A rearview mirror adjustment method, system, and vehicle

Abstract

This invention discloses a rearview mirror adjustment method, system, and vehicle. The rearview mirror adjustment method is as follows: When the vehicle is in reverse gear and no custom blind spot observation area target angle is defined: the current blind spot observation area angle, the reverse road slope, and the driver's seat height are acquired; based on the acquired parameters and a preset vehicle model basic deflection angle, the target angle of the blind spot observation area is determined; based on the target angle of the blind spot observation area, the corresponding rear wheel blind spot area is determined; based on the rear wheel blind spot area and a preset total effective observation area of ​​the rearview mirror, the blind spot elimination rate is determined; if the blind spot elimination rate is greater than or equal to a first elimination rate threshold, the blind spot observation area is controlled to deflect to the target angle; otherwise, the target angle is adjusted until the blind spot elimination rate is satisfied, and then the blind spot observation area is controlled to deflect to the adjusted target angle. Using this invention, accurate visibility of the rear wheel blind spot and stable preservation of the long-distance side and rear view can be achieved in reversing conditions.

Description

Technical Field

[0001] This invention belongs to the field of vehicle rearview mirror control, specifically relating to a rearview mirror adjustment method, system, and vehicle. Background Technology

[0002] With the continuous increase in the number of passenger vehicles in China, the proportion of safety accidents in low-speed reversing scenarios has been rising year by year. Among them, the lack of rear wheel and side blind spot visibility is the core cause of accidents. At present, reversing assistance technology in the passenger vehicle field generally focuses on hardware structure modification. The supporting software control can either only achieve static adjustment of fixed angles and cannot adapt to dynamically changing reversing conditions; or it can only achieve synchronous deflection of the entire mirror and cannot take into account both blind spot visibility and side visibility safety. At the same time, there are generally unresolved industry pain points such as insufficient blind spot elimination rate, loss of side and rear visibility, poor adaptability to working conditions, and lack of personalized adaptation capabilities. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the purpose of this application is to provide a rearview mirror adjustment method, system and vehicle to achieve accurate visibility of the rear wheel blind spot and stable preservation of the long-distance side and rear view when reversing.

[0004] In a first aspect, this application provides a rearview mirror adjustment method, wherein the rearview mirror lens is an integrated lens having a main viewing area and a blind spot observation area, the main viewing area remains fixed, and the blind spot observation area can deflect relative to the main viewing area, and the rearview mirror adjustment method is as follows:

[0005] Perform this action when the vehicle is in reverse gear and the target angle for the blind spot observation area has not been customized:

[0006] Obtain the current blind spot observation area angle, reversing road slope, and driver's seat height.

[0007] The target angle of the blind spot observation area is determined based on the blind spot observation area angle, the slope of the reversing road surface, the driver's seat height, and the preset basic deflection angle of the vehicle model.

[0008] The corresponding rear wheel blind spot area is determined based on the target angle of the blind spot observation area.

[0009] The blind spot elimination rate is determined based on the rear wheel blind spot area and the preset total effective observation area of ​​the rearview mirror.

[0010] If the blind spot elimination rate is greater than or equal to the preset first elimination rate threshold, then the blind spot observation area is controlled to deflect to the target angle of the blind spot observation area; otherwise, the target angle of the blind spot observation area is adjusted until the blind spot elimination rate is greater than or equal to the preset first elimination rate threshold, and then the blind spot observation area is controlled to deflect to the adjusted target angle of the blind spot observation area.

[0011] When the vehicle is in reverse gear and there is no user-defined target angle for the blind spot observation area, the target angle of the blind spot observation area is determined by integrating the current angle of the blind spot observation area, the slope of the road surface, the driver's seat height, and the preset basic deflection angle of the vehicle model. This adapts to different vehicle postures, road conditions, and driver seating positions, improving the rationality and scenario adaptability of angle planning. The blind spot elimination rate is calculated by using the rear wheel blind spot area and the total effective observation area of ​​the rearview mirrors. The target angle of the blind spot observation area is dynamically corrected based on a preset first elimination rate threshold. This allows for a quantitative evaluation of the blind spot coverage effect, ensuring that the rear wheel blind spot is effectively eliminated after the blind spot observation area deflects, avoiding insufficient observation or redundant vision due to improper blind spot observation area angle settings. Through iterative optimization until the blind spot elimination rate requirement is met, the integrity and safety of the rear view in reversing conditions are guaranteed. Adaptive and intelligent blind spot compensation can be achieved without manual intervention, improving the safety, convenience, and driving comfort of reversing operations. This achieves coordinated control of accurate rear wheel blind spot visibility and stable preservation of long-distance side and rear views in reversing conditions.

[0012] Optionally, the method for determining the target angle in the blind observation area is as follows:

[0013] Using the formula: Calculate the target angle in the blind observation area. ;in, Indicates the current blind zone observation angle. This indicates the preset base deflection angle of the vehicle model. Indicates the slope of the road surface when reversing. Indicates the driver's seat height. This indicates the preset dimensionless vehicle model adaptation first coefficient. This represents the preset dimensionless slope compensation first coefficient. This represents the preset dimensionless height and angle adaptation coefficients. By incorporating the current blind spot observation area angle, vehicle model's basic deflection angle, reversing road slope, and driver's seat height into a unified calculation model, it comprehensively reflects the impact of vehicle posture, road conditions, and driver's seating position on the field of view. This makes the target angle planning more closely match actual reversing scenarios, improving field of view adaptability. By separately setting the dimensionless vehicle model adaptation first coefficient, the dimensionless slope compensation first coefficient, and the dimensionless height and angle adaptation coefficients, each influencing factor can be finely and quantitatively controlled, ensuring the accuracy and stability of the target angle calculation in the blind spot observation area and avoiding field of view deviations caused by single-parameter control.

