Rearview mirror control method and vehicle

Abstract

This application relates to the field of vehicle rearview mirror technology and provides a rearview mirror control method and a vehicle. The rearview mirror control method includes, when a first vehicle enters a preset narrow-road meeting mode, sending a communication establishment request to a second vehicle approaching from the opposite direction; upon establishing communication with the second vehicle, determining a meeting plan and sending the plan to the second vehicle; and, upon the second vehicle confirming the meeting plan, determining the first vehicle's rearview mirror folding strategy and adjusting the first vehicle's rearview mirrors according to the folding strategy until the two vehicles have met. This rearview mirror control method controls the folding of the rearview mirrors through a negotiated mechanism during narrow-road meeting, thereby reducing the likelihood of excessive folding and improving meeting efficiency.

Description

Technical Field

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

[0002] When two vehicles meet on a narrow road, they often need to fold their side mirrors to reduce their width and allow each other to pass. However, in actual narrow road situations, both vehicles' side mirrors are often folded excessively, overly compressing the driver's field of vision and thus affecting passing efficiency. Summary of the Invention

[0003] In view of this, this application aims to propose a rearview mirror control method to improve the efficiency of passing other vehicles in narrow roads.

[0004] To achieve the above objectives, the technical solution of this application is implemented as follows: a rearview mirror control method, applied to a first vehicle, includes: when the first vehicle enters a preset narrow-passage meeting mode, sending a communication establishment request to a second vehicle approaching from the opposite direction; when communication is established with the second vehicle, determining a meeting plan and sending the meeting plan to the second vehicle; when the second vehicle confirms the meeting plan, determining the rearview mirror folding strategy of the first vehicle, and adjusting the rearview mirror of the first vehicle according to the rearview mirror folding strategy until the meeting of the two vehicles ends.

[0005] Furthermore, the first vehicle enters the preset narrow road meeting mode in the following manner: detecting whether there is a second vehicle approaching from the opposite direction in the road in front of the first vehicle; if there is a second vehicle, determining whether the width of the road in front of the first vehicle is not greater than a preset road width threshold; if the road width is not greater than the preset road width threshold, controlling the first vehicle to enter the preset narrow road meeting mode; wherein, the road in front of the first vehicle is a road segment with the first vehicle as the starting point, along the direction of travel of the first vehicle, and a length of a preset road length.

[0006] Furthermore, determining the meeting plan when communication is established with the second vehicle includes: obtaining the vehicle information of the second vehicle when communication is established with the second vehicle, and determining whether the first vehicle and the second vehicle meet the preset negotiation triggering conditions; if the preset negotiation triggering conditions are met, determining the meeting plan based on the respective vehicle information of the first vehicle and the second vehicle.

[0007] Furthermore, determining whether the preset negotiation triggering condition is met between the first vehicle and the second vehicle includes: determining whether there are overlapping road segments in the driving paths of the first vehicle and the second vehicle based on their respective vehicle information; predicting the meeting road segment between the first vehicle and the second vehicle if the overlapping road segment exists, and determining whether the road width of the meeting road segment meets the preset width requirement; and determining that the preset negotiation triggering condition is met between the first vehicle and the second vehicle if the preset width requirement is met.

[0008] Furthermore, determining the passing plan based on the vehicle information of the first vehicle and the second vehicle includes: determining the distance between the two vehicles when passing through the passing section without folding the rearview mirrors of the first vehicle and the second vehicle, based on the vehicle information of the first vehicle and the second vehicle and the road width of the passing section; determining the passing plan based on the distance between the two vehicles; wherein the passing plan includes the rearview mirror adjustment strategies corresponding to the first vehicle and the second vehicle.

[0009] Furthermore, the passing scheme includes multiple passing sub-schemes, each of which includes a corresponding scheme evaluation index; wherein, the scheme evaluation index includes at least one of the following: the estimated passing time and the distance between the two vehicles after the rearview mirrors are folded; the second vehicle is used to select one of the multiple passing schemes for confirmation based on the scheme evaluation index corresponding to each passing sub-scheme.

[0010] Furthermore, the method also includes: after the second vehicle confirms the meeting plan, within a preset waiting time, detecting whether the second vehicle adjusts its rearview mirror according to the confirmed meeting plan; if the second vehicle still does not adjust its rearview mirror according to the meeting plan, adjusting the rearview mirror of the first vehicle according to preset meeting handling measures until the meeting of the two vehicles ends.

