Adaptive control method and system for rearview mirror based on dynamic scratch risk assessment

Abstract

This invention provides a rearview mirror adaptive control method and system based on dynamic collision risk assessment, relating to the field of vehicle control technology. The method includes: acquiring surrounding environmental information and vehicle status information; determining the current driving scenario based on the surrounding environmental information; when the driving scenario is a preset collision risk scenario, predicting the trajectory of the rearview mirror on the side of the vehicle within a future time window based on the vehicle status information to determine the lateral spatial distance of the rearview mirror in the driving scenario; when the lateral spatial distance is less than a preset safety distance, assessing the risk index of collision with the rearview mirror based on the lateral spatial distance; when the risk index is greater than a preset collision risk index danger threshold, controlling the retraction of the rearview mirror. This invention addresses the problems of existing vehicle rearview mirror controls having a single trigger scenario and lacking a dynamic collision risk identification trigger mechanism.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to a rearview mirror adaptive control method and system based on dynamic collision risk assessment. Background Technology

[0002] Currently, passenger vehicles (especially new energy vehicles) are generally equipped with electric exterior mirrors, which have electric control functions. For example, they automatically fold after locking the car; automatically unfold after unlocking; and automatically fold in to avoid scratches when the automatic parking (APA) system detects a narrow parking space.

[0003] In typical driving scenarios such as passing oncoming vehicles on narrow roads, driving close to the side of the road, obstacles on both sides of the road, narrow parking lot passages, and drivers not driving in the center of the road, the vehicle's exterior rearview mirrors, because they protrude to the sides of the vehicle (left and right), are prone to the following scraping behaviors: scraping against the rearview mirror of oncoming vehicles when passing, and scraping against walls, trees, or roadside obstacles while driving. However, the existing vehicle rearview mirror control function has a single triggering scenario, only triggered when locking the car or during automatic parking, and lacks the ability to adapt to dynamic scenarios while the vehicle is in motion, and also lacks a triggering mechanism for dynamic scraping risk identification. Summary of the Invention

[0004] In view of this, it is necessary to provide a rearview mirror adaptive control method and system based on dynamic collision risk assessment to solve the problems of existing vehicle rearview mirror control having a single triggering scenario and lacking a triggering mechanism for dynamic collision risk identification.

[0005] To address the aforementioned problems, this invention provides a rearview mirror adaptive control method based on dynamic scrape risk assessment, comprising: Acquire information about the vehicle's surrounding environment and vehicle status, and determine the current driving scenario of the vehicle based on the surrounding environment information. When the driving scenario is a preset collision risk scenario, the driving trajectory of the vehicle's side rearview mirror in the future time window is predicted based on the vehicle status information. The lateral spatial distance of the rearview mirror in the driving scenario is determined based on the driving trajectory. When the lateral space distance is less than the preset safety distance, the risk index of the rearview mirror being scratched is assessed based on the lateral space distance; When the risk index exceeds the preset dangerous threshold for scratch risk, the rearview mirror is retracted.

[0006] In one possible implementation, predicting the vehicle's side mirror's trajectory within a future time window based on the vehicle state information includes: Determine the coordinates of the vehicle's first centroid trajectory at the current moment; Calculate the vehicle's center of gravity offset in the future time window based on the vehicle's current speed; The second centroid trajectory coordinates of the vehicle in the future time window are determined based on the first centroid trajectory coordinates and the driving position offset. Obtain the physical coordinate offset of the side mirrors of the vehicle relative to the vehicle's center of gravity; The driving trajectory of the rearview mirror within a future time window is determined based on the physical coordinate offset and the second centroid trajectory coordinate.

[0007] In one possible implementation, the lateral spatial distance is calculated as follows: The first spatial coordinates of the outermost edge of the rearview mirror on the side of the vehicle are determined based on the driving trajectory. Based on the surrounding environment information, identify the contact target located on the side of the vehicle in the driving scenario, and determine the second spatial coordinates of the contact target's closest point to the rearview mirror; The distance between the first spatial coordinates and the second spatial coordinates is defined as the lateral spatial distance.

[0008] In one possible implementation, assessing the risk index of the rearview mirror being scraped based on the lateral spatial distance includes: Determine the lateral collision time between the rearview mirror and the contact target located on the side of the vehicle, and determine the lateral relative approach speed between the rearview mirror and the contact target based on the lateral collision time; The relative approach speed is weighted based on the time speed dimension weight to obtain the speed risk index, wherein the time speed dimension weight is positively correlated with the relative approach speed. The distance risk index is determined based on spatial distance weights, and the spatial distance weight coefficients are negatively correlated with the lateral spatial distance. The sum of the speed risk index and the distance risk index is calculated, and the ratio of the sum to the lateral spatial distance is determined as the risk index of the rearview mirror scraping.