[0014] Optionally, the corresponding rear wheel blind spot area can be determined by querying a preset angle-blind spot area table based on the target angle of the blind spot observation area. The preset angle-blind spot area table is a table showing the correspondence between the blind spot observation area angle and the rear wheel blind spot area obtained through calibration. By establishing a one-to-one correspondence between the blind spot observation area angle and the rear wheel blind spot area through pre-calibration, complex real-time geometric calculations can be eliminated, significantly improving the efficiency of obtaining the rear wheel blind spot area and the system response speed. The table lookup method ensures the accuracy and consistency of the calculation results, avoiding blind spot judgment bias caused by algorithm errors, and providing a stable and reliable quantitative data foundation for subsequent blind spot elimination rate calculations.

[0015] Optionally, the blind spot elimination rate can be determined using the formula: Calculate the blind spot elimination rate ;in, This represents the area of ​​the rear wheel blind spot (corresponding to the angle of the target in the blind spot observation area). This represents the preset total effective observation area of ​​the rearview mirror. This formula can intuitively reflect the coverage and elimination effect of the rear wheel blind spot after the blind spot observation area is deflected, providing a unified and objective judgment standard for whether the angle meets the usage requirements, ensuring the accuracy of the blind spot observation area adjustment logic, and thus ensuring that the rear wheel blind spot elimination effect is stable and meets the standard under reversing conditions, thereby improving driving safety.

[0016] Secondly, this application provides a rearview mirror adjustment method, wherein the rearview mirror has an independent inner lens and an outer lens, the outer lens being capable of multi-directional deflection relative to the inner lens, and the rearview mirror adjustment method is as follows:

[0017] Perform the following when the vehicle is in reverse gear and the outer and inner target angles of the mirror have not been customized:

[0018] Get the current downward tilt angle of the outer lens, the inward tilt angle of the outer lens, the slope of the road surface when reversing, the vehicle steering angle, the vehicle width, and the distance between the vehicle and the side obstacle.

[0019] Based on the downward deflection angle of the outer lens, the inward deflection angle of the outer lens, the slope of the road surface during reversing, the vehicle steering angle, the vehicle width, the distance between the vehicle body and the side obstacle, the preset vehicle model base downward deflection angle, and the preset vehicle model base inward deflection angle, the target downward deflection angle and the target inward deflection angle of the outer lens are determined.

[0020] The corresponding blind spot elimination rate of the outer lens is determined based on the downward deflection target angle and the inward deflection target angle of the outer lens.

[0021] The total blind zone elimination rate is determined based on the blind zone elimination rate of the outer lens, the blind zone elimination rate of the inner lens when the inner lens is fixed, the effective observation area of ​​the outer lens, the effective observation area of ​​the inner lens, and the total effective observation area of ​​both lenses.

[0022] If the total blind spot elimination rate is greater than or equal to the preset second elimination rate threshold, then the inner lens is kept fixed, and the outer lens is deflected downward to the target angle for downward deflection and inward to the target angle for inward deflection. Otherwise, the target angle for downward deflection and / or the target angle for inward deflection of the outer lens is adjusted until the total blind spot elimination rate is greater than or equal to the preset second elimination rate threshold. Then, the inner lens is kept fixed, and the outer lens is deflected downward to the adjusted target angle for downward deflection and inward to the adjusted target angle for inward deflection.

[0023] By comprehensively collecting data such as the current angle of the outer lens, the slope of the road surface during reversing, the vehicle's steering angle, the vehicle width, and the distance between the vehicle and side obstacles, and combining this with preset vehicle model base angles, the system calculates the downward and inward target angles of the outer lens. This allows for full adaptation to real-time changes in vehicle posture, driving conditions, and the driving environment, ensuring the accuracy and adaptability of the field of vision adjustment. The total blind spot elimination rate is calculated by weighting the blind spot elimination rate and effective observation area of ​​each of the two lenses (inner and outer lenses), enabling a quantitative comprehensive evaluation of the overall field of vision coverage and avoiding the imbalance caused by adjusting a single lens. Using a preset second elimination rate threshold as an iterative constraint, the system optimizes the outer lens deflection angle until the requirements are met, ensuring that rear and side blind spots are fully eliminated during reversing. Even without user-defined settings, it automatically achieves the optimal safe field of vision. Through fixed inner lens and precise linkage control of the outer lens, the system maintains the stability of the main field of vision while achieving dynamic blind spot compensation, effectively improving the safety, intelligence, and driving comfort of the reversing process.

