Vehicle and method of controlling vehicle
By incorporating a linkage structure and a line-tracking system within the vehicle's A-pillar, the width of the A-pillar can be predicted and adjusted to avoid obstructing the view, thus solving the problem of the A-pillar blocking the view and improving driving safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- MERCEDES BENZ GRP
- Filing Date
- 2026-01-04
- Publication Date
- 2026-04-21
AI Technical Summary
A vehicle's A-pillar can obstruct the driver's view during a turn, potentially causing a traffic accident.
By setting multiple interconnected linkage structures in the vehicle's A-pillar, the driver's line of sight is obtained using an eye-tracking camera and a vehicle camera. The electronic control unit predicts the future line of sight and controls the control motor to drive the linkage structure to fold, adjusting the width of the A-pillar to avoid obstructing the view.
It effectively reduces the area of obstruction to the driver's vision, improves driving safety, and avoids traffic accidents.
Smart Images
Figure CN121894047A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automotive technology, and more particularly to a vehicle and a method for controlling the vehicle. Background Technology
[0002] The A-pillar is the pillar that connects the roof and the hood, supporting both sides of the windshield. It is an important component of the vehicle's passive safety structure and is crucial for protecting the integrity of the passenger compartment in the event of a rollover or frontal collision.
[0003] In the process of realizing this invention, the inventors discovered that the prior art has at least the following problems: when a vehicle is turning, the A-pillar of the vehicle obstructs the driver's view, which can easily lead to traffic accidents. Summary of the Invention
[0004] In view of this, embodiments of the present invention provide a vehicle, a method for controlling the vehicle, an apparatus, and a computer-readable medium that can reduce the area of obstruction to the driver's line of sight by adjusting the width of the vehicle's A-pillar.
[0005] A vehicle includes: a vehicle A-pillar, an eye-tracking camera, a vehicle camera, and an electronic control unit; The vehicle A-pillar includes multiple interconnected link structures arranged in the width direction. The multiple link structures are connected by hinges and transmit power. A control motor is provided in the link structure located at the end. The eye-tracking camera acquires the driver's current gaze and sends the current gaze; The vehicle camera is installed on the outside of the vehicle's A-pillar to capture and transmit external images of the blind spot of the vehicle's A-pillar. The electronic control unit identifies obstacles based on the external image, and predicts that the driver's future view will be blocked by the vehicle's A-pillar based on the current line of sight. Then, it sends a folding instruction to the control motor of the vehicle's A-pillar. The control motor responds to the folding instruction and controls multiple linkage structures to fold in the width direction of the vehicle's A-pillar, so that an unobstructed light path is formed between the driver's future line of sight and obstacles.
[0006] The vehicle A-pillar also includes: a variable pitch rod that is disposed through the multiple link structures and is movably connected to the multiple link structures; When the linkage structure is in the deployed state, the pitch rod is in the extended state and supports the linkage structure; When the linkage structure is in a folded state, the pitch rod is in a retracted state; And / or, When the connecting rod structure is in its unfolded state, the cross-section of the connecting rod structure is a parallelogram.
[0007] The electronic control unit is used to determine the driver's future line of sight based on the current line of sight and the duration of the vehicle's A-pillar folding operation, using a predictive line of sight model. If the vehicle's A-pillar and the obstacle are on the extension line of the driver's future line of sight, then the driver's future line of sight is obstructed by the vehicle's A-pillar.
[0008] The electronic control unit is used to input the folding operation duration of the vehicle's A-pillar, the current line of sight, and the current vehicle driving parameters into the predictive line of sight model to determine the driver's future line of sight within the folding operation duration.
[0009] The control motor is used to control the contraction of the torque-changing section of the connecting rod structure located at the end of the torque-changing rod, thereby causing the connecting rod structure at the end to fold. The control motor further utilizes the hinges between the linkage structures to sequentially drive other linkage structures, and causes the variable pitch section located in each linkage structure in the torque converter to retract, while the other linkage structures fold.
[0010] The two ends of the A-pillar of the vehicle are respectively movably connected to the vehicle body and the roof in the direction of extension; The control motor is used after all linkage structures are fully folded. Control the A-pillar of the vehicle to rotate around its extension axis to the minimum obstruction angle of the line of sight.
[0011] The minimum obstruction angle of vision is determined based on vehicle speed and / or rainfall information.
[0012] The vehicle A-pillar also includes a housing that encloses the multiple link structures, the housing being made of a lightweight, high-strength composite material.