[0009] In one possible implementation, the retraction control of the rearview mirror includes: When the vehicle's current speed is not greater than a preset speed threshold, a folding command is sent to the control motor of the rearview mirror, and the folding command is used to fold the rearview mirror.

[0010] In one possible implementation, when controlling the retraction of the rearview mirror, the method further includes: When the vehicle's current speed exceeds a preset speed threshold, the retraction control of the rearview mirror will stop and an alarm will be issued.

[0011] In one possible implementation, after the retraction control of the rearview mirror, the method further includes: If the detected risk index is not greater than the preset dangerous threshold for scratch risk index, then a timer is triggered; When the timing exceeds a preset hysteresis time threshold, the folded rearview mirror is unfolded. If the risk index is detected to be greater than the preset dangerous threshold for scratch risk during the timing process, the timing will stop.

[0012] This invention also provides a rearview mirror adaptive control system based on dynamic scrape risk assessment, comprising: The environmental perception and scene recognition module is used to acquire information about the vehicle's surrounding environment and vehicle status, and to determine the current driving scene of the vehicle based on the surrounding environment information. The vehicle trajectory prediction module is used to predict the driving trajectory of the rearview mirror on the side of the vehicle within a future time window based on the vehicle status information when the driving scenario is a preset collision risk scenario. A lateral space calculation module is used to determine the lateral space distance of the rearview mirror in the driving scenario based on the driving trajectory. The scrape risk assessment module is used to assess the risk index of scraping the rearview mirror based on the lateral space distance when the lateral space distance is less than the preset safety distance; An adaptive rearview mirror control module is used to retract the rearview mirror when the risk index is greater than a preset scrape risk index danger threshold.

[0013] The present invention also provides an electronic device, including a memory and a processor, wherein the memory is used to store a program; the processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the above-described adaptive control method for rearview mirrors based on dynamic scrape risk assessment.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the rearview mirror adaptive control method based on dynamic scrape risk assessment as described above.

[0015] The beneficial effects of the above implementation method are as follows: The rearview mirror adaptive control method and system based on dynamic collision risk assessment provided by this invention determines the driving scenario of the vehicle by perceiving the surrounding environment. Within this driving scenario, it triggers risk identification by combining the results of vehicle trajectory prediction and lateral space analysis, assesses the collision risk of the rearview mirror, and then controls the retraction of the vehicle's side rearview mirror. This rearview mirror control method is not limited to any particular vehicle scenario and has dynamic scenario adaptability. It can be implemented even under normal driving conditions, minimizing vehicle damage caused by rearview mirror collisions due to improper lateral distance control by the driver. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the adaptive control method for rearview mirrors based on dynamic scrape risk assessment provided by the present invention. Figure 2 This is a schematic diagram of the principle framework of the adaptive control method for rearview mirrors based on dynamic scrape risk assessment provided by the present invention. Figure 3 This is a schematic diagram of the structure of the rearview mirror adaptive control system based on dynamic scrape risk assessment provided by the present invention; Figure 4 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of the embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0020] In this embodiment of the invention, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product or device.

[0021] The naming or numbering of steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effect can be achieved.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] The adaptive control method and system for rearview mirrors based on dynamic collision risk assessment provided in this invention can be applied to dynamic vehicle scenarios, such as parking and driving. The executing entity can be an in-vehicle system or various servers, terminals, or remote cloud devices communicating with the in-vehicle system. By acquiring real-time information about the surrounding environment and vehicle status, and then invoking the adaptive control method and system for rearview mirrors based on dynamic collision risk assessment provided in this invention, the side rearview mirrors of the vehicle are retracted to avoid potential collisions with the rearview mirrors in the current vehicle scenario.

[0024] The following describes in detail the adaptive control method for rearview mirrors based on dynamic scrape risk assessment provided by this invention.

[0025] Figure 1 This is a flowchart illustrating the adaptive control method for rearview mirrors based on dynamic scrape risk assessment provided by the present invention. Figure 1 As shown, the adaptive control method for rearview mirrors based on dynamic collision risk assessment can be implemented through the following steps 101 to 105, which are explained in detail below.

[0026] Step 101: Obtain information about the vehicle's surrounding environment and vehicle status, and determine the current driving scenario of the vehicle based on the surrounding environment information.

[0027] See Figure 2During environmental perception, on the one hand, images, laser point clouds, ultrasonic waves, or millimeter-wave radars are acquired through environmental perception sensors such as forward-looking cameras, surround-view cameras, ultrasonic radar, and millimeter-wave radar to determine the vehicle's surrounding environment and obtain information about it, including obstacles, oncoming vehicles, roadside boundaries, and other targets that may come into close proximity to the vehicle. On the other hand, vehicle status information, including vehicle speed, steering angle, yaw rate, and lateral position, is collected through relevant onboard sensors or onboard systems to determine the vehicle's current driving status.