[0024] Optionally, the method for determining the downward deflection angle of the outer lens and the inward deflection angle of the outer lens is as follows:

[0025] Using the formula: , Calculate the downward deflection angle of the target using the outer lens. , Outer lens inward deflection of the target angle ;in, This indicates the current downward deflection angle of the outer lens. This indicates the pre-set deflection angle based on the vehicle model. Indicates the slope of the road surface when reversing. Indicates the width of the vehicle body. This indicates the preset dimensionless vehicle model adaptation second coefficient. This represents the preset dimensionless slope compensation second coefficient. This indicates the preset dimensionless width and angle adaptation coefficient. This indicates the current inward deflection angle of the outer lens. This indicates the preset base inclination angle of the vehicle model. Indicates the vehicle's steering angle. Indicates the distance between the vehicle body and side obstacles. This indicates the preset dimensionless vehicle model adaptation third coefficient. This represents the preset dimensionless steering angle compensation coefficient. This represents the preset dimensionless distance and angle adaptation coefficients. The current angle of the outer mirror, the slope of the reversing road surface, the vehicle's steering angle, the vehicle width, and the distance between the vehicle and side obstacles are each incorporated into the corresponding angle calculation formula. This comprehensively couples the influence of vehicle parameters, driving posture, and the surrounding environment on the field of vision, making the target angle planning more closely match actual reversing scenarios and improving the rationality and safety of vision adjustment. By configuring independent adaptation and compensation coefficients for different influencing factors, quantitative and precise control of each variable can be achieved, effectively avoiding vision deviation or over-adjustment problems caused by single-parameter control. This ensures the stability and consistency of angle calculation results and can quickly output a two-degree-of-freedom target angle, providing a reliable quantitative basis for subsequent total blind spot elimination rate assessment and outer mirror execution control, improving the real-time performance and intelligent control accuracy of rearview mirror adjustment.

[0026] Optionally, the method for determining the corresponding blind spot elimination rate of the outer lens is as follows:

[0027] Based on the target downward deflection angle and the target inward deflection angle of the outer lens, a preset table of downward deflection angle, inward deflection angle, and outer lens blind spot elimination rate is consulted to obtain the corresponding outer lens blind spot elimination rate. This preset table represents the correspondence between the outer lens downward deflection angle, the outer lens inward deflection angle, and the outer lens blind spot elimination rate, obtained through calibration. Using this calibration data table for lookup ensures reliable accuracy and strong consistency, avoids algorithmic calculation errors, and provides stable and accurate quantitative input for the subsequent comprehensive evaluation of the total blind spot elimination rate.

[0028] Optionally, the total blind spot elimination rate can be determined using the formula: Calculate the total blind spot elimination rate .in, This indicates the blind spot elimination rate of the outer lens (corresponding to the downward deflection target angle and the inward deflection target angle of the outer lens). This indicates the preset effective observation area of ​​the outer lens. This indicates the preset blind spot elimination rate of the inner lens when the inner lens is fixed. This indicates the preset effective observation area of ​​the inner lens. This represents the preset total effective observation area of ​​the dual mirrors ( By weighting the blind zone elimination rate of the inner and outer lenses with their respective effective observation areas, a weighted summation can be performed to accurately reflect the contribution ratio of the inner and outer lenses in the total observation area. This avoids evaluation bias caused by a single lens indicator, and thus enables the rapid output of a unified evaluation index for the overall blind zone elimination effect. This provides an accurate and reliable basis for subsequent determination of the target angle of the outer lens downward deviation and the target angle of the outer lens inward deviation, which meet the requirements.

[0029] Optionally, after the outer lens is reset (i.e., returned to its initial position, which is also the initial position where the outer lens began to deflect), the formula is used: Calculate the visual deviation rate of the combination of the outer and inner lenses. .

[0030] like Then, the outer lens will stop deflecting. If If so, adjust the angle of the outer lens once. After adjusting the angle of the outer lens once, if... Then the outer lens will stop deflecting; if Then, the movement of the outer lens is controlled to the standard initial position of the outer lens as specified by the manufacturer.

[0031] in, This indicates the distance between the edge of the outer lens near the inner lens and the reference line after the outer lens has been repositioned. This indicates the distance between the edge of the inner lens closest to the outer lens and the reference line when the inner lens is fixed. This indicates the preset total length of the two-mirror combination. This indicates the preset visual deviation rate threshold. The visual deviation rate is calculated by dividing the edge distance difference by the total length, providing an objective and digital evaluation of the visual misalignment of the seams. This avoids subjective errors caused by manual judgment and ensures the consistency and standardization of the reset position. When the visual deviation rate is less than the preset threshold, the deflection stops immediately, allowing for rapid and accurate reset. When the visual deviation rate exceeds the limit, an angle correction is performed, balancing correction accuracy and control response speed. If a single adjustment still does not meet the requirements, the outer lens is returned to its factory standard initial position, preventing visual interference caused by abnormal misalignment, ensuring the normal operation of the rearview mirror, and improving system reliability and driving safety.

[0032] Thirdly, this application provides a rearview mirror adjustment system, which includes a controller configured to perform the above-described rearview mirror adjustment method.

[0033] Fourthly, this application provides a vehicle that includes a rearview mirror adjustment system. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments of this application will be described below.

[0035] Figure 1 This is a schematic diagram of the vehicle in an embodiment of this application.

[0036] Figure 2 This is a schematic diagram of the structure of a rearview mirror in an embodiment of this application.

[0037] Figure 3 This is a flowchart of a rearview mirror adjustment method according to an embodiment of this application.