[0011] Furthermore, the preset oncoming traffic handling measures include: based on the road width of the oncoming traffic section and the vehicle information of the first vehicle and the second vehicle, determining the maximum distance between the two vehicles that the first vehicle can generate by folding its rearview mirrors when the second vehicle does not fold its rearview mirrors; if the maximum distance between the two vehicles is not greater than a preset safe distance threshold, controlling the first vehicle to stop before reaching the oncoming traffic section; if the maximum distance between the two vehicles is greater than the preset safe distance threshold, determining the required rearview mirror folding angle for the first vehicle, and controlling the first vehicle to fold its rearview mirrors according to the rearview mirror folding angle until the oncoming traffic ends.

[0012] Furthermore, the method also includes: when the first vehicle is in a preset high-speed driving scenario, determining the wind resistance optimization level of the first vehicle based on the vehicle speed; determining the rearview mirror angle adjustment strategy of the first vehicle based on the wind resistance optimization level, and adjusting the rearview mirror angle of the first vehicle according to the rearview mirror angle adjustment strategy.

[0013] Compared with related technologies, this application has at least the following advantages:

[0014] (1) The rearview mirror control method described in this application, when the first vehicle enters the preset narrow road meeting mode, communicates with the second vehicle coming from the opposite direction and confirms the meeting plan. Then, when the first vehicle and the second vehicle meet, they fold and adjust their respective rearview mirrors according to the agreed meeting plan until the meeting is completed.

[0015] Because the passing strategy is determined through negotiation between the two vehicles, rather than by defaulting to not folding the mirrors when the oncoming vehicle is in the opposite direction, the likelihood of excessive mirror folding is reduced. This decreases the compression of the driver's rearward and side view, thereby reducing the number of forced stops due to a lack of driver visibility and ultimately improving passing efficiency.

[0016] In addition, since it can reduce the chance of excessive folding, it can also reduce the unnecessary folding range and execution time of the rearview mirror, thereby further improving the efficiency of passing other vehicles.

[0017] In addition, after the passing plan is confirmed, the first and second vehicles can simultaneously implement the corresponding rearview mirror adjustment strategies according to the confirmed passing plan. This can reduce the probability of problems such as inconsistent folding timing and inconsistent execution progress, thereby improving traffic flow and passing efficiency.

[0018] (2) This application also automatically controls the first vehicle to enter the preset narrow road meeting mode by automatically detecting whether there is a second vehicle coming from the opposite direction and whether the width of the road ahead is not greater than the preset road width threshold. This enables the coordinated meeting process to be automatically triggered in the narrow road meeting scenario, thereby improving the vehicle's intelligence level and driving experience.

[0019] (3) After establishing communication with the second vehicle, this application first obtains the vehicle information of the second vehicle and determines whether the preset negotiation triggering conditions are met. If the preset negotiation triggering conditions are met, the meeting plan is determined based on the vehicle information of both parties. That is, the meeting plan is generated only when the preset negotiation triggering conditions are met, thereby avoiding unnecessary determination and negotiation of the meeting plan in scenarios where there is no need to coordinate the adjustment of the rearview mirrors, thus reducing the vehicle's computing power consumption.

[0020] (4) This application also identifies whether the preset negotiation triggering conditions are met by predicting the passing road segment and determining whether the width of the passing road segment meets the preset width requirements. In this way, the passing scheme is determined only when it is confirmed that there is a high probability that the two vehicles will meet on a narrow road, which can reduce the computing power consumption of the vehicles.

[0021] (5) This application also calculates the distance between the two vehicles when neither vehicle folds its rearview mirrors by using the vehicle information of the two vehicles and the road width of the meeting section, and determines the meeting scheme including the rearview mirror adjustment strategy based on the distance between the two vehicles, so that the adjustment range of the rearview mirror matches the actual spatial distance, thereby avoiding the problem of loss of vision or insufficient safety distance caused by blindly folding the rearview mirror.

[0022] (6) In this application, the first vehicle can provide a variety of passing sub-plans that include scheme evaluation indicators. In this way, the second vehicle can understand the traffic efficiency and safety level of each passing sub-plan based on the estimated passing time, the distance between the two vehicles after the rearview mirrors are folded, and other scheme evaluation indicators. This makes it easier for the second vehicle to select a passing plan and thus improves the overall smoothness of the passing process.

[0023] (7) After the second vehicle confirms the meeting plan, this application also detects whether the second vehicle performs the rearview mirror adjustment operation according to the meeting plan within a preset waiting time, so as to identify the situation where the other party does not perform the meeting plan in a timely manner, thereby avoiding the situation where the meeting is interrupted or the risk of collision increases due to the other vehicle's lack of cooperation.