[0013] The eye-tracking camera is installed on the interior panel of the vehicle's A-pillar.
[0014] According to a second aspect of the present invention, a method for controlling a vehicle is provided, comprising: An eye-tracking camera captures the driver's current gaze, while a vehicle camera mounted on the outside of the A-pillar collects and transmits external images of the blind spot in the A-pillar's field of vision. Obstacles are identified based on the external image, and the driver's future line of sight is predicted to be obstructed by the vehicle's A-pillar based on the current line of sight. Multiple linkage structures in the A-pillar of the vehicle are folded in the width direction of the A-pillar to create an unobstructed light path between the driver's future line of sight and obstacles.
[0015] According to a third aspect of the present invention, an electronic device for controlling a vehicle is provided, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors perform the methods described above.
[0016] According to a fourth aspect of the present invention, a computer-readable medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method as described above.
[0017] One embodiment of the above invention has the following advantages or beneficial effects: the electronic control unit predicts that the driver's future line of sight will be obstructed by the vehicle's A-pillar based on the current line of sight, and controls the motor to fold multiple linkage structures in the A-pillar in the width direction of the A-pillar, so that an unobstructed light path is formed between the driver's future line of sight and the obstacle. The folding of the A-pillar further shortens the width of the A-pillar, thereby reducing the area obstructing the driver's line of sight.
[0018] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description
[0019] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein: Figure 1 This is a schematic diagram of the main structure of a vehicle according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the linkage structure in an unfolded state according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the linkage structure in a partially folded state according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the linkage structure in a fully folded state according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the rotation of a fully folded vehicle A-pillar according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the main steps of a method for controlling a vehicle according to an embodiment of the present invention; Figure 7 This is an exemplary system architecture diagram in which embodiments of the present invention can be applied; Figure 8 This is a schematic diagram of the structure of a computer system suitable for implementing terminal devices or servers of the present invention. Detailed Implementation
[0020] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.
[0021] In order to reduce the area of obstruction to the driver's line of sight by adjusting the width of the vehicle's A-pillar, the following technical solutions in the embodiments of the present invention can be adopted.
[0022] See Figure 1 , Figure 1 This is a schematic diagram of the main structure of a vehicle according to an embodiment of the present invention. Multiple interconnected linkages in the A-pillar of the vehicle move in the width direction of the A-pillar to achieve lateral folding of the A-pillar, forming an unobstructed light path between the driver's future line of sight and obstacles.
[0023] The vehicle includes: the A-pillar 1, the eye-tracking camera 2, the vehicle camera 3, and the electronic control unit (ECU) (not shown in the figure).
[0024] The vehicle's A-pillar 1 includes multiple interconnected link structures 11 arranged in the width direction, which are connected by hinges and transmit power. A control motor is housed within the link structure located at each end. As an example, the link structure 11 is made of high-strength aluminum alloy / high-strength composite material. Figure 1 The D direction is the width direction, and the L direction is the extension direction of the vehicle's A-pillar. The torque converter AA is continuously installed within multiple linkage structures 11 and is movably connected to multiple linkage structures 11.
[0025] The eye-tracking camera 2 captures the driver's current gaze and transmits it. As an example, the eye-tracking camera is mounted on the A-pillar trim panel of the vehicle to improve gaze tracking accuracy.
[0026] Vehicle camera 3 is installed on the outside of the vehicle's A-pillar to capture and transmit external images of the blind spot in the vehicle's A-pillar field of vision.
[0027] The electronic control unit identifies obstacles based on external images and predicts that the driver's future view will be blocked by the vehicle's A-pillar based on the current line of sight. Then, it sends a folding instruction to the control motor of the vehicle's A-pillar.
[0028] The control motor responds to a folding instruction, controlling multiple linkage structures to fold along the width of the vehicle's A-pillar, creating an unobstructed light path between the driver's future line of sight and obstacles. As an example, the width of the vehicle's A-pillar extends from the passenger side of the windshield to the driver's side.
[0029] In one embodiment of the present invention, the vehicle A-pillar includes pillars supporting both sides of the windshield closest to the driver's seat. Alternatively, the vehicle A-pillar includes pillars supporting both sides of the windshield. That is, the vehicle A-pillar includes a left A-pillar and a right A-pillar. The technical solutions in the embodiments of the present invention are applicable to any of the above scenarios.
