Multi-scene laser scanning projection control method and system for exterior rearview mirror and vehicle

Abstract

This invention discloses a multi-scene laser scanning projection control method, system, and vehicle for exterior rearview mirrors. The control method includes: acquiring vehicle status information and ambient light intensity information; acquiring the user's real-time position information relative to the vehicle; and executing one of the preset scene strategies based on the real-time position information, vehicle status information, and ambient light intensity information. By embedding the laser scanning projection module in the vehicle's exterior rearview mirror, it can project images onto the vehicle body or the ground with flexible projection positions. Simultaneously, it can perform different projections for welcoming, farewell, parking warning, and turn prompts, diversifying application scenarios and solving the problem of limited functionality in existing welcoming devices. In particular, the welcoming and farewell scenes can dynamically follow the user's movement, improving the user's interactive experience and emotional value. This function fully utilizes the electric steering function of the exterior rearview mirror without requiring additional complex mechanical structures, facilitating engineering implementation.

Description

Technical Field

[0001] This invention relates to the field of image projection technology, specifically to a multi-scene laser scanning projection control method, system, and vehicle for exterior rearview mirrors. Background Technology

[0002] With the rapid advancement of automotive technology, people's demand for a more technologically advanced and premium feel in cars is increasing. Therefore, some car models have added welcome lights to illuminate the area near the doors, improving safety for nighttime pedestrians and enhancing the car's technological and premium image. Building on this, please refer to Chinese utility model patent publication number CN211308382U, which describes a welcome device that mounts a laser projection device on the exterior rearview mirror. This device projects images onto the car body, further enhancing the car's technological and premium feel compared to conventional welcome lights.

[0003] However, due to limitations in laser projection technology, the aforementioned laser projection-based welcome devices can only guarantee a good image quality when projected onto a fixed flat or curved surface (such as a vehicle body, which can be preset and calibrated). If projected onto the ground near the vehicle (a random curved surface, which cannot be preset and calibrated), severe image distortion occurs, severely limiting the projection position and image size. Furthermore, existing laser projection-based welcome devices can only project onto a fixed location and cannot dynamically follow the user, resulting in a consistently unsatisfactory visual effect. Additionally, existing welcome devices are functionally limited to welcoming and farewell scenarios.

[0004] Solving these problems is now a top priority. Summary of the Invention

[0005] To address the technical problems of existing laser projection-based welcome devices that cannot project onto the ground near the vehicle, cannot dynamically follow the user, and have limited functionality, this invention provides a multi-scene laser scanning projection control method, system, and vehicle for exterior rearview mirrors.

[0006] The technical solution is as follows:

[0007] The first aspect of this application relates to a multi-scene laser scanning projection control method for exterior rearview mirrors, comprising the following steps:

[0008] S1. Obtain vehicle status information and ambient light intensity information;

[0009] S2. Using the car key carried by the user as a moving anchor point, the user's real-time position information relative to the vehicle is calculated by the moving anchor point and several fixed anchor points set on the vehicle.

[0010] S3. Based on the real-time location information, vehicle status information, and ambient light intensity information, execute one of the preset scene strategies to control the rotation of the exterior rearview mirror and the opening, closing, projection content selection, and projection image correction of the laser scanning projection module; wherein, the preset scene strategies include a welcoming dynamic following projection strategy, a departing dynamic following projection strategy, a parking warning projection strategy, and a turn prompt projection strategy; when the vehicle status information is parked and the engine is off, the ambient light intensity information is that the current light intensity is lower than the set light intensity, and the user's real-time location information is outside the vehicle, the welcoming dynamic following projection strategy is executed; when the vehicle status information is parked and the engine is off, the ambient light intensity information is that the current light intensity is lower than the set light intensity, and the user's real-time location information is inside the vehicle, the departing dynamic following projection strategy is executed; when the vehicle status information is parked and the engine is not off, and the ambient light intensity information is that the current light intensity is lower than the set light intensity, the parking warning projection strategy is executed; when the vehicle status information is in motion and the current speed is lower than the set speed, and the ambient light intensity information is that the current light intensity is lower than the set light intensity, the turn prompt projection strategy is executed.