[0028] Scene recognition can be performed based on surrounding environmental information to determine the current driving scenario of the vehicle, including: normal scenarios, oncoming traffic scenarios, narrow road driving scenarios, driving close to the side of the road scenarios, and scenarios with dense obstacles. For example, if no obstacles, oncoming vehicles, roadside boundaries, or other targets that may approach the vehicle at close range are identified based on the surrounding environmental information, the vehicle is determined to be in a normal scenario. In this scenario, the side mirrors of the vehicle are generally unlikely to scrape against the mirrors, so there is no need to control the mirror retraction. Conversely, if obstacles, oncoming vehicles, roadside boundaries, or other targets that may approach the vehicle at close range are identified based on the surrounding environmental information, the vehicle is likely to be in an oncoming traffic scenario, a narrow road driving scenario, driving close to the side of the road scenario, or a scenario with dense obstacles. In these scenarios, the possibility of the side mirrors scraping against the mirrors is very high, and the mirrors need to be retracted.

[0029] Step 102: When the driving scenario is a preset collision risk scenario, predict the driving trajectory of the vehicle's side rearview mirror within the future time window based on the vehicle status information.

[0030] In this embodiment of the invention, abnormal scenarios are defined as collision risk scenarios, specifically including: oncoming traffic scenarios, narrow road traffic scenarios, roadside traffic scenarios, and scenarios with dense obstacles. The judgment criterion is whether obstacles, oncoming vehicles, roadside boundaries, or other targets that may come into close contact with the vehicle are identified based on the surrounding environmental information. If so, it is a collision risk scenario; otherwise, it is a normal scenario.

[0031] After determining the current driving scenario of the vehicle, the next step is to determine whether the driving scenario is a collision risk scenario. If so, it means that the retraction control of the vehicle's side rearview mirror needs to be activated. At this time, a collision risk assessment is triggered. First, the vehicle trajectory is predicted by combining the vehicle status information to determine the driving trajectory of the vehicle's side rearview mirror in the future time window, which is used to calculate the lateral spatial distance for collision risk assessment.

[0032] In one possible implementation, predicting the vehicle's trajectory within a future time window using the vehicle's side mirrors based on vehicle status information can be achieved in the following ways, as explained in detail below.

[0033] Determine the coordinates of the vehicle's first centroid trajectory at the current moment; Calculate the vehicle's center of gravity offset in the future time window based on the vehicle's current speed; The second centroid trajectory coordinates of the vehicle in the future time window are determined based on the first centroid trajectory coordinates and the driving position offset. Obtain the physical coordinate offset of the side mirrors of the vehicle relative to the vehicle's center of gravity; The driving trajectory of the rearview mirror within a future time window is determined based on the physical coordinate offset and the second centroid trajectory coordinates.

[0034] Here, the vehicle's center of gravity can be determined by the vehicle's lateral, longitudinal, and height positions. Combined with the vehicle's current position information, the vehicle's center of gravity at the current moment can be determined. The position coordinates. As the vehicle moves, its center of mass also moves, and the movement of the center of mass coordinates forms a trajectory. At the current moment... The coordinates of the centroid trajectory can be determined based on the movement trajectory, denoted as . The horizontal axis represents the vehicle's lateral direction, and the vertical axis represents the vehicle's longitudinal direction.

[0035] At the start of the calculation, a future time window Δt is first set, for example, within the next five seconds. Then, the displacement of the vehicle's center of gravity within the future time window Δt is predicted. The calculation formula is as follows: (1) (2) in, and These represent the lateral and longitudinal displacements of the vehicle's center of gravity, respectively, while v represents the vehicle's current speed. It is the angle between the direction of the vehicle's center of gravity movement and the direction of the current vehicle speed.

[0036] included angle Specifically, it is calculated using the vehicle's front wheel steering angle and wheelbase, as shown in the following formula: (3) in, Indicates the current time The angle between the direction of the vehicle's center of gravity movement and the direction of its current speed. The value represents the steering angle of the front wheels, v represents the current vehicle speed, and L represents the wheelbase.

[0037] Using the above calculation method, the corresponding driving position offset can be calculated at each time t in the future time window, thereby determining multiple driving position offsets.