[0030] By predicting that the driver's future line of sight will be obstructed by the vehicle's A-pillar, the control motor of the A-pillar controls multiple linkage structures to fold along the width of the A-pillar, creating an unobstructed light path between the driver's future line of sight and obstacles. The folding of these linkage structures along the width of the A-pillar shortens its width, thereby reducing the area obstructing the driver's line of sight.
[0031] See Figure 2 , Figure 2 This is a schematic diagram of the linkage structure in the deployed state according to an embodiment of the present invention. Figure 2 The image shows a top view of multiple link structures 11. The link structures 11 are in an extended state, and the variable-pitch rod AA is in an extended state, supporting the link structures 11. In the extended state, the link structures 11 have a parallelogram cross-section.
[0032] See Figure 3 , Figure 3 This is a schematic diagram of the linkage structure according to an embodiment of the present invention in a partially folded state. With the linkage structure 11 in a partially folded state, the pitch lever AA is also partially folded and supports the linkage structure 11.
[0033] See Figure 4 , Figure 4 This is a schematic diagram of the linkage structure according to an embodiment of the present invention in a fully folded state. With the linkage structure 11 in a fully folded state, the pitch lever AA is also fully folded and supports the linkage structure 11.
[0034] In one embodiment of the present invention, the electronic control unit is used to determine the driver's future line of sight based on the current line of sight and the duration of the vehicle A-pillar 1 folding operation using a predictive line of sight model; if the vehicle A-pillar 1 and the obstacle are on the extension line of the driver's future line of sight, then the driver's future line of sight is blocked by the vehicle A-pillar 1.
[0035] The predictive line-of-sight model can be trained based on the driver's historical line-of-sight, the duration of the vehicle's A-pillar folding operation, and historical vehicle driving parameters.
[0036] In one embodiment of the present invention, the electronic control unit is specifically used to input the duration of the vehicle A-pillar 1 folding operation, the current line of sight, and the current vehicle driving parameters into the predictive line of sight model to determine the driver's future line of sight within the folding operation duration. As an example, the current vehicle driving parameters include one or more of the following: steering angular acceleration, vehicle speed, angular velocity, cumulative steering wheel angle, throttle opening, and braking pressure.
[0037] In one embodiment of the present invention, the vehicle A-pillar 1 includes multiple link structures 11. Each link structure 11 can be folded by the contraction of the pitch section in the torque converter. When fully folded, the link structure 11 forms a rectangle. When multiple link structures 11 are fully folded, they form a cuboid of multiple stacked rectangles.
[0038] A control motor is installed in the first link structure 11, which enables the folding of the first link structure 11. Other link structures 11 are connected to the first link structure 11 via hinges. The control motor transmits power through the hinges to retract and fold the pitch-changing section of the torque converter within the link structure, thereby achieving the folding of the vehicle's A-pillar 1. As an example, the control motor can control the displacement of multiple link structures 11 via pulse width modulation (PWM).
[0039] Specifically, the control motor is used to control the contraction of the torque-changing section of the connecting rod structure at the end of the torque converter, thereby causing the connecting rod structure at the end to fold. The control motor further utilizes the hinges between the linkage structures to sequentially drive other linkage structures, causing the pitch-changing sections in each linkage structure to retract, and the other linkage structures to fold.
[0040] In one embodiment of the present invention, in order to minimize the width of the vehicle A-pillar 1, both ends of the vehicle A-pillar extending in the direction of extension are movably connected to the vehicle body and the vehicle roof, respectively. As an example, the two ends of the vehicle A-pillar extending in the direction of extension are rotatably connected to the vehicle body and the vehicle roof, respectively.
[0041] With all linkage structures in the vehicle's A-pillar 1 completely folded, the width of the vehicle's A-pillar 1 can be adjusted by rotating the completely folded linkage structures.
[0042] As an example, all linkage structures 11 in the vehicle A-pillar 1 are completely folded to obtain a fully folded vehicle A-pillar 1. The height of the fully folded vehicle A-pillar 1 remains unchanged, and its width is equal to the width of the rectangle formed by the fully folded linkage structures. The width of the vehicle A-pillar 1 is further adjusted by rotating the fully folded vehicle A-pillar 1 about its axis of extension.
[0043] Specifically, a control motor is used to control the fully folded A-pillar of the vehicle to rotate around its axis of extension to the angle of minimum obstruction of vision after all linkage structures have been fully folded.