[0011] By employing the above-mentioned multi-scenario laser scanning projection control method for exterior rearview mirrors, a compact laser scanning projection module is embedded within the vehicle's exterior rearview mirror. This enables clear projection onto curved surfaces, allowing for projection onto both the vehicle body and the ground. The projection position is flexible, with a wide range of applications, and a larger projection area, enhancing the user's visual experience. Furthermore, through the aforementioned steps, different projections can be applied for welcoming, farewell, parking warnings, and turn signals, diversifying application scenarios and overcoming the limitation of existing single-function welcoming devices. This improves practicality and safety for vehicles. In welcoming and farewell scenarios, the projection can dynamically follow the user's movements, further enhancing the user's interactive experience and emotional value. Moreover, this function fully utilizes the electric steering function of the exterior rearview mirror, eliminating the need for additional complex mechanical structures and facilitating engineering implementation.

[0012] The second aspect of this application relates to a system for implementing the above-described multi-scene laser scanning projection control method for exterior rearview mirrors, characterized in that it comprises:

[0013] The information acquisition module is capable of collecting vehicle status information, ambient light intensity information, and coordinate information of moving anchor points and fixed anchor points.

[0014] The rearview mirror rotation control module can drive the exterior rearview mirror to rotate within a preset angle range;

[0015] A laser scanning projection module is built into the exterior rearview mirror, and the laser scanning projection module is used to perform laser scanning projection.

[0016] The controller is electrically connected to the information acquisition module, the rearview mirror rotation control module, and the laser scanning projection. The controller is used to control the rearview mirror rotation control module and the laser scanning projection to execute one of the following strategies: welcoming dynamic following projection strategy, farewell dynamic following projection strategy, parking warning projection strategy, and turning prompt projection strategy, based on the vehicle status information, external environment information, and user location information collected by the information acquisition module.

[0017] The above system possesses all the advantages of the aforementioned multi-scene laser scanning projection control method for exterior rearview mirrors.

[0018] A third aspect of this application relates to a vehicle that includes the aforementioned system.

[0019] Using the above vehicles provides all the advantages of the aforementioned systems. Attached Figure Description

[0020] Figure 1 A diagram illustrating how to obtain real-time location information;

[0021] Figure 2 A schematic diagram of laser scanning projection for a welcoming scene;

[0022] Figure 3 A schematic diagram of laser scanning projection for a farewell scene;

[0023] Figure 4 This is a schematic diagram of the rearview mirror rotation control module.

[0024] Figure 5 This is a flowchart of a multi-scene laser scanning projection control method for exterior rearview mirrors. Detailed Implementation

[0025] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0026] Please see Figure 5 A method for controlling multi-scene laser scanning projection of exterior rearview mirrors, comprising the following steps:

[0027] S1. Acquire vehicle status information and ambient light intensity information. Vehicle status information includes vehicle speed (e.g., 0 km / h indicates a stopped vehicle, speed greater than 0 km / h and less than 30 km / h indicates low-speed driving, and speed greater than or equal to 30 km / h indicates high-speed driving), vehicle electrical status (engine off or on), hazard warning light status (hazard warning lights on or off), turn signal information (left turn signal on, right turn signal on, or both turn signals off), and driver's door status (open or closed). Ambient light intensity information is typically obtained through photosensors integrated into the vehicle. These sensors are usually installed on the inside of the windshield (near the rearview mirror area), in the grille, or on the dashboard—locations that effectively detect ambient light.

[0028] S2. Using the user's car key as a mobile anchor point, the user's real-time position relative to the vehicle is calculated by comparing the mobile anchor point with several fixed anchor points set on the vehicle. The car key is preferably a UWB digital key or a StarFlash digital key; the positioning accuracy of the UWB digital key is ±30cm; the positioning accuracy of the StarFlash digital key is ±50cm in SLE mode and ±10cm in MLE / SLP mode.

[0029] The real-time location information includes the current required precise angle of the driver's side exterior rearview mirror and the current precise distance between the user and the driver's side exterior rearview mirror.

[0030] The current required precise angle of the driver's side exterior rearview mirror and the current precise distance between the user and the driver's side exterior rearview mirror are obtained through the following steps:

[0031] Step 1: Select N locations on the vehicle as fixed anchor points, where N is a positive integer greater than or equal to 2.