[0038] Figure 4 This is a schematic diagram of another rearview mirror in an embodiment of this application.

[0039] Figure 5 This is a flowchart of another rearview mirror adjustment method in the embodiments of this application. Detailed Implementation

[0040] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0041] like Figure 1 As shown, Figure 1 This is a schematic diagram of a vehicle in an embodiment of this application. The vehicle may be, but is not limited to, a pure electric vehicle (PEV / BEV), a hybrid electric vehicle (HEV), a range-extended electric vehicle (REEV), a plug-in hybrid electric vehicle (PHEV), or a new energy vehicle.

[0042] In this embodiment, the vehicle includes a rearview mirror adjustment system. The rearview mirror adjustment system includes a controller, which is configured as the rearview mirror adjustment method in this embodiment.

[0043] like Figure 2As shown, the rearview mirror here uses an integrated lens with a main viewing area and a blind spot observation area. The main viewing area remains fixed, while the blind spot observation area can deflect relative to the main viewing area (after the blind spot observation area deflects relative to the main viewing area at a certain angle, it forms an image lens). The hardware structure of the integrated lens rearview mirror is a mature technology.

[0044] like Figure 3 As shown in the embodiments of this application, the rearview mirror adjustment method for an integrated lens rearview mirror includes the following steps:

[0045] S11. Determine if the vehicle is in reverse gear (R). If yes, proceed to S12; otherwise, end. As an example, the gear position signal is obtained from the CAN bus.

[0046] S12. Determine if a user-defined blind spot observation area target angle is stored. If yes, proceed to S13; otherwise, proceed to S14. The system provides personalized parameter adaptation, allowing users to customize and store the blind spot observation area target angle based on their seat height, driving habits, etc. Upon system startup, the user-defined blind spot observation area target angle is used first, achieving personalized adaptation for each individual. The blind spot observation area can be tilted downwards, equivalent to the blind spot observation area bending at a certain angle relative to the main viewing area along the dotted line.

[0047] S13, control the blind zone observation area (downward) to deflect to the custom blind zone observation area target angle, and then execute S111.

[0048] S14. Obtain the current blind spot observation area angle, reversing road slope, and driver's seat height, and then execute S15.

[0049] As an example, the current blind spot angle can be measured by an angle encoder, the slope of the road surface can be measured by a slope sensor, and the driver's seat height can be read from the CAN bus.

[0050] S15. Based on the current blind spot observation area angle, reversing road slope, driver's seat height, and preset vehicle model basic deflection angle, determine the target angle of the blind spot observation area, and then execute S16.

[0051] In one possible embodiment, the target angle in the blind observation area is determined as follows:

[0052] Using the formula: Calculate the target angle in the blind observation area. .in, This indicates the current blind zone observation angle, which is obtained in real time through feedback from the actuator to complete the current position parameters of the lens. This indicates the preset base deflection angle for the vehicle model, in degrees. Indicates the slope of the road surface for reversing, in degrees. This indicates the driver's seat height, in centimeters. This indicates the preset dimensionless vehicle model adaptation first coefficient. This represents the preset dimensionless slope compensation first coefficient. This indicates the preset dimensionless height and angle adaptation coefficient, in degrees / cm. , , All calculations were obtained through vehicle factory bench calibration and real-vehicle blind spot mapping tests, and are embedded in the system parameter library. This calculation formula, combined with the current position of the blind spot observation area, can accurately match the optimal deflection angle according to different vehicle models, slopes, and driver habits, solving the shortcomings of existing technologies where fixed angles cannot adapt to various scenarios.

[0053] By incorporating the current blind spot observation area angle, vehicle basic deflection angle, reversing road slope, and driver seat height into a unified calculation model, the influence of vehicle posture, road conditions, and driver's seating posture on the field of view can be comprehensively reflected, making the target angle planning more in line with actual reversing scenarios and improving the adaptability of the field of view.

[0054] S16. Determine the corresponding rear wheel blind spot area based on the target angle of the blind spot observation area, and then execute S17.

[0055] In one possible embodiment, the corresponding rear wheel blind spot area is determined as follows:

[0056] Based on the target angle in the blind spot observation area, consult the preset angle-blind spot area table to obtain the corresponding rear wheel blind spot area. The preset angle-blind spot area table is a table showing the correspondence between the blind spot observation area angle and the rear wheel blind spot area obtained through calibration. This table lookup method ensures the accuracy and consistency of the calculation results, avoids blind spot judgment bias caused by algorithm errors, and provides a stable and reliable quantitative data foundation for subsequent blind spot elimination rate calculations.

[0057] S17. Based on the rear wheel blind spot area corresponding to the (target angle of the blind spot observation area) and the preset total effective observation area of ​​the rearview mirror, determine the blind spot elimination rate, and then execute S18.

[0058] In one possible embodiment, the blind spot elimination rate is determined as follows:

[0059] Using the formula: Calculate the blind spot elimination rate .in, Represents the rear wheel blind spot area (corresponding to the target angle in the blind spot observation area), unit: m. 2 , This indicates the preset total effective observation area of ​​the rearview mirror, in meters (m²).2 . These are the inherent calibration parameters of the vehicle's rearview mirrors, pre-set in the system parameter library. This formula can intuitively reflect the coverage and elimination effect of the rear wheel blind spot after the blind spot observation area deflects, providing a unified and objective judgment standard for whether the angle meets the usage requirements, and ensuring the accuracy of the blind spot observation area adjustment logic.