[0044] See Figure 5 , Figure 5 This is a schematic diagram of the rotation of a fully folded vehicle A-pillar according to an embodiment of the present invention. Figure 5 The left-middle image shows a fully folded A-pillar of a vehicle without it rotating. Figure 5 The right-middle image shows a diagram illustrating the angle of minimum obstruction of the line of sight when the A-pillar of a fully folded vehicle is rotated. It can be seen that rotating the A-pillar of a fully folded vehicle to the angle of minimum obstruction of the line of sight achieves minimal obstruction of the line of sight.
[0045] In one embodiment of the present invention, considering that the vehicle's A-pillar 1 is folded, external air and rainwater can enter the vehicle interior through the gap in the A-pillar 1. The aforementioned minimum obstruction angle can be adjusted based on vehicle speed and / or rainfall information. The minimum obstruction angle is determined based on vehicle speed and / or rainfall information.
[0046] As an example, the faster the vehicle travels, the smaller the threshold for the minimum shading angle; the greater the rainfall information, the smaller the threshold for the minimum shading angle. The threshold for the minimum shading angle needs to be less than or equal to 90 degrees and greater than or equal to 0 degrees.
[0047] In one embodiment of the invention, to improve the strength and sealing of the vehicle A-pillar 1, the outer surface of the linkage structure is covered with a shell. That is, the vehicle A-pillar further includes a shell enclosing the multiple linkage structures, the shell being made of a lightweight, high-strength composite material. As an example, the lightweight, high-strength composite material includes carbon fiber or glass fiber reinforced nylon 66.
[0048] See Figure 6 , Figure 6 This is a schematic diagram illustrating the main steps of a method for controlling a vehicle according to an embodiment of the present invention. Specifically, it includes the following steps: S601, an eye-tracking camera obtains the driver's current gaze. The vehicle camera, installed on the outside of the A-pillar, captures and sends external images of the blind spot of the vehicle's A-pillar.
[0049] In an embodiment of the present invention, Figure 6 The vehicle is the entity that performs each step in the process. As an example, the vehicle includes an electronic control unit.
[0050] An eye-tracking camera captures the driver's current gaze. This camera can be positioned near the driver's seat. As an example, to improve the accuracy of tracking gaze along the vehicle's A-pillar, an eye-tracking camera is mounted on the A-pillar trim panel.
[0051] A vehicle camera installed on the outside of the vehicle's A-pillar captures and transmits external images of the blind spot near the A-pillar. The vehicle camera can collect and transmit external images of the blind spot near the A-pillar in real time.
[0052] S602, based on external images, identifies obstacles and predicts that the driver's future line of sight will be obstructed by the vehicle's A-pillar based on the current line of sight.
[0053] In one embodiment of the present invention, after the outer vehicle camera identifies an obstacle in the external image of the blind spot of the vehicle's A-pillar, it needs to determine whether the driver's future view is obstructed by the vehicle's A-pillar. If the driver's future view is obstructed by the vehicle's A-pillar, the A-pillar needs to be folded to avoid obstructing the driver's view. If the driver's future view is not obstructed by the vehicle's A-pillar, there is no need to control the vehicle's A-pillar.
[0054] Among these methods, image recognition technology can be used to identify obstacles in the aforementioned external images.
[0055] In one embodiment of the present invention, a preset implementation model can be used to determine the driver's future line of sight.
[0056] Specifically, based on the current line of sight and the duration of the vehicle's A-pillar folding operation, a predictive line-of-sight model is used to determine the driver's future line of sight.
[0057] As an example, the driver's future line of sight is determined by inputting the duration of the vehicle's A-pillar folding operation, the current line of sight, and the current vehicle driving parameters into the predictive line of sight model.
[0058] If the vehicle's A-pillar and the obstacle are on the extension line of the driver's future line of sight, then the driver's future line of sight is obstructed by the vehicle's A-pillar.
[0059] S603 controls multiple linkage structures in the A-pillar of the vehicle to fold in the width direction of the A-pillar, so that an unobstructed light path is formed between the driver's future line of sight and obstacles.
[0060] The linkage structure in the A-pillar of the vehicle can be folded in the width direction of the A-pillar.
[0061] Based on the current line of sight, it is predicted that the driver's future line of sight will be blocked by the vehicle's A-pillar. Multiple linkage structures in the vehicle's A-pillar are controlled to fold in the width direction of the A-pillar, so that an unobstructed light path is formed between the driver's future line of sight and the obstacle.