[0038] After determining the offset of the vehicle's center of mass from its position within the future time window, combine this with the coordinates of the first center of mass trajectory at the current moment. This allows us to determine the coordinates of the vehicle's second centroid trajectory within a future time window, denoted as... , is represented as: (4) (5) Since the distance between the vehicle's center of gravity and the side mirror is fixed, the physical coordinate offset of the side mirror relative to the vehicle's center of gravity can be directly obtained. This physical coordinate offset is then added to the second center of gravity trajectory coordinates to obtain the rearview mirror's trajectory coordinates. Because the vehicle's center of gravity may have multiple offsets in the future time window, there will also be multiple second center of gravity trajectory coordinates and rearview mirror trajectory coordinates. These trajectory coordinates ultimately form a driving trajectory, which serves as the rearview mirror's driving trajectory within the future time window.

[0039] This invention utilizes the vehicle's center of gravity as a reference for the rearview mirror, calculates the movement trajectory of the vehicle's center of gravity within a future time window, and thus determines the driving trajectory of the rearview mirror within the future time window. It can dynamically estimate the lateral spatial distance of the vehicle, realize the vehicle's forward-looking risk avoidance, and adapt to complex scenarios such as the driver not being centered or obstacles dynamically approaching.

[0040] Step 103: Determine the lateral spatial distance of the rearview mirror in the driving scenario based on the driving trajectory.

[0041] Since rearview mirrors are located on the sides of the vehicle, including the left and right sides, the potential for a collision between the rearview mirror and a contact target can be determined based on lateral spatial distance, thus assessing the risk of scraping the mirror. Specifically, the spatial position of the side rearview mirror can be determined based on the vehicle's trajectory predicted from the vehicle's trajectory. Combined with surrounding environmental information, the contact target on the side of the vehicle can be identified, allowing for lateral spatial distance calculation. The lateral spatial distance between the rearview mirror and the contact target can then be determined based on the difference between their spatial positions.

[0042] In one possible implementation, the lateral spatial distance is calculated as follows: The first spatial coordinates of the outermost edge of the side mirror of the vehicle are determined based on the driving trajectory. Based on surrounding environmental information, identify contact targets located to the side of the vehicle in a driving scenario, and determine the second spatial coordinates of the contact target's closest point to the rearview mirror; The minimum distance between the first spatial coordinates and the second spatial coordinates is defined as the lateral spatial distance.

[0043] Specifically, based on the driving trajectory, the spatial coordinates of the rearview mirror at each time t within a future time window can be determined. These spatial coordinates represent the spatial position of the outermost edge of the rearview mirror. Then, by combining the surrounding environmental information, obstacles, oncoming vehicles, roadside boundaries, and other contact targets that may be close to the vehicle are identified, and the second spatial coordinates of the contact targets are determined.

[0044] Since the contact target is a three-dimensional object, there are multiple position points in the coordinate system of the first spatial coordinate system. Here, we select the position point of the contact target that is closest to the rearview mirror, and use the spatial coordinates of this position point as the second spatial coordinate system. When calculating the lateral spatial distance, we directly calculate the distance between the first spatial coordinate system and the second spatial coordinate system as the lateral spatial distance, as shown in the following formula: (6) in, This represents the spatial coordinates of the i-th side rearview mirror of the vehicle at time t in the future time window. The value of i can be 1 and / or 2, where 1 represents the left side of the vehicle and 2 represents the right side. This represents the second spatial coordinate of the point on the i-th side of the vehicle closest to the rearview mirror at time t within a future time window. This represents the lateral spatial distance between the rearview mirror on the i-th side of the vehicle and the target at time t in the future time window.

[0045] This invention calculates the real-time lateral spatial distance between the vehicle and the target within a future time window by using the driving trajectory of the rearview mirror and the spatial position of the contact target. This distance is then used as the basis for judging the risk of collision to trigger collision risk identification, ensuring the real-time nature and effectiveness of collision risk identification in driving scenarios.

[0046] Step 104: When the lateral space distance is less than the preset safe distance, assess the risk index of the rearview mirror being scratched based on the lateral space distance.

[0047] See also Figure 2 After calculating the lateral distance in the corresponding driving scenario, the next step is to assess the risk of a collision. This involves comparing the set safe distance with the lateral distance to determine whether to trigger a collision risk detection mechanism. If the lateral distance is less than the preset safe distance, it indicates insufficient lateral space, and the vehicle's rearview mirror may collide with a contact target within a future time window, resulting in a collision. In this case, the collision risk detection mechanism is triggered, and the risk index of the rearview mirror colliding with the target is assessed based on the lateral distance.

[0048] In one possible implementation, the risk index of the rearview mirror being scratched based on the lateral spatial distance can be achieved in the following way, which is explained in detail below.

[0049] Determine the lateral collision time between the rearview mirror and the contact target located on the side of the vehicle, and determine the lateral relative approach speed between the rearview mirror and the contact target based on the lateral collision time; The speed risk index is obtained by weighting the horizontal relative proximity speed based on the time speed dimension weight. The time speed dimension weight is positively correlated with the horizontal relative proximity speed. The distance risk index is determined based on spatial distance weights, and the spatial distance weight coefficient is negatively correlated with lateral spatial distance. The sum of the speed risk index and the distance risk index is calculated, and the ratio of the sum to the lateral spatial distance is determined as the risk index of the rearview mirror scraping.

