to identify the current lens angle of the frameless rearview mirror by means of an angle sensor if the actual position is in the unfolded state.

[0086] The first determination module is used to determine that the frameless rearview mirror meets the preset conditions at the target movement position if the current lens angle is within the preset adjustable range.

[0087] Optionally, the first acquisition module 201 specifically includes: The acquisition submodule is used to acquire the current position status of the frameless rearview mirror and identify the current position status.

[0088] The first generation submodule is used to generate a folding instruction containing the target movement position if the current position is detected as unfolded. The folding instruction is used to control the frameless rearview mirror to move to the folded state.

[0089] The second generation submodule is used to generate an unfolding command containing the target movement position if the current position is detected to be in a folded state. The unfolding command is used to control the frameless rearview mirror to run to the unfolded state.

[0090] Optionally, the frameless rearview mirror control device 20 also includes: The fourth control module is used to control the frameless rearview mirror to be in the pre-calibrated position.

[0091] The fifth control module is used to control the motor to drive the frameless rearview mirror to move to the left according to the second preset duty cycle.

[0092] The first detection module is used to detect the change in the position of the frameless rearview mirror according to a preset cycle during the leftward movement of the frameless rearview mirror.

[0093] The second determination module is used to determine that the frameless rearview mirror has moved to the left extreme point if the change in position is less than the position change threshold.

[0094] The sixth control module is used to control the motor to drive the frameless rearview mirror to move to the right according to the second preset duty cycle.

[0095] The second detection module is used to detect the change in the position of the frameless rearview mirror according to a preset cycle during the process of the frameless rearview mirror moving to the right.

[0096] The third determination module is used to determine that the frameless rearview mirror has moved to the right extreme position if the change in position is less than the position change threshold.

[0097] The seventh control module is used to control the frameless rearview mirror to return to the pre-calibrated position and then control the motor to drive the frameless rearview mirror to move upward according to the second preset duty cycle.

[0098] The third detection module is used to detect the change in the position of the frameless rearview mirror during its upward movement according to a preset cycle.

[0099] The fourth determination module is used to determine that the frameless rearview mirror has moved to the upper pole position if the change in position is less than the position change threshold.

[0100] The eighth control module is used to control the motor to drive the frameless rearview mirror to move downwards according to the second preset duty cycle.

[0101] The fourth detection module is used to detect the change in the position of the frameless rearview mirror during its downward movement according to a preset cycle.

[0102] The fifth determination module is used to determine that the frameless rearview mirror has moved to the lower pole position if the change in position is less than the position change threshold.

[0103] The update module is used to update the target motion position of the frameless rearview mirror based on the left pole position, right pole position, upper pole position, and lower pole position.

[0104] This embodiment of the application determines the current position of the frameless rearview mirror to avoid sending incorrect commands due to position misjudgment. Through "soft start" and "output duty cycle with a first preset growth slope," the motor power increases smoothly and linearly from a low value, allowing the frameless rearview mirror to be smoothly "lifted" from a stationary state. This greatly reduces mechanical impact and protects the transmission gears. By setting a preset soft stop position, the motor power decreases smoothly with a first preset descent slope, allowing the frameless rearview mirror to smoothly "park" in the target moving position, avoiding the "hitting the wall" effect and mechanism oscillation caused by a hard stop. This achieves shock-free control of the frameless rearview mirror's movement. During "lens adjustment," the same "soft start" and "output duty cycle with a second preset growth slope" ensure a smooth and shock-free adjustment process. The smooth descent of the motor power with a second preset descent slope ensures a smooth termination of the lens adjustment action, preventing lens jitter during final positioning, stabilizing the field of vision, and improving the user's adjustment experience and driving safety. The speed curve control using a combination of "soft start" and "soft stop" in the above process solves the mechanical impact problem caused by the large inertia of the frameless rearview mirror, eliminates abnormal noise and shaking, reduces wear on the transmission mechanism, effectively extends the product's service life, and improves product reliability and user experience.

[0105] This application also provides an electronic device 30, please refer to... Figure 5 It includes a processor 310 and a memory 320, wherein the memory 310 is used to store computer programs; the processor 320 is used to execute the programs stored in the memory 310 to implement the frameless rearview mirror control method described in any embodiment of this application.

[0106] This application also provides a vehicle, which includes the frameless rearview mirror control device as described in the above embodiments, or the electronic device as described in the above embodiments.

[0107] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the frameless rearview mirror control method described in any embodiment of this application.

[0108] In this application, "multiple" refers to two or more.

[0109] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0110] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0111] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0112] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0113] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A frameless rearview mirror control method, characterized in that, The method includes: Obtain the current position state of the frameless rearview mirror, and generate a folding / unfolding command containing the target movement position based on the current position state; Execute the folding / unfolding command to control the motor of the frameless rearview mirror to soft start the frameless rearview mirror, and drive the frameless rearview mirror to move with the duty cycle output at the first preset growth slope. When the frameless rearview mirror is detected to have moved to a preset soft stop position, the control motor outputs a duty cycle with a first preset descent slope to drive the frameless rearview mirror to the target movement position. When the frameless rearview mirror meets the preset conditions at the target movement position, in response to the user's lens direction adjustment command, the motor is controlled to soft start the frameless rearview mirror, and the duty cycle is output with a second preset growth slope to drive the frameless rearview mirror to adjust the lens direction. In response to the user's stop adjustment command, the control motor drives the frameless rearview mirror to complete the lens orientation adjustment with a second preset descent slope output duty cycle.