[0032] Step 2: Divide the N fixed anchor points into N-1 non-repeating fixed anchor point calculation groups in pairs; therefore, there should be at least one fixed anchor point calculation group.

[0033] Step 3: Process the moving anchor points and each fixed anchor point measurement group according to the first spacing correction method to obtain N-1 sets of original real-time position information composed of the current required angle of the driver's side rearview mirror and the current distance between the user and the driver's side rearview mirror.

[0034] Step 4: Calculate the average of the current required angles of the N-1 groups of driver's side exterior rearview mirrors to obtain the current required precise angle of the driver's side exterior rearview mirror; calculate the average of the current distances between the N-1 groups of users and the driver's side exterior rearview mirrors to obtain the current precise distance between the user and the driver's side exterior rearview mirror; the obtained current required precise angles of the driver's side exterior rearview mirrors and the current precise distances between the user and the driver's side exterior rearview mirrors are the real-time location information.

[0035] In step 3 above, the spacing correction processing method includes:

[0036] Based on the coordinate information of the two fixed anchor points in the moving anchor point and the current fixed anchor point measurement group, the distance between the two fixed anchor points is calculated. and the measured distance between the moving anchor point and the two fixed anchor points. and ;

[0037] measured distance and Substituting the values ​​into the calibration table of spacing measurements established through actual vehicle calibration, interval matching and linear interpolation are performed to obtain the calibrated spacing. and ;

[0038] Based on the distance between the two fixed anchor points and the calibrated spacing and The current required angle of the driver's side exterior rearview mirror and the current distance between the user and the driver's side exterior rearview mirror are calculated.

[0039] Please see Figure 1 Taking one of the current fixed anchor point calculation groups as an example. The pivot position of the driver's side exterior rearview mirror is selected as fixed anchor point 1. When the driver's side exterior rearview mirror rotates, the position coordinates of fixed anchor point 1 will not change. The pivot position of the passenger side exterior rearview mirror is selected as fixed anchor point 2. When the passenger side exterior rearview mirror rotates, the position coordinates of fixed anchor point 2 will also not change.

[0040] The angle between the line connecting the fixed anchor point 1 and the movable anchor point and the length direction of the vehicle is set as the current required angle of the driver's side exterior rearview mirror. The angle between the line connecting fixed anchor point 1 and fixed anchor point 2 and the length direction of the vehicle is set as the calibration angle. , calibrate the included angle Current required angle of the driver's side exterior rearview mirror Together they constitute the target perspective Among them, the included angle is calibrated. It was obtained through calibration on a real vehicle.

[0041] The spacing is calculated based on the current position coordinates of fixed anchor point 1, fixed anchor point 2, and moving anchor point. Measured spacing and measured distance Among them, spacing This represents the distance between fixed anchor point 1 and fixed anchor point 2, measured spacing. This represents the actual measured distance between the fixed anchor point 1 and the moving anchor point, calculated using coordinates. (Measured Spacing) This represents the actual measured distance between the fixed anchor point 2 and the moving anchor point, calculated using coordinates.

[0042] In actual deployment, the measured spacing is affected by the installation environment. and measured distance The measurements will have some deviation and require calibration on a real vehicle. The specific logic is as follows:

[0043] (1) The calibration personnel stand For 90° angle, At a distance of 1m, read the actual value. and distance and ;

[0044] (2) The marking personnel stand at For 90° angle, At a distance of 2m, read the actual value. and distance and ;

[0045] (3) The calibration personnel stand at For 90° angle, Read the actual value at a distance of 3m. and distance and ;

[0046] (4) The calibration personnel stand at For 90° angle, At a distance of 4m, read the actual value. and distance and ;

[0047] (5) The calibration personnel stand For 60° angle, At a distance of 1m, read the actual value. and distance and ;

[0048] (6) The calibration personnel stand at For 60° angle, At a distance of 2m, read the actual value. and distance and ;

[0049] (7) The calibration personnel stand For 60° angle, Read the actual value at a distance of 3m. and distance and ;

[0050] (8) The calibration personnel stand For 60° angle, At a distance of 4m, read the actual value. and distance and ;

[0051] (9) The calibration personnel stand For a 30° angle, At a distance of 1m, read the actual value. and distance and ;