[0050] Here, a collision risk assessment model is constructed based on lateral spatial distance to evaluate the risk index of collisions with rearview mirrors. The collision risk assessment model can be expressed as the following formula: (7) in, This refers to the lateral spatial distance between the rearview mirror on the i-th side of the vehicle and the target at time t within the future time window. The lateral relative approach speed between the rearview mirror and the target is [value missing]. Indicates spatial distance weights. Indicates the weight of the time-speed dimension. Let t be the risk index of the rearview mirror on the i-th side of the vehicle colliding with the contacting target at time t in the future time window, that is, the risk index of the rearview mirror being scratched.

[0051] Specifically, the lateral collision time between the rearview mirror and the target located to the side of the vehicle is determined based on the lateral spatial distance within the future time window. First, the collision moment when the lateral spatial distance is zero is determined; the difference between this moment and the current moment is the lateral collision time, denoted as TTC. The reciprocal of the lateral collision time can then be used to determine the relative lateral approach speed between the rearview mirror and the target. The weight of the time-speed dimension is positively correlated with the relative speed of approach. Generally, the faster the current vehicle speed or the faster it approaches the target, the higher the risk of a collision. In this case, the weight of the time-speed dimension can be dynamically increased. The value is adjusted to improve the sensitivity of risk assessment.

[0052] The spatial distance weight is used to measure the contribution of absolute distance to the risk of scraping. Absolute distance can be lateral spatial distance, and the spatial distance weight coefficient is negatively correlated with lateral spatial distance. The larger the absolute distance, the lower the risk of scraping, and therefore the smaller the spatial distance weight.

[0053] Finally, by using the calculated lateral spatial distance and the scrape risk assessment model, the risk index of rearview mirror scraping can be calculated, which can be used as a basis for judging whether to control the retraction of the rearview mirror.

[0054] This invention constructs a scrape risk assessment model by setting dynamic weights for time speed and spatial distance dimensions. This allows for real-time prediction of the risk of rearview mirror scraping over a future time period, facilitating real-time control decisions for the rearview mirror. Real-time prediction of rearview mirror scrape risk enables proactive protection in dynamic driving scenarios, overcoming the limitations of traditional static control and filling the gap in proactive rearview mirror protection during driving in narrow roads, when meeting oncoming traffic, and other challenging situations.

[0055] Step 105: When the risk index is greater than the preset dangerous threshold for scratch risk index, the rearview mirror is retracted.

[0056] like Figure 2 As shown, after completing the collision risk assessment, the adaptive control decision for the rearview mirror is finally executed. First, a preset collision risk index threshold is compared with the calculated risk index. This threshold serves as the criterion for judging collision risk. If the risk index is not greater than the preset threshold, it indicates a low probability of the rearview mirror colliding with the target, and there is no need to retract the mirror; therefore, adaptive control is not triggered. Conversely, if the risk index exceeds the preset threshold, it indicates a high probability of the rearview mirror colliding with the target, and adaptive control is triggered, causing the mirror to retract.

[0057] In one possible implementation, the retraction control of the rearview mirror can be achieved in the following ways, which are explained in detail below.

[0058] When the vehicle's current speed is not greater than a preset speed threshold, a folding command is sent to the control motor of the rearview mirror, and the folding command is used to fold the rearview mirror.

[0059] During the adaptive control of the rearview mirror, control decisions also need to be made based on the current vehicle speed. This is because, in high-speed scenarios, controlling the rearview mirror to retract would rapidly reduce the driver's rearward field of vision, decreasing reaction time. While this could avoid a mirror collision, it could potentially trigger a more serious accident. Therefore, when controlling the rearview mirror, it's necessary to determine if the current driving scenario is high-speed. If the current vehicle speed is not greater than a preset speed threshold, it indicates a non-high-speed scenario, and only then can rearview mirror control be initiated by sending a folding command to the mirror's control motor. This folding command then folds the rearview mirror.

[0060] It should be noted that the calculated risk index is the risk index of a collision between the i-th side rearview mirror of the vehicle and a contacting target, i.e., the risk index of the rearview mirror scraping. Based on this i value, it can be determined whether the left, right, or both side rearview mirrors are being controlled. During retraction control, a folding command can be sent to the control motor of the left, right, or both side rearview mirrors, thereby controlling the left, right, or both side rearview mirrors to fold. When folding both side rearview mirrors, they can be folded simultaneously or asynchronously.