[0060] S18. Determine whether the blind spot elimination rate is greater than or equal to the preset first elimination rate threshold. If yes, execute S110; otherwise, execute S19. As an example, the preset first elimination rate threshold is 95%.

[0061] S19. Adjust the target angle in the blind zone observation area, and then return to execute S16.

[0062] As an example, the way to adjust the target angle in the blind zone observation area can be to increase the target angle in the blind zone observation area by a certain gradient (such as 0.3°) or to decrease the target angle in the blind zone observation area by a certain gradient (such as 0.3°).

[0063] By adjusting the target angle of the blind spot observation area until the blind spot elimination rate is greater than or equal to the preset first elimination rate threshold, it can be ensured that while the deflection area covers the rear wheel blind spot, the main field of view can completely cover the long-distance field of view of more than 10m to the side and rear, thus solving the core pain point that existing technologies cannot take into account both fields of view.

[0064] S110, control the blind zone observation area to deflect to the target angle of the blind zone observation area, and then execute S111.

[0065] As an example, closed-loop servo control is used during the process of controlling the deflection of the blind zone observation area to the target angle of the blind zone observation area. The actual deflection angle of the current blind zone observation area is fed back in real time. Closed-loop servo control is performed based on the actual deflection angle of the current blind zone observation area and the target angle of the blind zone observation area.

[0066] S111: Determine whether the vehicle has disengaged from reverse gear (e.g., the vehicle is in D or P gear). If yes, execute S112; otherwise, continue executing S111.

[0067] S112, Reset the blind zone observation area (i.e., return the blind zone observation area to its initial position), and then end.

[0068] The main field of view remains fixed, continuously covering a distance of ≥10m to the sides and rear, ensuring the driver can observe oncoming vehicles and obstacles in real time during reversing. The blind spot observation area deflects to the target angle of the blind spot observation area, and through the differentiated reflective characteristics of the lens, accurately reflects the images of the rear wheels and the ground blind spot into the driver's field of vision, achieving complete visibility of the rear wheel blind spot. When the vehicle is engaged in D or P gear, the system immediately issues a synchronous reset command to control the blind spot observation area to reset, and the lens returns to its normal position. If the drive motor of the blind spot observation area malfunctions and cannot rotate to reset, the system immediately locks the drive motor, maintaining the effective main field of view, and issues a fault alarm through the vehicle's infotainment system. Simultaneously, the driver can manually force a reset via buttons on the vehicle's infotainment system, returning the system to standby mode.

[0069] In addition, when the drive mechanism of the blind spot observation area reports an abnormality, the CAN bus communication is interrupted, or the parameter matching exceeds the limit, the current deflection control command can be terminated immediately, a reset command can be issued simultaneously to return the lens to its normal posture, and a prompt can be sent to the driver through the vehicle's infotainment system.

[0070] like Figure 4 As shown, the rearview mirror here has an independent inner lens and an outer lens (i.e., a split-type dual-lens rearview mirror). Both the inner and outer lenses can rotate relatively independently, and the outer lens can deflect in multiple directions relative to the inner lens. After the outer lens deflects at a certain angle relative to the inner lens, an aberrant image dual-lens rearview mirror can be formed.

[0071] like Figure 5 As shown in the embodiments of this application, the rearview mirror adjustment method for a split-type dual-lens rearview mirror includes the following steps:

[0072] S21. Determine if the vehicle is in reverse gear (R). If yes, proceed to S22; otherwise, end. As an example, the gear position signal is obtained from the CAN bus.

[0073] S22. Determine whether user-defined target angles for the outer lens downward and inward (defined and stored) are stored. If yes, proceed to S23; otherwise, proceed to S24. The system provides personalized parameter adaptation, supporting user-defined settings for the target angles for the outer lens downward and inward, which are then stored. Upon system startup, the user-defined target angles for the outer lens downward and inward are used first, enabling personalized adaptation for each user.

[0074] S23. Keep the inner lens fixed, control the outer lens to deflect downward to the custom target angle for downward deflection of the outer lens, and deflect inward to the custom target angle for inward deflection of the outer lens, and then execute S211.

[0075] S24. Obtain the current downward tilt angle of the outer lens, the inward tilt angle of the outer lens, the slope of the road surface when reversing, the vehicle steering angle, the vehicle width, and the distance between the vehicle and the side obstacle, and then execute S25.

[0076] As an example, the current downward deflection angle and the inward deflection angle of the outer lens can be measured by the angle encoder, the slope of the road surface can be measured by the slope sensor, and the vehicle steering angle, vehicle width, and distance between the vehicle body and side obstacles can be read from the CAN bus.

[0077] S25. Based on the current downward deflection angle of the outer lens, the inward deflection angle of the outer lens, the slope of the road surface during reversing, the vehicle steering angle, the vehicle width, the distance between the vehicle body and the side obstacle, the preset vehicle model base downward deflection angle, and the preset vehicle model base inward deflection angle, determine the target downward deflection angle and the target inward deflection angle of the outer lens, and then execute S26.