[0052] (10) The calibration personnel stand at For a 30° angle, At a distance of 2m, read the actual value. and distance and ;

[0053] (11) The calibration personnel stand at For a 30° angle, Read the actual value at a distance of 3m. and distance and ;

[0054] (12) The marking personnel stand at For a 30° angle, At a distance of 4m, read the actual value. and distance and ;

[0055] (13) The marking personnel stand at 0° angle At a distance of 1m, read the actual value. and distance and ;

[0056] (14) The calibration personnel stand at 0° angle At a distance of 2m, read the actual value. and distance and ;

[0057] (15) The calibration personnel stand at 0° angle Read the actual value at a distance of 3m. and distance and ;

[0058] (16) The marking personnel stand at 0° angle At a distance of 4m, read the actual value. and distance and .

[0059] Based on the above data, a calibration table for spacing measurements was established.

[0060] In actual use, the measured spacing will be used. and measured distance Substituting the values ​​into the calibration table of distance measurement values ​​established through the above actual vehicle calibration, interval matching and linear interpolation are performed to obtain the calibrated distance. and calibrated spacing .

[0061] For example, measured spacing = 2.5m and measured spacing =3.4, comparison Falling arrive Which intervals ( - , - , - , - Within this range, match within these intervals. (e.g., match) - Then the calibration table uses ( ); - and - By combining the measured values ​​corresponding to this interval, a linear mapping is performed to obtain the calibrated spacing. and calibrated spacing It should be noted that, for this current fixed anchor point calculation group, the calibrated spacing... This is the current distance between the user and the exterior rearview mirror in the driver's seat.

[0062] The calibrated spacing and calibrated spacing Substituting into the cosine theorem formula The solution is then performed using the inverse trigonometric function formula. The target angle is calculated. Finally, through the formula The required angle of the driver's side exterior rearview mirror is calculated. .

[0063] S3. Execute one of the preset scene strategies based on the real-time location information, vehicle status information, and ambient light intensity information to control the rotation of the exterior rearview mirror and the opening, closing, projection content selection, and projection image correction of the laser scanning projection module.

[0064] The preset scenario strategies include a welcoming dynamic following projection strategy, a farewell dynamic following projection strategy, a parking warning projection strategy, and a turning prompt projection strategy.

[0065] Please see Figure 2 When the vehicle status information is parked and the engine is off, the ambient light intensity information is that the current light intensity is lower than the set light intensity (it should be noted that the ambient light intensity information can automatically determine the headlights to turn on and off, and when the car's controller determines that the headlights can be turned on based on the photosensitive sensor, the laser scanning projection module can be turned on), and the user's real-time location information is outside the vehicle, the welcome dynamic following projection strategy is executed.

[0066] Specifically, the welcome dynamic follow projection strategy only requires a laser scanning projection module built into the driver's side rearview mirror. The welcome dynamic follow projection strategy includes:

[0067] (1) When the user's real-time location information is identified and enters the projection preparation range (e.g., the calibrated spacing), When the distance is greater than 5m but less than 10m, the driver's side rearview mirror rotates with the user through a dynamic mirror tracking algorithm, ensuring that the projection direction of the laser scanning projection module built into the rearview mirror always faces the user. At the same time, the laser scanning projection module turns off its projection. Since the rearview mirror is constantly rotating to follow the user's real-time position information, the projection direction of the laser scanning projection module keeps tracking the user's movement. Therefore, when the user enters the dynamic tracking welcoming range, the projection can be turned on immediately, effectively reducing the startup time.

[0068] (2) When the user's real-time location information is identified and enters the dynamic tracking welcoming range (e.g., the calibrated spacing) When the distance is ≤5m, the driver's side rearview mirror rotates with the user through a dynamic mirror following algorithm, so that the projection direction of the laser scanning projection module built into the rearview mirror is always facing the user. At the same time, the laser scanning projection module turns on the projection, and the projection content is the user's preset welcome material. The projection image is corrected for trapezoidal shape according to real-time position information, realizing dynamic following projection that follows the user's movement, improving the user's interactive experience and emotional value.

[0069] (3) When the user opens the car door, the laser scanning projection module built into the driver's side rearview mirror turns off the projection. At the same time, the driver's side rearview mirror and the passenger side rearview mirror are both rotated to the fully open position, completing the welcoming scene and preparing for the vehicle to start.