[0062] In one embodiment of the present invention, the vehicle A-pillar further includes: a variable pitch rod that is disposed through a plurality of the linkage structures and is movably connected to the plurality of the linkage structures; When the linkage structure is in the deployed state, the pitch rod is in the extended state and supports the linkage structure; When the linkage structure is in a folded state, the pitch rod is in a retracted state; And / or, When the connecting rod structure is in its unfolded state, the cross-section of the connecting rod structure is a parallelogram.
[0063] In one embodiment of the present invention, the control motor is used to control the contraction of the variable pitch section of the connecting rod structure located at the end of the torque converter, thereby driving the connecting rod structure at the end to fold. The control motor further utilizes the hinges between the linkage structures to sequentially drive other linkage structures, and causes the variable pitch section located in each linkage structure in the torque converter to retract, while the other linkage structures fold.
[0064] In one embodiment of the present invention, the two ends of the vehicle A-pillar extending in the direction of extension are respectively movably connected to the vehicle body and the vehicle roof; The control motor is used to control the A-pillar of the vehicle to rotate to the minimum obstruction angle about its extension axis after all linkage structures are fully folded. The minimum obstruction angle is determined based on vehicle speed and / or rainfall information.
[0065] In one embodiment of the invention, the vehicle A-pillar further includes a housing enclosing the plurality of said link structures, the housing being made of a lightweight, high-strength composite material. As an example, the lightweight, high-strength composite material includes carbon fiber or glass fiber reinforced nylon 66.
[0066] Figure 7 An exemplary system architecture 700 for controlling a vehicle, to which embodiments of the present invention can be applied, is shown.
[0067] like Figure 7 As shown, the vehicle system architecture 700 may include various systems, such as a driving control system 701, a power system 702, a sensor system 707, a control system 704, a lane change assist system 705, one or more peripheral devices 706, a power supply 707, a computer system 708, and a user interface 709. The vehicle control method provided in this embodiment can be implemented through interaction with the aforementioned systems, or through control of the systems by external devices, or through operation of the systems by a robot driving the vehicle. Optionally, the vehicle system architecture 700 may include more or fewer systems, and each system may include multiple components. Furthermore, each system and component of the vehicle system architecture 700 may be interconnected via wired or wireless means.
[0068] The sensor system 703 may include sensors for sensing the vehicle's surrounding environment (such as sensors for detecting the presence of obstacles) and pressure sensors for sensing the presence of passengers in the seats. Examples include a positioning system (which may be a Global Positioning System (GPS), BeiDou Navigation Satellite System, or other positioning systems), radar, a laser rangefinder, an inertial measurement unit (IMU), and cameras. The positioning system can be used to determine the vehicle's geographical location. The IMU is used to sense changes in the vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. The radar can use radio signals to sense objects in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, the radar can also be used to sense the speed and / or direction of travel of objects.
[0069] To detect environmental information and objects outside the vehicle, cameras can be configured at appropriate locations on the vehicle's exterior. For example, to acquire environmental images of the vehicle's sides, a camera can be mounted on the side mirror. The camera can be a still or video camera.
[0070] The control system 704 may include software systems for implementing vehicle driving control, such as systems for analyzing the vehicle's surrounding environment, pretensioning seat belts, route planning, obstacle avoidance, and image analysis. The control system 704 may also include hardware systems such as an accelerator, steering wheel system, seat belt system, airbag system, and peripheral devices (such as projection equipment and displays). Furthermore, the control system 704 may add or replace components other than those shown and described. Alternatively, some of the components shown above may be omitted.
[0071] It should be understood that the components described above are merely an example. In actual applications, components in the various modules or systems mentioned above may be added or removed as needed. Figure 7 This should not be construed as a limitation on the embodiments of this application.
[0072] The following is for reference. Figure 8 It shows a schematic diagram of the structure of a computer system 800 suitable for implementing a terminal device of the present invention. Figure 8 The terminal device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.
[0073] like Figure 8As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 802 or programs loaded from storage section 808 into random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the system 800. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.
[0074] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.
[0075] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit (CPU) 801, it performs the functions defined above in the system of this invention.
[0076] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.
[0077] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0078] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist alone and not assembled into the device. The computer-readable medium carries one or more programs, which, when executed by the device, cause the device to include: An eye-tracking camera captures the driver's current gaze. A vehicle camera installed on the outside of the A-pillar collects and transmits external images of the blind spot in the vehicle's A-pillar field of vision. Obstacles are identified based on the external image, and the driver's future line of sight is predicted to be obstructed by the vehicle's A-pillar based on the current line of sight. By controlling the lateral movement of the linkage structure in the A-pillar of the vehicle, the A-pillar of the vehicle can be folded laterally, so that an unobstructed light path is formed between the driver's future line of sight and obstacles.