[0061] In this embodiment of the invention, the decision to retract the rearview mirror is based on the vehicle's current speed. This not only avoids damage to the vehicle by preventing the rearview mirror from being scratched, but also effectively eliminates the safety hazards to the driver caused by the folded rearview mirror, thus improving driving safety.

[0062] In one possible implementation, when the rearview mirror is being retracted, if the vehicle's current speed exceeds a preset speed threshold, the retraction control of the rearview mirror is stopped and an alarm is issued.

[0063] Here, when adaptively controlling the rearview mirror, if the current vehicle speed is greater than the preset speed threshold, it indicates that the current scenario is a high-speed scenario. At this time, in order to avoid losing the rear view during high-speed driving, the control of the rearview mirror is stopped, and an alarm command is sent to the vehicle alarm system to inform the driver that there may be a collision between the rearview mirror and the target during high-speed driving. This prompts the driver to adjust the lateral position of the vehicle appropriately to increase the lateral distance between the vehicle and the target, so as to avoid the rearview mirror from colliding.

[0064] In this embodiment of the invention, the control of the vehicle's rearview mirror is restricted and a warning is issued in high-speed scenarios, which can take into account both the avoidance of rearview mirror collisions and driving safety in high-speed scenarios.

[0065] Since retracting the rearview mirror results in a loss of rearward visibility and poses a safety hazard, this embodiment of the invention provides a recovery control mechanism to unfold and restore the rearview mirror. After the rearview mirror is retracted, if the risk of a collision is detected to be eliminated, the rearview mirror is unfolded through a hysteresis recovery mechanism to restore the rearward visibility, as described in detail below.

[0066] In one possible implementation, after the rearview mirror is retracted, if the detected risk index is not greater than a preset scrape risk index danger threshold, a timer is triggered. When the timeout exceeds the preset hysteresis time threshold, the folded rearview mirror is unfolded. If the risk index is detected to be greater than the preset danger threshold for scratch risk during the timing process, the timing will stop.

[0067] Here, after the rearview mirror is retracted, the vehicle drives normally and passes the contact target without causing a collision. At this point, based on the surrounding environmental information, obstacles, oncoming vehicles, roadside boundaries, and other potential close-range contact targets may not be identified, and the current driving scenario is considered normal. If the calculated risk index is not greater than the preset collision risk threshold, it indicates that the rearview mirror collision risk has been eliminated.

[0068] However, considering that obstacles, oncoming vehicles, roadside boundaries, and other targets that may come into close contact with the vehicle may be identified based on the surrounding environment information after a short period of time, this embodiment of the invention does not immediately control the rearview mirror to unfold, but instead introduces a time delay mechanism for timing.

[0069] Next, a hysteresis time parameter is set as the hysteresis time threshold, such as 3 seconds. If the time is greater than 3 seconds, it means that the duration of no risk of scratching meets the requirements. Then, the folded rearview mirror is unfolded and an unfolding command is sent to the control motor of the rearview mirror. The unfolding command is used to unfold the folded rearview mirror and restore it to normal.

[0070] If, during the timing process, obstacles, oncoming vehicles, roadside boundaries, or other potential close-range targets are identified based on surrounding environmental information, and the risk index exceeds a preset collision risk threshold, the timing stops, and the rearview mirror remains folded to avoid an impending collision. Subsequently, if the risk index is not greater than the preset collision risk threshold, the timing resumes until it exceeds a preset delay time threshold, at which point deployment control is executed again.

[0071] In this embodiment of the invention, after the rearview mirror is retracted, by monitoring the elimination of the risk of scraping and limiting the hysteresis time parameter, the rearview mirror can be controlled to adaptively recover, thus avoiding frequent opening and closing of the rearview mirror in a critical state.

[0072] In summary, this embodiment of the invention determines the vehicle's driving scenario by perceiving the surrounding environment. Within this scenario, it combines vehicle trajectory prediction and lateral space analysis results to trigger risk identification, assess the risk of rearview mirror collision, and then control the retraction of the vehicle's side rearview mirrors. This rearview mirror control method is not limited to any particular vehicle scenario and has dynamic scene adaptability. It can be implemented even under normal driving conditions, minimizing vehicle damage caused by rearview mirror collisions due to improper lateral distance control by the driver.

[0073] The following section details the adaptive control system for rearview mirrors based on dynamic scratch risk assessment provided by this invention.

[0074] Figure 3 This is a schematic diagram of the structure of the rearview mirror adaptive control system based on dynamic scrape risk assessment provided by the present invention. Figure 3 As shown, the rearview mirror adaptive control system based on dynamic collision risk assessment may include: an environmental perception and scene recognition module 301, a vehicle trajectory prediction module 302, a lateral space calculation module 303, a collision risk assessment module 304, and an adaptive rearview mirror control module 305.