[0070] Please see Figure 4 The rearview mirror dynamic following algorithm includes:

[0071] (1) Based on the current required precise angle of the driver's side exterior rearview mirror in the real-time location information, the current required precise angle of the driver's side exterior rearview mirror is taken as the rotation target angle of the driver's side exterior rearview mirror.

[0072] (2) The drive voltage of the motor rotating the rearview mirror in the driver's seat is calculated by the PID control unit;

[0073] (3) The actual rotation angle of the rearview mirror is fed back in real time through the feedback unit inside the rearview mirror in the driver's seat; the PID control unit and the feedback unit cooperate to make the rearview mirror in the driver's seat rotate precisely to the target rotation angle.

[0074] The feedback unit preferably uses a potentiometer or encoder. After running for a period of time, the feedback unit may deviate to a certain extent. Therefore, in this embodiment, the feedback unit is zero-positioned each time the exterior rearview mirror rotates to the fully open or fully closed position. This achieves high-frequency correction of the initial rotation control accuracy of the exterior rearview mirror, ensuring that the rotation angle of the exterior rearview mirror does not change with the increase of service life, and ensuring the accuracy of projection tracking.

[0075] In this embodiment, all laser scanning projection modules are horizontally mounted, and the keystone correction of the projected image is planar keystone correction. This design avoids three-dimensional keystone correction, significantly reducing computational power consumption. It should be noted that planar keystone correction is common knowledge to those skilled in the art and will not be elaborated upon here.

[0076] Please see Figure 3 When the vehicle status information is "parked and engine off", the ambient light intensity information is "current light intensity is lower than the set light intensity", and the user's real-time location information is "in the vehicle", the dynamic follow projection strategy for escorting guests is executed.

[0077] Specifically, the dynamic follow-up projection strategy for guest departure only requires a laser scanning projection module built into the driver's side rearview mirror. The dynamic follow-up projection strategy for guest departure includes:

[0078] (1) When the system detects that the user has completed the action sequence of turning off the engine, opening the door, getting out of the car and closing the door, the driver's side rearview mirror first rotates to the initial farewell projection angle (system preset). Then, the laser scanning projection module built into the rearview mirror starts projection, and the projection content is the user's preset welcome material. At the beginning of the projection, since the user has just gotten out of the car and is very close to the vehicle, the user's real-time location information may be inaccurate. Therefore, the driver's side rearview mirror directly rotates to the system preset initial farewell projection angle, and the laser scanning projection module starts projection. The initial farewell projection angle is obtained through calibration. This design can effectively prevent the laser scanning projection module from not projecting after the user gets out of the car (the user's real-time location information may still be inside the car), ensuring the accuracy and timeliness of the projection response.

[0079] (2) When the user's real-time location information is identified and enters the dynamic tracking and escort range (e.g., the calibrated spacing) When the distance is ≤5m, the driver's side rearview mirror rotates with the user through the aforementioned rearview mirror dynamic following algorithm, so that the projection direction of the laser scanning projection module built into the rearview mirror is always facing the user. At the same time, the laser scanning projection module turns on the projection, and the projection content is the user's preset welcome material. The projection image is corrected for trapezoidal shape according to the real-time position information, realizing dynamic following projection that follows the user's movement, improving the user's interactive experience and emotional value.

[0080] (3) When the real-time location information of the user exceeds the dynamic tracking and escort range, the laser scanning projection module built into the driver's side rearview mirror turns off the projection. At the same time, the driver's side rearview mirror and the passenger side rearview mirror are rotated to the fully closed position, completing the welcoming scene while keeping the rearview mirrors completely closed.

[0081] In this embodiment, when the vehicle status information is "parked and not turned off" and the ambient light intensity information is "current light intensity is lower than the set light intensity", a parking warning projection strategy is executed.

[0082] Specifically, the parking warning projection strategy requires at least one of the driver's side rearview mirror and the passenger side rearview mirror to be equipped with a laser scanning projection module. In this embodiment, it is preferable that both the driver's side rearview mirror and the passenger side rearview mirror are equipped with laser scanning projection modules, enabling the display of parking warning projections on both sides of the vehicle, resulting in a better parking warning effect. The parking warning projection strategy includes:

[0083] When the hazard warning light is detected to be on, the exterior rearview mirror first rotates to the warning projection angle, and then the laser scanning projection module turns on the projection, which is the parking warning material preset by the system (such as brightly colored material that can be seen from a distance).