[0024] (8) This application also calculates the maximum distance between the two vehicles that the first vehicle can achieve by folding its rearview mirror when the second vehicle does not perform the rearview mirror adjustment operation according to the meeting plan, based on the premise that the second vehicle does not fold its rearview mirror. This allows for an accurate determination of whether the first vehicle can meet the safe meeting conditions by adjusting its rearview mirror alone. Furthermore, in this embodiment, the first vehicle is controlled to stop before reaching the meeting section when the maximum distance between the two vehicles is not greater than the preset safe distance threshold, and the corresponding rearview mirror folding angle is determined and executed when the maximum distance between the two vehicles is greater than the preset safe distance threshold. This can avoid the situation of forced meeting when space is severely insufficient, thereby ensuring the safety of meeting.

[0025] (9) This application also determines the wind resistance optimization level based on the vehicle speed in a preset high-speed driving scenario, and adjusts the rearview mirror angle based on the wind resistance optimization level to reduce the frontal area brought by the rearview mirror when driving at high speed, thereby reducing the wind resistance encountered by the vehicle. Furthermore, since the reduction of wind resistance can reduce the energy consumption of the vehicle, the means of adjusting the rearview mirror angle according to the wind resistance optimization level can also improve the economy of the vehicle when driving at high speed.

[0026] Another object of this application is to provide a vehicle whose controller includes a memory and a processor; the memory stores a computer program; and when the processor executes the computer program, it is able to implement the rearview mirror control method.

[0027] The vehicle described in this application, by implementing the aforementioned rearview mirror control method, can confirm a passing plan with the oncoming second vehicle when meeting oncoming traffic in narrow passages. Both vehicles then synchronously adjust their rearview mirrors according to the plan until they pass each other. This reduces the likelihood of excessive folding of the rearview mirrors, thereby improving the efficiency of passing oncoming traffic in narrow passages. Attached Figure Description

[0028] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0029] Figure 1 This is a flowchart illustrating the rearview mirror control method described in an embodiment of this application.

[0030] Figure 2 This is a schematic diagram of the process for determining a meeting scheme in the rearview mirror control method described in the embodiments of this application.

[0031] Figure 3 This is a flowchart illustrating the process of determining whether preset warning negotiation conditions are met in the rearview mirror control method described in this application embodiment.

[0032] Figure 4 This is a flowchart illustrating the preset processing measures used in the rearview mirror control method described in the embodiments of this application. Detailed Implementation

[0033] To make the technical solution and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0035] Furthermore, it should be noted that in the description of this application, if terms such as "upper," "lower," "inner," or "outer" appear, indicating orientation or positional relationship, these are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, if terms such as "first" or "second" appear, they are also used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] The present application will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0038] An embodiment of the first aspect of this application provides a rearview mirror control method executed by a first vehicle. When the first vehicle enters a preset narrow-passage meeting mode, it communicates with an oncoming second vehicle to confirm the meeting plan. Subsequently, the first and second vehicles adjust their respective rearview mirrors according to the agreed meeting plan until they pass each other. This method of achieving narrow-passage meeting through negotiation with the oncoming second vehicle avoids excessive adjustment of the rearview mirrors and improves the efficiency of passing.

[0039] In related technologies, when two vehicles (i.e., the first vehicle and the second vehicle) meet on a narrow road, the two vehicles (i.e., the first vehicle and the second vehicle) often need to adjust their vehicles to pass smoothly because the passing width of the road is relatively narrow. For example, they may fold their rearview mirrors to reduce the width of the vehicle body in order to pass smoothly.

[0040] Currently, most of the related technologies involve rearview mirrors that are manually adjusted by the car owner. When the car owner finds that there is a risk of scratching when passing other vehicles on narrow roads without folding the rearview mirrors, they will manually fold the rearview mirrors.

[0041] In addition, some related technologies involve automatically folding side mirrors to facilitate passing in narrow lanes. Specifically, when a first vehicle and a second vehicle pass each other, the first vehicle uses its built-in sensors to detect the available space on both sides of its location in real time. If the available space is insufficient, it controls the folding of the side mirrors based on the available space. Similarly, the second vehicle also uses its built-in sensors to detect the available space on both sides of its location in real time and folds its side mirrors accordingly.

[0042] It is evident that the rearview mirror folding control processes of the first vehicle and the second vehicle are independent, each calculating its own rearview mirror folding scheme based on its built-in algorithm.