[0075] Specifically, the environmental perception and scene recognition module 301 is used to acquire information about the vehicle's surrounding environment and vehicle status, and determine the current driving scenario of the vehicle based on the surrounding environment information; the vehicle trajectory prediction module 302 is used to predict the driving trajectory of the rearview mirror on the side of the vehicle within a future time window based on the vehicle status information when the driving scenario is a preset collision risk scenario; the lateral space calculation module 303 is used to determine the lateral space distance of the rearview mirror in the driving scenario based on the driving trajectory; the collision risk assessment module 304 is used to assess the risk index of the rearview mirror being collided based on the lateral space distance when the lateral space distance is less than a preset safety distance; and the adaptive rearview mirror control module 305 is used to control the retraction of the rearview mirror when the risk index is greater than a preset collision risk index danger threshold.

[0076] In one possible implementation, the adaptive rearview mirror control module 305 is further configured to, when the vehicle's current speed exceeds a preset speed threshold during the retraction control of the rearview mirror, stop the retraction control of the rearview mirror and issue an alarm.

[0077] In one possible implementation, the adaptive rearview mirror control module 305 is further configured to, after the rearview mirror is retracted, trigger a timing mechanism if the risk index is detected to be no greater than a preset scratch risk index threshold; when the timing exceeds a preset hysteresis time threshold, control the unfolding of the folded rearview mirror; and stop the timing mechanism if the risk index is detected to be greater than the preset scratch risk index threshold during the timing process.

[0078] The rearview mirror adaptive control system based on dynamic collision risk assessment provided in the above embodiments can realize the technical solutions described in the embodiments of the rearview mirror adaptive control method based on dynamic collision risk assessment. The specific implementation principles of each module or unit can be found in the corresponding content in the embodiments of the rearview mirror adaptive control method based on dynamic collision risk assessment. Their technical effects can also be referred to each other, and will not be repeated here.

[0079] like Figure 4As shown, the present invention also provides an electronic device 400. The electronic device 400 includes a processor 401, a memory 402, and a display 403. Figure 4 Only some components of the electronic device 400 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0080] In some embodiments, memory 402 may be an internal storage unit of electronic device 400, such as a hard disk or memory of electronic device 400. In other embodiments, memory 402 may also be an external storage device of electronic device 400, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 400.

[0081] Furthermore, the memory 402 may include both internal storage units of the electronic device 400 and external storage devices. The memory 402 is used to store application software and various types of data installed on the electronic device 400.

[0082] In some embodiments, processor 401 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 402 or process data, such as the rearview mirror adaptive control method based on dynamic scraping risk assessment in this invention.

[0083] In some embodiments, display 403 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 403 is used to display information from electronic device 400 and to display a visual user interface. Components 401-403 of electronic device 400 communicate with each other via a system bus.

[0084] In some embodiments of the present invention, when the processor 401 executes the computer program in the memory 402, the following steps can be implemented: acquiring information about the vehicle's surrounding environment and vehicle status; determining the current driving scenario of the vehicle based on the surrounding environment information; predicting the driving trajectory of the rearview mirror on the side of the vehicle within a future time window based on the vehicle status information when the driving scenario is a preset collision risk scenario; determining the lateral spatial distance of the rearview mirror in the driving scenario based on the driving trajectory; assessing the risk index of the rearview mirror being collided based on the lateral spatial distance when the lateral spatial distance is less than a preset safety distance; and controlling the retraction of the rearview mirror when the risk index is greater than a preset collision risk index danger threshold.

[0085] It should be understood that when the processor 401 executes the computer program in the memory 402, in addition to the functions described above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0086] Furthermore, the embodiments of the present invention do not specifically limit the type of electronic device 400 mentioned. Electronic device 400 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, electronic device 400 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0087] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the adaptive control method for rearview mirrors based on dynamic collision risk assessment provided by the methods described above. The method includes: acquiring information about the vehicle's surrounding environment and vehicle status; determining the current driving scenario of the vehicle based on the surrounding environment information; predicting the driving trajectory of the rearview mirror on the side of the vehicle within a future time window based on the vehicle status information when the driving scenario is a preset collision risk scenario; determining the lateral spatial distance of the rearview mirror in the driving scenario based on the driving trajectory; assessing the risk index of collision of the rearview mirror based on the lateral spatial distance when the lateral spatial distance is less than a preset safety distance; and controlling the retraction of the rearview mirror when the risk index is greater than a preset collision risk index danger threshold.