[0084] In this embodiment, when the vehicle status information is "driving" and the current speed is lower than the set speed (e.g., 30 km / h) and the ambient light intensity information is "current light intensity is lower than the set light intensity", the turn signal projection strategy is executed.

[0085] Specifically, laser scanning projection modules are installed on both the driver's and passenger's side rearview mirrors. The turn signal projection strategy includes:

[0086] When a turn signal is detected, the laser scanning projection module corresponding to the turn signal is controlled to start projection, and the projected content is the turn prompt material preset by the system (such as projecting left or right turn arrows on the ground).

[0087] In this embodiment, the preset scene strategy also includes a custom projection strategy. The custom projection strategy is initiated by the user (e.g., when the user stops to rest or goes camping). The projection material is customized by the user, who selects their favorite pattern, which enriches the user experience and application scenarios.

[0088] Furthermore, when executing a custom projection strategy, users can choose to perform directional laser scanning projection, and the projection direction can be actively adjusted by the user. At the same time, users can also choose to perform laser scanning projection by slowly swinging back and forth, which is achieved by rotating the exterior rearview mirror back and forth, thereby further enriching the user experience and improving the interactivity and functionality of laser scanning projection.

[0089] Example 2:

[0090] A system for implementing the multi-scene laser scanning projection control method for exterior rearview mirrors in Embodiment 1 includes:

[0091] The information acquisition module is capable of collecting vehicle status information, ambient light intensity information, and coordinate information of moving anchor points and fixed anchor points. Specifically, the information acquisition module can collect vehicle status information, ambient light intensity information, and coordinate information of moving anchor points and fixed anchor points through the vehicle bus protocol.

[0092] The rearview mirror rotation control module can drive the exterior rearview mirrors to rotate within a preset angle range; please refer to [link / reference]. Figure 4 The rearview mirror rotation control module mainly includes a PID control unit, a feedback unit, and a rotation motor for the rearview mirror. Based on the current required precise angle of the driver's side exterior rearview mirror in real-time location information, the current required precise angle of the driver's side exterior rearview mirror is used as the target rotation angle of the driver's side exterior rearview mirror; the drive voltage of the rotation motor of the driver's side rearview mirror is calculated by the PID control unit; the actual rotation angle of the rearview mirror is fed back in real time by the feedback unit set inside the driver's side rearview mirror; each time the driver's side rearview mirror rotates to the fully open or fully closed position, the feedback unit performs zero-position correction to achieve drift correction;

[0093] A laser scanning projection module is built into the exterior rearview mirror. The laser scanning projection module is used to perform laser scanning projection. Specifically, the laser scanning projection module includes a projection unit and a data processing unit. The projection unit is a lens and a laser light source, which is installed at the light-emitting position on the exterior rearview mirror. The data processing unit is installed separately from the projection unit inside the exterior rearview mirror so as to facilitate successful installation in the exterior rearview mirror where the installation space is extremely congested.

[0094] The controller is electrically connected to the information acquisition module, the rearview mirror rotation control module, and the laser scanning projection. The controller is used to control the rearview mirror rotation control module and the laser scanning projection to execute one of the following strategies: welcoming dynamic following projection strategy, farewell dynamic following projection strategy, parking warning projection strategy, and turning prompt projection strategy, based on the vehicle status information, external environment information, and user location information collected by the information acquisition module.

[0095] It should be noted that the explanation of the aforementioned multi-scene laser scanning projection control method for external rearview mirrors also applies to the system of Embodiment 2, and will not be repeated here.

[0096] Example 3:

[0097] A vehicle, including the system of embodiment 2, integrates a compact laser scanning projection module into the vehicle's exterior rearview mirror. This module enables clear projection onto curved surfaces, allowing for projection onto both the vehicle body and the ground. The projection position is flexible, with a wide range of applications, and can achieve a larger projection area, enhancing the user's visual experience. Furthermore, through the aforementioned steps, different projections can be made for welcoming, farewell, parking warnings, and turn signals, diversifying application scenarios and solving the problem of limited functionality in existing welcoming devices. This improves the practicality and safety of the system for vehicles. In welcoming and farewell scenarios, the projection can dynamically follow the user's movements, further enhancing the user's interactive experience and emotional value. Moreover, this function fully utilizes the electric steering function of the exterior rearview mirror, eliminating the need for additional complex mechanical structures and facilitating engineering implementation.