2. The method according to claim 1, characterized in that, The step of executing the folding / unfolding command to control the motor of the frameless rearview mirror to perform a soft start on the frameless rearview mirror includes: Execute the folding / unfolding command to control the motor of the frameless rearview mirror to run at a first preset duty cycle; When the time during which the motor operates at a first preset duty cycle reaches a first preset time, a soft start is performed on the frameless rearview mirror.

3. The method according to claim 2, characterized in that, The method of driving the frameless rearview mirror to move with the duty cycle output by the first preset growth slope includes: The output duty cycle of the motor is controlled to increase according to the first preset growth slope, with the first preset duty cycle as the first initial value. If the increasing output duty cycle is determined to reach a duty cycle threshold, the output duty cycle of the motor is controlled to stop increasing; The frameless rearview mirror is driven to move by the output duty cycle of the motor. During the movement of the frameless rearview mirror, the folding angle of the frameless rearview mirror is detected in real time by an angle sensor. If the folding angle reaches the angle threshold, it is determined that the frameless rearview mirror has moved to the preset soft stop position.

4. The method according to claim 3, characterized in that, The control motor drives the frameless rearview mirror to move to the target movement position with a first preset descent slope output duty cycle, including: The output duty cycle of the motor is controlled to be the second initial value with a duty cycle threshold, and the motor descends according to the first preset descent slope. The frameless rearview mirror is driven to move by the output duty cycle of the motor. Real-time monitoring of the movement position of the frameless rearview mirror; If the output duty cycle drops to the first preset duty cycle, and the movement position of the frameless rearview mirror does not reach the target movement position, then the motor is controlled to drive the frameless rearview mirror to move at a constant speed to the target movement position at the first preset duty cycle.

5. The method according to claim 1, characterized in that, After the control motor drives the frameless rearview mirror to the target movement position with a first preset descent slope output duty cycle, it further includes: Identify the actual position state of the frameless rearview mirror when the target is in motion; If the actual position state is in the unfolded state, the current lens angle of the frameless rearview mirror is identified by the angle sensor; If the current lens angle is within a preset adjustable range, then the frameless rearview mirror is determined to meet the preset conditions at the target movement position.

6. The method according to claim 1, characterized in that, The process of obtaining the current position state of the frameless rearview mirror and generating a folding / unfolding command containing the target movement position based on the current position state includes: Obtain the current position status of the frameless rearview mirror and identify the current position status; If the current position is detected to be in the unfolded state, a folding command containing the target movement position is generated. The folding command is used to control the frameless rearview mirror to move to the folded state. If the current position is detected to be in a folded state, an unfolding command containing the target movement position is generated. The unfolding command is used to control the frameless rearview mirror to move to the unfolded state.

7. The method according to claim 1, characterized in that, After obtaining the current position state of the frameless rearview mirror, the method further includes: Control the frameless rearview mirror to be in a pre-calibrated position; The control motor drives the frameless rearview mirror to move to the left according to the second preset duty cycle; During the leftward movement of the frameless rearview mirror, the change in the movement position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, then the frameless rearview mirror is determined to have moved to the left extreme point position. The control motor drives the frameless rearview mirror to move to the right according to the second preset duty cycle; During the rightward movement of the frameless rearview mirror, the change in the movement position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, then the frameless rearview mirror is determined to have moved to the right extreme point. After controlling the frameless rearview mirror to return to the pre-calibrated position, control the motor to drive the frameless rearview mirror to move upward according to the second preset duty cycle; During the upward movement of the frameless rearview mirror, the change in the position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, then the frameless rearview mirror is determined to have moved to the upper pole position. The control motor drives the frameless rearview mirror to move downwards according to the second preset duty cycle; During the downward movement of the frameless rearview mirror, the change in the position of the frameless rearview mirror is detected according to a preset cycle. If the change in position is less than the position change threshold, then the frameless rearview mirror is determined to have moved to the lower pole position. The target motion position of the frameless rearview mirror is updated using the left pole position, right pole position, upper pole position, and lower pole position.

8. A frameless rearview mirror control device, characterized in that, include: The first acquisition module is used to acquire the current position state of the frameless rearview mirror and generate a folding / unfolding command containing the target movement position based on the current position state. The soft-start module is used to execute the folding / unfolding command, control the motor of the frameless rearview mirror to soft-start the frameless rearview mirror, and drive the frameless rearview mirror to move with a duty cycle output at a first preset growth slope. The first control module is used to control the motor to drive the frameless rearview mirror to the target movement position when it is detected that the frameless rearview mirror has moved to the preset soft stop position. The second control module is used to control the motor to soft start the frameless rearview mirror in response to the user's lens direction adjustment command when the frameless rearview mirror meets the preset conditions at the target movement position, and drive the frameless rearview mirror to adjust the lens direction with the second preset growth slope output duty cycle. The third control module is used to respond to the user's stop adjustment command and control the motor to drive the frameless rearview mirror to complete the lens direction adjustment with a second preset descent slope output duty cycle.

9. An electronic device, characterized in that, Including processor and memory, among which Memory, used to store computer programs; A processor for executing a program stored in memory to implement the method described in any one of claims 1-7.

10. A vehicle, characterized in that, The vehicle includes the frameless rearview mirror control device as described in claim 8, or the electronic device as described in claim 9.

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