[0078] In one possible embodiment, the method for determining the downward deflection angle of the outer lens and the inward deflection angle of the outer lens is as follows:

[0079] Using the formula: , Calculate the downward deflection angle of the target using the outer lens. , Outer lens inward deflection of the target angle ;in, This indicates the current downward deflection angle of the outer lens, in degrees. This indicates the pre-set deflection angle based on the vehicle model, in degrees. Indicates the slope of the road surface for reversing, in degrees. This indicates the vehicle body width, in meters (m). This indicates the preset dimensionless vehicle model adaptation second coefficient. This represents the preset dimensionless slope compensation second coefficient. This indicates the preset dimensionless width and angle adaptation coefficient, in degrees / m. This indicates the current inward deflection angle of the outer lens, in degrees. This indicates the preset interior offset angle of the vehicle model, in degrees. Indicates the vehicle's steering angle, in degrees. This indicates the distance between the vehicle body and side obstacles, in centimeters. This indicates the preset dimensionless vehicle model adaptation third coefficient. This represents the preset dimensionless steering angle compensation coefficient. This indicates the preset dimensionless distance and angle adaptation coefficient, in degrees / cm. , , , , , The parameters are obtained through calibration tests by vehicle manufacturers and actual vehicle vision matching tests. The dimensionality is consistent with the angle calculation requirements and is built into the system parameter library.

[0080] By incorporating the current angle of the outer lens, the slope of the road surface when reversing, the vehicle's steering angle, the vehicle's width, and the distance between the vehicle and side obstacles into the corresponding angle calculation formula, the influence of vehicle parameters, driving posture, and the surrounding environment on the field of vision can be fully coupled, making the target angle planning more in line with the actual reversing scenario and improving the rationality and safety of the field of vision adjustment.

[0081] S26. Determine the corresponding blind spot elimination rate of the outer lens based on the downward deflection target angle and the inward deflection target angle of the outer lens, and then execute S27.

[0082] In one possible embodiment, the corresponding blind spot elimination rate of the outer lens is determined as follows:

[0083] Based on the target downward deflection angle and the target inward deflection angle of the outer lens, a pre-defined table of downward deflection angle, inward deflection angle, and outer lens blind spot elimination rate is consulted to obtain the corresponding outer lens blind spot elimination rate. This pre-defined table is a table showing the correspondence between the outer lens downward deflection angle, the outer lens inward deflection angle, and the outer lens blind spot elimination rate, obtained through calibration. Looking up values ​​from this calibration data table ensures reliable accuracy and strong consistency, avoids algorithmic calculation errors, and provides stable and accurate quantitative input for the subsequent comprehensive evaluation of the total blind spot elimination rate. As an example, the pre-defined table of downward deflection angle, inward deflection angle, and outer lens blind spot elimination rate is pre-established before the vehicle leaves the factory through real-vehicle road testing and vehicle vision matching calibration. The table already contains the outer lens blind spot elimination rate data corresponding to each set of deflection angles.

[0084] S27. Based on the blind zone elimination rate of the outer lens (corresponding to the downward target angle of the outer lens and the inward target angle of the outer lens), the blind zone elimination rate of the inner lens when the inner lens is fixed, the effective observation area of ​​the outer lens, the effective observation area of ​​the inner lens, and the total effective observation area of ​​the two lenses, determine the total blind zone elimination rate, and then execute S28.

[0085] In one possible embodiment, the total blind spot elimination rate is determined as follows:

[0086] Using the formula: Calculate the total blind spot elimination rate ;in, This indicates the blind spot elimination rate of the outer lens (corresponding to the downward deflection target angle and the inward deflection target angle of the outer lens). This indicates the preset effective observation area of ​​the outer lens. This indicates the preset blind spot elimination rate of the inner lens when the inner lens is fixed. This indicates the preset effective observation area of ​​the inner lens. This represents the preset total effective observation area of ​​the dual-mirror setup. The preset inner lens blind zone elimination rate when the inner lens is fixed. The system has built-in fixed calibration parameters, which are directly read from the vehicle's basic field of view calibration data table based on the angle when the inner lens is fixed. In this embodiment, although the inner lens has hardware mobility, under the reversing control logic, the system locks the inner lens drive mechanism in a standard safe observation posture via software commands, preventing any deflection. It is a fixed constant and is not affected by the movement of the outer lens. , , These are all inherent physical parameters measured at the factory when the rearview mirror hardware leaves the factory, provided by the original manufacturer and pre-written into the system parameter library.

[0087] By weighting the blind zone elimination rate of the inner and outer lenses with their respective effective observation areas, a weighted summation can be performed to truly reflect the contribution ratio of the inner and outer lenses in the total observation area. This allows for the rapid output of a unified evaluation index for the overall blind zone elimination effect, providing an accurate and reliable basis for subsequent determination of the target angles of the outer lens downward deviation and the inner deviation of the outer lens that meet the requirements.

[0088] S28. Determine whether the total blind spot elimination rate is greater than or equal to the preset second elimination rate threshold. If yes, execute S210; otherwise, execute S29. As an example, the preset second elimination rate threshold is 96%.

[0089] S29. Adjust the target angle of downward deflection of the outer lens and / or the target angle of inward deflection of the outer lens, and then return to execute S26.