[0098] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention. Those skilled in the art, under the guidance of the present invention, can make various similar representations without departing from the spirit and claims of the present invention, and such modifications all fall within the protection scope of the present invention.

Claims

1. A multi-scene laser scanning projection control method for exterior rearview mirrors, characterized in that, Includes the following steps: S1. Obtain vehicle status information and ambient light intensity information; S2. Using the car key carried by the user as a moving anchor point, the user's real-time position information relative to the vehicle is calculated by the moving anchor point and several fixed anchor points set on the vehicle. S3. Based on the real-time location information, vehicle status information, and ambient light intensity information, execute one of the preset scene strategies to control the rotation of the exterior rearview mirror and the opening, closing, projection content selection, and projection image correction of the laser scanning projection module; wherein, the preset scene strategies include a welcoming dynamic following projection strategy, a departing dynamic following projection strategy, a parking warning projection strategy, and a turn prompt projection strategy; when the vehicle status information is parked and the engine is off, the ambient light intensity information is that the current light intensity is lower than the set light intensity, and the user's real-time location information is outside the vehicle, the welcoming dynamic following projection strategy is executed; when the vehicle status information is parked and the engine is off, the ambient light intensity information is that the current light intensity is lower than the set light intensity, and the user's real-time location information is inside the vehicle, the departing dynamic following projection strategy is executed; when the vehicle status information is parked and the engine is not off, and the ambient light intensity information is that the current light intensity is lower than the set light intensity, the parking warning projection strategy is executed; when the vehicle status information is in motion and the current speed is lower than the set speed, and the ambient light intensity information is that the current light intensity is lower than the set light intensity, the turn prompt projection strategy is executed.

2. The multi-scene laser scanning projection control method for exterior rearview mirrors according to claim 1, characterized in that, In step S2, the real-time location information includes the current required precise angle of the driver's side exterior rearview mirror and the current precise distance between the user and the driver's side exterior rearview mirror, which is obtained according to the following steps: Step 1: Select N locations on the vehicle as fixed anchor points, where N is a positive integer greater than or equal to 2; Step 2: Divide the N fixed anchor points into N-1 non-repeating fixed anchor point measurement groups in pairs; Step 3: Process the moving anchor points and each fixed anchor point measurement group according to the first spacing correction method to obtain N-1 sets of original real-time position information composed of the current required angle of the driver's side rearview mirror and the current distance between the user and the driver's side rearview mirror. Step 4: Calculate the average value of the current required angle of the N-1 group of driver's side exterior rearview mirrors to obtain the current required precise angle of the driver's side exterior rearview mirror; calculate the average value of the current distance between the N-1 group of users and the driver's side exterior rearview mirrors to obtain the current precise distance between the user and the driver's side exterior rearview mirrors. The spacing correction processing method includes: Based on the coordinate information of the two fixed anchor points in the moving anchor point and the current fixed anchor point measurement group, the distance between the two fixed anchor points is calculated. and the measured distance between the moving anchor point and the two fixed anchor points. and ; measured distance and Substituting the values ​​into the calibration table of spacing measurements established through actual vehicle calibration, interval matching and linear interpolation are performed to obtain the calibrated spacing. and ; Based on the distance between the two fixed anchor points and the calibrated spacing and The current required angle of the driver's side exterior rearview mirror and the current distance between the user and the driver's side exterior rearview mirror are calculated.