[0043] However, during driving, this rearview mirror folding control method can affect the efficiency of passing other vehicles in narrow passages.

[0044] Specifically, when two vehicles independently calculate and control their folding side mirrors, because they cannot know the oncoming vehicle's mirror adjustment strategy, they can only assume the other vehicle will not fold its mirrors to ensure passing safety. This leads to the most conservative adjustment methods, such as over-folding or fully folding the mirrors. Such conservative strategies increase the range and time of mirror folding, lengthening the preparation time for vehicles entering the passing section and slowing down the passing process. Furthermore, over-folding significantly reduces the driver's rearward and side visibility, making it difficult for the driver to safely assess surrounding road conditions, potentially resulting in a very slow, crawling passage. This directly increases the overall passing time and severely impacts the efficiency of narrow passages.

[0045] Furthermore, independent decision-making by the two vehicles can easily lead to inconsistencies in the timing and progress of folding adjustments. Often, one vehicle has already completed folding and is ready to pass, while the other is still in the environmental testing and calculation phase. In such cases, the vehicle that completes its adjustment first needs to continuously slow down or stop and wait, causing frequent interruptions in the passing process, significantly reducing traffic flow and directly lowering passing efficiency.

[0046] Furthermore, this method of independently calculating and controlling the folding of the side mirrors in two vehicles also increases the vehicle's computing power consumption. Specifically, each vehicle independently collects environmental data, calculates available space, and determines the side mirror folding scheme through its built-in sensors. This is equivalent to repeatedly executing the same environmental perception and data processing flow, resulting in redundant consumption of computing power for both vehicles.

[0047] In view of this, in order to overcome the shortcomings of related technologies, the rearview mirror control method of this embodiment is applied to a vehicle (more specifically, the first vehicle), combined with... Figure 1 In terms of overall design, it includes the following steps S110-S130.

[0048] Step S110: When the first vehicle enters the preset narrow passage meeting mode, a communication establishment request is sent to the second vehicle coming from the opposite direction.

[0049] Specifically, the first vehicle can determine whether it is about to encounter oncoming traffic in a narrow passage by acquiring environmental data, and automatically enter a preset narrow passage passing mode when it is about to encounter oncoming traffic in a narrow passage. The first vehicle can also respond to user trigger operations for the narrow passage passing mode via preset buttons, etc., to enter the preset narrow passage passing mode.

[0050] When the first vehicle enters the preset narrow-road meeting mode, it indicates that the first vehicle is about to meet a second vehicle traveling in the opposite direction on a narrow road. In this situation, it is usually necessary to fold down the side mirrors to pass safely. Therefore, when the first vehicle enters the preset narrow-road meeting mode, the first vehicle immediately sends a communication establishment request to the second vehicle.

[0051] Specifically, the communication establishment request can be a session establishment request sent by the first vehicle to the second vehicle via V2V (Vehicle-to-Vehicle) communication.

[0052] V2V is a communication method in which vehicles directly exchange data using dedicated short-range communication technology. It does not rely on base stations or cloud forwarding and can achieve low latency and high reliability information exchange. Therefore, it can quickly detect each other and establish a point-to-point communication connection when two vehicles are close to each other, thus completing the communication establishment.

[0053] Upon receiving the communication establishment request, the second vehicle can verify the communication establishment request and then return a communication confirmation message to the first vehicle.

[0054] If the first vehicle successfully receives a communication confirmation message from the second vehicle within a preset time period, it indicates that a communication connection has been established between the first and second vehicles, and the following steps S120-S130 will continue to be executed.

[0055] Conversely, if the first vehicle does not receive a communication confirmation message from the second vehicle within the preset time period, or receives a message from the second vehicle refusing to establish communication, it means that the first vehicle and the second vehicle have not successfully established communication. In this case, steps S120-S130 are not executed. Instead, the first vehicle independently calculates its own required rearview mirror folding scheme based on the premise that the second vehicle does not fold its rearview mirror.

[0056] Step S120: After establishing communication with the second vehicle, determine the meeting plan and send the meeting plan to the second vehicle.

[0057] Specifically, after the two vehicles establish communication, they will elect a master vehicle through negotiation, and the other vehicle will act as a slave vehicle. The master vehicle will calculate the meeting plan and send it to the slave vehicle. Then, the slave vehicle and the master vehicle will negotiate and confirm the meeting plan.

[0058] Specifically, in this embodiment, taking the first vehicle as the main vehicle as an example, when determining the passing plan, the first vehicle can determine at least one passing sub-plan. Each passing sub-plan includes the rearview mirror control strategy of the first vehicle and the rearview mirror control strategy of the second vehicle.