[0090] As an example, the way to adjust the target angle of the outer lens downward and / or the target angle of the outer lens inward can be to increase the target angle of the outer lens downward and / or the target angle of the outer lens inward according to a certain gradient (e.g., 0.3°), or to decrease the target angle of the outer lens downward and / or the target angle of the outer lens inward according to a certain gradient (e.g., 0.3°).

[0091] S210, keep the inner lens fixed, control the outer lens to deflect downward to the target angle of downward deflection of the outer lens, deflect inward to the target angle of inward deflection of the outer lens, and then execute S211.

[0092] As an example, closed-loop servo control is used in the process of controlling the outer lens to deflect downward to the target angle of downward deflection and to deflect inward to the target angle of inward deflection.

[0093] By utilizing the focusing and reflective properties of the outer lens, the image of the rear wheel blind spot is accurately reflected into the driver's field of vision, achieving high-precision blind spot visibility. While the outer lens accurately covers the rear wheel blind spot, the inner lens stably retains the long-distance field of vision to the side and rear, providing a verification basis for the dynamic adjustment of the outer lens's deflection angle, thus achieving optimal synergy between the two fields of vision.

[0094] S211. Determine whether the vehicle has disengaged from reverse gear (e.g., the vehicle is in D or P gear). If yes, execute S212; otherwise, continue executing S211.

[0095] S212, control the outer lens to reset (i.e., return to the initial position, i.e., return to the initial position where the outer lens begins to deflect), and then execute S213.

[0096] S213. After the outer lens is repositioned, use the formula: Calculate the visual deviation rate of the combination of the outer and inner lenses. Then execute S214. This indicates the distance between the edge of the outer lens near the inner lens and the reference line after the outer lens has been repositioned. This indicates the distance between the edge of the inner lens closest to the outer lens and the reference line when the inner lens is fixed. This indicates the preset total length of the two-mirror combination. The position encoder feedback signal of the outer lens drive mechanism is obtained in real time. , These are the inherent parameters of the rearview mirror that are preset in the system parameter library.

[0097] S214. Determine whether... If yes, then the process ends; otherwise, execute S215. Wherein, This represents the preset visual deviation rate threshold. As an example, .

[0098] S215. Adjust the angle of the outer lens once, and then execute S216.

[0099] S216. Determine whether... If yes, then end; otherwise, execute S217.

[0100] S217. Control the movement of the outer lens to the standard initial position of the outer lens as specified by the manufacturer, and then stop.

[0101] By calibrating the visual deviation rate of the outer and inner lenses, the visual continuity of the two mirrors after resetting can be ensured, which is completely consistent with the user experience of traditional rearview mirrors, and solves the problem of visual discontinuity that may exist when splicing two mirrors.

[0102] If the drive mechanism of the outer lens fails and cannot be rotated back to its original position, the system immediately locks the drive motor, maintains the effective field of vision of the inner lens, issues a fault alarm through the vehicle's infotainment system, and allows the driver to manually force a reset via buttons on the vehicle's infotainment system, returning the system to standby mode.

[0103] In addition, when the drive mechanism of the outer lens experiences abnormal feedback, CAN bus communication is interrupted, or parameter matching exceeds the limit, the current deflection control command can be terminated immediately, and a reset command can be issued simultaneously to return the outer lens to its normal posture. At the same time, a prompt can be sent to the driver through the vehicle's infotainment system.

[0104] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method of adjusting a rearview mirror, the mirror of which has an integral mirror having a primary viewing zone and a blind zone viewing zone, the primary viewing zone remaining fixed, the blind zone viewing zone being deflectable relative to the primary viewing zone, characterized in that, The rearview mirror adjustment method is as follows: Perform this action when the vehicle is in reverse gear and the target angle for the blind spot observation area has not been customized: Obtain the current blind spot observation area angle, reversing road slope, and driver's seat height; Based on the blind spot observation area angle, the reversing road slope, the driver's seat height, and the preset vehicle model basic deflection angle, the target angle of the blind spot observation area is determined; Determine the corresponding rear wheel blind spot area based on the target angle of the blind spot observation area; The blind spot elimination rate is determined based on the rear wheel blind spot area and the preset total effective observation area of ​​the rearview mirrors. If the blind spot elimination rate is greater than or equal to a preset first elimination rate threshold, then the blind spot observation area is controlled to deflect to the target angle of the blind spot observation area; otherwise, the target angle of the blind spot observation area is adjusted until the blind spot elimination rate is greater than or equal to the preset first elimination rate threshold, and then the blind spot observation area is controlled to deflect to the adjusted target angle of the blind spot observation area.

2. The rearview mirror adjustment method according to claim 1, characterized in that, The method for determining the target angle in the blind observation area is as follows: Using the formula: Calculate the target angle in the blind observation area. ;in, Indicates the current blind zone observation angle. This indicates the preset base deflection angle of the vehicle model. Indicates the slope of the road surface when reversing. Indicates the driver's seat height. This indicates the preset dimensionless vehicle model adaptation first coefficient. This represents the preset dimensionless slope compensation first coefficient. This indicates the preset dimensionless height and angle adaptation coefficient.

3. The rearview mirror adjustment method according to claim 1, characterized in that, The method for determining the corresponding rear wheel blind spot area is as follows: The corresponding rear wheel blind spot area is obtained by querying a preset angle-blind spot area table based on the target angle of the blind spot observation area; wherein, the preset angle-blind spot area table is a table of correspondence between the blind spot observation area angle and the rear wheel blind spot area obtained through calibration.