3. The multi-scene laser scanning projection control method for exterior rearview mirrors according to claim 2, characterized in that, The welcoming dynamic following projection strategy includes: When the user's real-time location information is detected and enters the projection preparation range, the driver's side rearview mirror rotates with the user through a rearview mirror dynamic following algorithm, so that the projection direction of the laser scanning projection module built into the rearview mirror is always facing the user. At the same time, the laser scanning projection module turns off the projection. When the user's real-time location information is detected and enters the dynamic tracking welcome range, the driver's side exterior rearview mirror rotates with the user through the rearview mirror dynamic tracking algorithm, so that the projection direction of the laser scanning projection module built into the exterior rearview mirror is always facing the user. At the same time, the laser scanning projection module turns on the projection, and the projection content is the welcome material preset by the user, and the projection image is corrected for trapezoidal shape according to the real-time location information. When the user opens the car door, the laser scanning projection module built into the driver's side rearview mirror turns off the projection, and at the same time, the driver's side rearview mirror and the passenger side rearview mirror both turn to the fully open position.

4. The multi-scene laser scanning projection control method for exterior rearview mirrors according to claim 2, characterized in that, The guest-following dynamic projection strategy includes: When the system detects that the user has completed the sequence of actions of turning off the engine, opening the door, getting out of the car and closing the door, the driver's side rearview mirror first rotates to the initial welcoming projection angle. Then, the laser scanning projection module built into the rearview mirror turns on the projection, and the projected content is the welcome material preset by the user. When the user's real-time location information is detected and enters the dynamic tracking and escort range, the driver's side rearview mirror rotates with the user through the rearview mirror dynamic tracking algorithm, so that the projection direction of the laser scanning projection module built into the rearview mirror is always facing the user. At the same time, the laser scanning projection module turns on the projection, and the projection content is the user's preset welcome material, and the projection image is corrected for trapezoidal shape according to the real-time location information. When the user's real-time location information exceeds the dynamic tracking and passenger drop-off range, the laser scanning projection module built into the driver's side rearview mirror turns off the projection. At the same time, the driver's side rearview mirror and the passenger side rearview mirror are both rotated to the fully closed position.

5. The multi-scene laser scanning projection control method for exterior rearview mirrors according to claim 3 or 4, characterized in that, The rearview mirror dynamic following algorithm includes: The current required precise angle of the driver's side exterior rearview mirror is taken as the target rotation angle of the driver's side exterior rearview mirror. The drive voltage of the motor that rotates the rearview mirror in the driver's seat is calculated by the PID control unit. The actual rotation angle of the rearview mirror is fed back in real time through a feedback unit installed inside the rearview mirror in the driver's seat. The feedback unit is zero-positioned each time the rearview mirror in the driver's seat is rotated to the fully open or fully closed position.

6. The multi-scene laser scanning projection control method for exterior rearview mirrors according to claim 3 or 4, characterized in that, All laser scanning projection modules are horizontally mounted, and the keystone correction of the projected image is planar keystone correction.

7. The multi-scene laser scanning projection control method for exterior rearview mirrors according to claim 1, characterized in that, At least one of the rearview mirrors in the driver's seat and the passenger's seat is equipped with a laser scanning projection module. The parking warning projection strategy includes: When the hazard warning lights are detected to be on, the exterior rearview mirror first rotates to the warning projection angle, and then the laser scanning projection module turns on the projection, which displays the parking warning material preset by the system.

8. The multi-scene laser scanning projection control method for exterior rearview mirrors according to claim 1, characterized in that, Both the driver's side rearview mirror and the passenger side rearview mirror are equipped with laser scanning projection modules. The turn-guided projection strategy includes: When a turn signal is detected, the laser scanning projection module corresponding to the turn signal is controlled to start projection, and the projected content is the turn prompt material preset by the system.

9. A system for implementing the multi-scene laser scanning projection control method for exterior rearview mirrors according to any one of claims 1-8, characterized in that, include: The information acquisition module is capable of collecting vehicle status information, ambient light intensity information, and coordinate information of moving anchor points and fixed anchor points. The rearview mirror rotation control module can drive the exterior rearview mirror to rotate within a preset angle range; A laser scanning projection module is built into the exterior rearview mirror, and the laser scanning projection module is used to perform laser scanning projection. The controller is electrically connected to the information acquisition module, the rearview mirror rotation control module, and the laser scanning projection. The controller is used to control the rearview mirror rotation control module and the laser scanning projection to execute one of the following strategies: welcoming dynamic following projection strategy, farewell dynamic following projection strategy, parking warning projection strategy, and turning prompt projection strategy, based on the vehicle status information, external environment information, and user location information collected by the information acquisition module.

10. A vehicle, characterized in that, Includes the system described in claim 9.

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