[0088] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0089] The above provides a detailed description of the adaptive control method and system for rearview mirrors based on dynamic scrape risk assessment provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A rearview mirror adaptive control method based on dynamic scrape risk assessment, characterized in that, include: Acquire information about the vehicle's surrounding environment and vehicle status, and determine the current driving scenario of the vehicle based on the surrounding environment information. When the driving scenario is a preset collision risk scenario, the driving trajectory of the vehicle's side rearview mirror in the future time window is predicted based on the vehicle status information. The lateral spatial distance of the rearview mirror in the driving scenario is determined based on the driving trajectory. When the lateral space distance is less than the preset safety distance, the risk index of the rearview mirror being scratched is assessed based on the lateral space distance; When the risk index exceeds the preset dangerous threshold for scratch risk, the rearview mirror is retracted.

2. The rearview mirror adaptive control method based on dynamic scrape risk assessment according to claim 1, characterized in that, The step of predicting the vehicle's side mirror trajectory within a future time window based on the vehicle status information includes: Determine the coordinates of the vehicle's first centroid trajectory at the current moment; Calculate the vehicle's center of gravity offset in the future time window based on the vehicle's current speed; The second centroid trajectory coordinates of the vehicle in the future time window are determined based on the first centroid trajectory coordinates and the driving position offset. Obtain the physical coordinate offset of the side mirrors of the vehicle relative to the vehicle's center of gravity; The driving trajectory of the rearview mirror within a future time window is determined based on the physical coordinate offset and the second centroid trajectory coordinate.

3. The rearview mirror adaptive control method based on dynamic scrape risk assessment according to claim 1, characterized in that, The lateral spatial distance is calculated as follows: The first spatial coordinates of the outermost edge of the rearview mirror on the side of the vehicle are determined based on the driving trajectory. Based on the surrounding environment information, identify the contact target located on the side of the vehicle in the driving scenario, and determine the second spatial coordinates of the contact target's closest point to the rearview mirror; The distance between the first spatial coordinates and the second spatial coordinates is defined as the lateral spatial distance.

4. The rearview mirror adaptive control method based on dynamic scrape risk assessment according to claim 1, characterized in that, The assessment of the risk index of the rearview mirror being scratched based on the lateral spatial distance includes: Determine the lateral collision time between the rearview mirror and the contact target located on the side of the vehicle, and determine the lateral relative approach speed between the rearview mirror and the contact target based on the lateral collision time; The relative approach speed is weighted based on the time speed dimension weight to obtain the speed risk index, wherein the time speed dimension weight is positively correlated with the relative approach speed. The distance risk index is determined based on spatial distance weights, and the spatial distance weight coefficients are negatively correlated with the lateral spatial distance. The sum of the speed risk index and the distance risk index is calculated, and the ratio of the sum to the lateral spatial distance is determined as the risk index of the rearview mirror scraping.

5. The adaptive control method for rearview mirrors based on dynamic scrape risk assessment according to claim 1, characterized in that, The retraction control of the rearview mirror includes: When the vehicle's current speed is not greater than a preset speed threshold, a folding command is sent to the control motor of the rearview mirror, and the folding command is used to fold the rearview mirror.

6. The rearview mirror adaptive control method based on dynamic scrape risk assessment according to claim 5, characterized in that, When controlling the retraction of the rearview mirror, the method further includes: When the vehicle's current speed exceeds a preset speed threshold, the retraction control of the rearview mirror will stop and an alarm will be issued.

7. The adaptive control method for rearview mirrors based on dynamic scrape risk assessment according to claim 1, characterized in that, After controlling the retraction of the rearview mirror, the method further includes: If the detected risk index is not greater than the preset dangerous threshold for scratch risk index, then a timer is triggered; When the timing exceeds a preset hysteresis time threshold, the folded rearview mirror is unfolded. If the risk index is detected to be greater than the preset dangerous threshold for scratch risk during the timing process, the timing will stop.

8. A rearview mirror adaptive control system based on dynamic scrape risk assessment, characterized in that, include: The environmental perception and scene recognition module is used to acquire information about the vehicle's surrounding environment and vehicle status, and to determine the current driving scene of the vehicle based on the surrounding environment information. The vehicle trajectory prediction module is used to predict the driving trajectory of the rearview mirror on the side of the vehicle within a future time window based on the vehicle status information when the driving scenario is a preset collision risk scenario. A lateral space calculation module is used to determine the lateral space distance of the rearview mirror in the driving scenario based on the driving trajectory. The scrape risk assessment module is used to assess the risk index of scraping the rearview mirror based on the lateral space distance when the lateral space distance is less than the preset safety distance; An adaptive rearview mirror control module is used to retract the rearview mirror when the risk index is greater than a preset scrape risk index danger threshold.

9. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps of the rearview mirror adaptive control method based on dynamic scrape risk assessment as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the rearview mirror adaptive control method based on dynamic scrape risk assessment as described in any one of claims 1 to 7.

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