4. The rearview mirror adjustment method according to any one of claims 1 to 3, characterized in that, The method for determining the blind spot elimination rate is as follows: Using the formula: Calculate the blind spot elimination rate ;in, Indicates the area of ​​the rear wheel blind spot. This indicates the preset total effective observation area of ​​the rearview mirror.

5. A rearview mirror adjustment method, wherein the rearview mirror has an independent inner lens and an outer lens, the outer lens being capable of multi-directional deflection relative to the inner lens, characterized in that, The rearview mirror adjustment method is as follows: Perform the following when the vehicle is in reverse gear and the outer and inner target angles of the mirror have not been customized: Get the current downward tilt angle of the outer lens, the inward tilt angle of the outer lens, the slope of the road surface when reversing, the vehicle steering angle, the vehicle width, and the distance between the vehicle and the side obstacle; Based on the downward deflection angle of the outer lens, the inward deflection angle of the outer lens, the slope of the road surface during reversing, the vehicle steering angle, the vehicle width, the distance between the vehicle body and the side obstacle, the preset vehicle model base downward deflection angle, and the preset vehicle model base inward deflection angle, the target downward deflection angle and the target inward deflection angle of the outer lens are determined. The corresponding blind spot elimination rate of the outer lens is determined based on the downward deflection target angle and the inward deflection target angle of the outer lens. The total blind zone elimination rate is determined based on the blind zone elimination rate of the outer lens, the blind zone elimination rate of the inner lens when the inner lens is fixed, the effective observation area of ​​the outer lens, the effective observation area of ​​the inner lens, and the total effective observation area of ​​the two lenses. If the total blind spot elimination rate is greater than or equal to the preset second elimination rate threshold, then the inner lens is kept fixed, and the outer lens is deflected downward to the target angle for downward deflection and inward to the target angle for inward deflection. Otherwise, the target angle for downward deflection and / or the target angle for inward deflection of the outer lens is adjusted until the total blind spot elimination rate is greater than or equal to the preset second elimination rate threshold. Then, the inner lens is kept fixed, and the outer lens is deflected downward to the adjusted target angle for downward deflection and inward to the adjusted target angle for inward deflection.

6. The rearview mirror adjustment method according to claim 5, characterized in that, The method for determining the downward deflection angle and the inward deflection angle of the outer lens is as follows: Using the formula: , Calculate the downward deflection angle of the target using the outer lens. , Outer lens inward deflection of the target angle ;in, This indicates the current downward deflection angle of the outer lens. This indicates the pre-set deflection angle based on the vehicle model. Indicates the slope of the road surface when reversing. Indicates the width of the vehicle body. This indicates the preset dimensionless vehicle model adaptation second coefficient. This represents the preset dimensionless slope compensation second coefficient. This indicates the preset dimensionless width and angle adaptation coefficient. This indicates the current inward deflection angle of the outer lens. This indicates the preset base inclination angle of the vehicle model. Indicates the vehicle's steering angle. Indicates the distance between the vehicle body and side obstacles. This indicates the preset dimensionless vehicle model adaptation third coefficient. This represents the preset dimensionless steering angle compensation coefficient. This indicates the preset dimensionless distance and angle adaptation coefficient.

7. The rearview mirror adjustment method according to claim 5, characterized in that, The method for determining the corresponding blind spot elimination rate of the outer lens is as follows: Based on the target downward deflection angle and the target inward deflection angle of the outer lens, the corresponding blind spot elimination rate of the outer lens is obtained by querying the preset downward deflection angle-inward deflection angle-outer lens blind spot elimination rate table; wherein, the preset downward deflection angle-inward deflection angle-outer lens blind spot elimination rate table is a table of correspondence between the downward deflection angle of the outer lens, the inward deflection angle of the outer lens and the blind spot elimination rate of the outer lens obtained through calibration. The method for determining the total blind spot elimination rate is as follows: Using the formula: Calculate the total blind spot elimination rate ;in, Indicates the blind spot elimination rate of the outer lens. This indicates the preset effective observation area of ​​the outer lens. This indicates the preset blind spot elimination rate of the inner lens when the inner lens is fixed. This indicates the preset effective observation area of ​​the inner lens. This indicates the preset total effective observation area of ​​the dual mirrors.

8. The rearview mirror adjustment method according to any one of claims 5 to 7, characterized in that: After the outer lens is repositioned, the following formula is used: Calculate the visual deviation rate of the combination of the outer and inner lenses. ; like Then the outer lens will stop deflecting; like If so, adjust the angle of the outer lens once; After adjusting the angle of the outer lens, if Then the outer lens will stop deflecting. Then, the outer lens is controlled to move to the standard initial position of the outer lens as specified by the manufacturer when the rearview mirror is manufactured. in, This indicates the distance between the edge of the outer lens near the inner lens and the reference line after the outer lens has been repositioned. This indicates the distance between the edge of the inner lens closest to the outer lens and the reference line when the inner lens is fixed. This indicates the preset total length of the two-mirror combination. This indicates the preset visual deviation rate threshold.

9. A rearview mirror adjustment system, comprising a controller, characterized in that: The controller is configured to perform the rearview mirror adjustment method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that: Includes the rearview mirror adjustment system as described in claim 9.

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