[0059] More specifically, in one embodiment, when determining the passing plan, the first vehicle can determine three passing sub-plans based on three preconditions: the first vehicle passes first, the second vehicle passes first, and both pass slowly at the same time. The three passing sub-plans are then summarized as a passing plan and sent to the second vehicle.

[0060] Furthermore, assuming the first vehicle passes first, the first vehicle determines its own rearview mirror control strategy and the second vehicle's rearview mirror control strategy, thus obtaining a passing strategy under the premise that the first vehicle passes first. Passing strategies under other premises are similar and will not be elaborated upon here.

[0061] After the first vehicle sends the meeting plan to the second vehicle, the owners of the first and second vehicles can negotiate and confirm the meeting plan. For example, the first vehicle and the second vehicle can choose the first meeting plan as the confirmed meeting plan.

[0062] Step S130: If the second vehicle confirms the passing plan, determine the rearview mirror folding strategy of the first vehicle, and adjust the rearview mirror of the first vehicle according to the rearview mirror folding strategy until the passing of the two vehicles ends.

[0063] Specifically, upon receiving a confirmation message from the second vehicle regarding the passing plan, it indicates that the second vehicle has confirmed the passing plan, and the confirmed passing plan is the passing sub-plan carried in the passing plan confirmation message, such as the first passing sub-plan.

[0064] Afterwards, based on the passing plan confirmed by the two vehicles, the rearview mirror folding strategy of the first vehicle and the rearview mirror folding strategy of the second vehicle can be determined. Then, the first vehicle can adjust its side mirrors according to the rearview mirror folding strategy of the first vehicle, and the second vehicle will also adjust its side mirrors according to the rearview mirror folding strategy of the second vehicle until the passing is completed and the narrow passage passing is finished.

[0065] Therefore, through steps S110-S130, when the first vehicle enters the preset narrow passage meeting mode, it communicates with the second vehicle coming from the opposite direction and confirms the meeting plan. Then, when the first vehicle and the second vehicle meet, they fold and adjust their respective rearview mirrors according to the agreed meeting plan until they pass each other.

[0066] Because the passing strategy is determined through negotiation between the two vehicles, rather than by defaulting to not folding the mirrors when the oncoming vehicle is in the opposite direction, this reduces the likelihood of excessive mirror folding. This decreases the compression of the driver's rearward and side view, reducing forced stops due to lost visibility and improving passing efficiency and safety.

[0067] In addition, by reducing the chance of excessive folding, unnecessary rearview mirror folding range and execution time can be reduced, thereby further improving passing efficiency.

[0068] In addition, after the passing plan is confirmed, the first and second vehicles can simultaneously implement the corresponding rearview mirror adjustment strategies according to the confirmed passing plan. This can reduce the probability of problems such as inconsistent folding timing and inconsistent execution progress, thereby improving traffic flow and passing efficiency.

[0069] Furthermore, only the main vehicle needs to calculate the passing scheme, instead of each vehicle calculating the corresponding rearview mirror folding scheme based on environmental data, which can reduce the vehicle's computing power consumption.

[0070] It is worth noting that in some embodiments, each vehicle-passing scheme may further include a speed strategy for the first vehicle and a speed strategy for the second vehicle. This speed strategy may, for example, involve setting different speed ranges according to different distance intervals. For instance, when the distance is between 10m and 20m, the speed of the first vehicle should be less than 30km / h, for example, set to 20km / h.

[0071] Continue to combine Figure 1 As shown, in some exemplary embodiments, in step S110 above, the first vehicle can specifically enter the preset narrow road meeting mode in the following ways: detecting whether there is a second vehicle coming from the opposite direction in the road in front of the first vehicle; if there is a second vehicle, determining whether the width of the road in front of the first vehicle is not greater than a preset road width threshold; if the road width is not greater than the preset road width threshold, controlling the first vehicle to enter the preset narrow road meeting mode.

[0072] The road in front of the first vehicle is a road segment with a preset length, starting from the current location of the first vehicle and extending along the direction of travel of the first vehicle.

[0073] Specifically, the preset road length can be a pre-set road length, and the value of the preset road length should satisfy the following: from the moment the first vehicle detects the oncoming second vehicle at a position at a preset road length away, until the first vehicle and the second vehicle begin to meet, the first vehicle can complete the operations of establishing a communication connection, determining a meeting plan, negotiating and approving the meeting plan, and preparing for the meeting. For example, the preset road length can be 50m.