[0079] According to the technical solution of this invention, the electronic control unit predicts that the driver's future line of sight will be obstructed by the vehicle's A-pillar based on the current line of sight. The control unit then controls the motor to move the linkage structure in the A-pillar laterally, causing the A-pillar to fold laterally, thus creating an unobstructed light path between the driver's future line of sight and the obstacle. The lateral folding of the A-pillar shortens its width, thereby reducing the area obstructing the driver's line of sight.
[0080] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention. It should be noted that the acquisition, storage, and application of user personal information involved in the technical solutions of this disclosure comply with relevant laws and regulations and do not violate public order and good morals.
Claims
1. A vehicle, characterized in that, include: Vehicle A-pillar, eye-tracking camera, vehicle camera, and electronic control unit; The vehicle A-pillar includes multiple interconnected link structures arranged in the width direction. The multiple link structures are connected by hinges and transmit power. A control motor is provided in the link structure located at the end. The eye-tracking camera acquires the driver's current gaze and sends the current gaze; The vehicle camera is installed on the outside of the vehicle's A-pillar to capture and transmit external images of the blind spot of the vehicle's A-pillar. The electronic control unit identifies obstacles based on the external image, and predicts that the driver's future view will be blocked by the vehicle's A-pillar based on the current line of sight. Then, it sends a folding instruction to the control motor of the vehicle's A-pillar. The control motor responds to the folding instruction and controls multiple linkage structures to fold in the width direction of the vehicle's A-pillar, so that an unobstructed light path is formed between the driver's future line of sight and obstacles.
2. The vehicle according to claim 1, characterized in that, The vehicle A-pillar also includes: a variable pitch rod that is disposed through the multiple link structures and is movably connected to the multiple link structures; When the linkage structure is in the deployed state, the pitch rod is in the extended state and supports the linkage structure; When the linkage structure is in a folded state, the pitch rod is in a retracted state; And / or, When the connecting rod structure is in its unfolded state, the cross-section of the connecting rod structure is a parallelogram.
3. The vehicle according to claim 1, characterized in that, The electronic control unit is used to determine the driver's future line of sight based on the current line of sight and the duration of the vehicle's A-pillar folding operation, using a predictive line of sight model. If the vehicle's A-pillar and the obstacle are on the extension line of the driver's future line of sight, then the driver's future line of sight is obstructed by the vehicle's A-pillar.
4. The vehicle according to claim 3, characterized in that, The electronic control unit is used to input the folding operation duration of the vehicle's A-pillar, the current line of sight, and the current vehicle driving parameters into the predictive line of sight model to determine the driver's future line of sight within the folding operation duration.
5. The vehicle according to claim 2, characterized in that, The control motor is used to control the contraction of the torque-changing section of the connecting rod structure located at the end of the torque-changing rod, thereby causing the connecting rod structure at the end to fold. The control motor further utilizes the hinges between the linkage structures to sequentially drive other linkage structures, and causes the variable pitch section located in each linkage structure in the torque converter to retract, while the other linkage structures fold.
6. The vehicle according to claim 1, characterized in that, The two ends of the A-pillar of the vehicle are movably connected to the vehicle body and the roof, respectively, in the direction of its extension. The control motor is used to control the A-pillar of the vehicle to rotate around its axis of extension to the minimum obstruction angle of vision after all linkage structures are fully folded.
7. The vehicle according to claim 6, characterized in that, The minimum obstruction angle of vision is determined based on vehicle speed and / or rainfall information.
8. The vehicle according to claim 1, characterized in that, The vehicle A-pillar also includes a housing that encloses the multiple link structures, the housing being made of a lightweight, high-strength composite material.
9. The vehicle according to claim 1, characterized in that, The eye-tracking camera is installed on the interior panel of the vehicle's A-pillar.
10. A method for controlling a vehicle, characterized in that, include: An eye-tracking camera captures the driver's current gaze, while a vehicle camera mounted on the outside of the A-pillar collects and transmits external images of the blind spot in the A-pillar's field of vision. Obstacles are identified based on the external image, and the driver's future line of sight is predicted to be obstructed by the vehicle's A-pillar based on the current line of sight. Multiple linkage structures in the A-pillar of the vehicle are folded in the width direction of the A-pillar to create an unobstructed light path between the driver's future line of sight and obstacles.