[0074] In addition, the preset road length can also be determined based on the real-time speed of the first vehicle. For example, when the speed of the first vehicle is the reference speed, the preset road length is determined to be 50m according to the above-mentioned requirements for the value of the preset road length. When the speed of the first vehicle is less than the reference speed, the preset road length can be reduced by a certain percentage based on 50m. When the speed of the first vehicle is greater than the reference speed, the preset road length can be increased by a certain percentage based on 50m.

[0075] It is worth noting that if the road in front of the first vehicle is a curve or a bend, and the length of the road in front is less than the preset length, then the actual passable road shall be used as the road in front of the first vehicle.

[0076] Specifically, the second vehicle is the oncoming vehicle that is approaching the first vehicle in the road in front of the first vehicle.

[0077] When a second vehicle is approaching in the road ahead of the first vehicle, it indicates that the first vehicle is about to meet the second vehicle. If the width of the road ahead of the first vehicle is not greater than a preset road width threshold, it indicates that the road section in which the first vehicle is traveling is a narrow road.

[0078] In other words, if there is a second vehicle in the road ahead, and the width of the road ahead is not greater than a preset road width threshold, it means that the first vehicle is about to enter a narrow road meeting scenario. Therefore, the first vehicle is controlled to enter the preset narrow road meeting mode to start sending a communication establishment request to the second vehicle coming from the opposite direction, and to negotiate, confirm and execute the meeting plan.

[0079] It is worth noting that if there is no second vehicle in the road ahead, or if the road width ahead is greater than the preset road width threshold, or if there is no second vehicle in the road ahead and the road width is greater than the preset road width threshold, it means that the first vehicle has not entered the narrow road meeting scenario, and therefore the first vehicle does not enter the preset narrow road meeting mode.

[0080] More specifically, the method for detecting whether there is a second vehicle approaching from the opposite direction in the road in front of the first vehicle can be: using sensors such as cameras or millimeter-wave radar to identify the oncoming target, and then determining whether the oncoming target is a vehicle, in order to achieve detection.

[0081] Additionally, when detecting whether the road in front of the first vehicle is narrow, it is determined whether the width of the road in front of the first vehicle is not greater than a preset road width threshold. If it is not greater, it indicates that the road in front of the first vehicle is narrow. If it is greater, it indicates that the road in front of the first vehicle is not narrow.

[0082] The width of the road specifically refers to its effective width. This effective width is the width available for vehicles to pass through. For example, if the total width of the road is 3m, but there are obstacles on both sides that occupy a total width of 0.5m, then the effective width is 2.5m.

[0083] In addition, the width of the road in front of the first vehicle can be the effective width of the road segment corresponding to the preset road length, or it can be the effective width of the road segment between the first vehicle and the second vehicle.

[0084] It is worth noting that when the effective width is not equal at different locations within a road segment, the effective width of the road at the location with the smallest effective width in that road segment can be taken as the width of the road ahead. In other embodiments, the width of the road ahead can also be the average of the effective widths at different locations within the road segment, and this is not limited here.

[0085] More specifically, the width of the road in front of the first vehicle can be identified through methods such as road contour recognition and lane line detection, which will not be elaborated here.

[0086] More specifically, the preset road width threshold is a pre-defined width value used to determine whether a road is a narrow road. For example, if a road width of less than 2.5m is considered to pose a risk of collision when vehicles pass each other, the preset road width threshold can be set to 2.5m.

[0087] Therefore, by automatically detecting whether there is a second vehicle approaching from the opposite direction and whether the width of the road ahead is not greater than a preset road width threshold, and when there is a second vehicle approaching and its width is not greater than the preset road width threshold, the first vehicle is automatically controlled to enter a preset narrow road meeting mode. This enables the coordinated meeting process to be automatically triggered in narrow road meeting scenarios, thereby improving the vehicle's intelligence and driving experience.

[0088] Continue by Figure 1 and combined Figure 2As shown, in some exemplary embodiments, step S120 above, when determining the meeting plan after establishing communication with the second vehicle, may specifically include the following steps S121-S122.

[0089] Step S121: When communication is established with the second vehicle, obtain the vehicle information of the second vehicle and determine whether the preset negotiation triggering conditions are met between the first vehicle and the second vehicle.

[0090] Specifically, the vehicle information may include vehicle size, rearview mirror status, and driving route. The acquisition process may involve initiating a vehicle information acquisition request to the second vehicle to obtain the vehicle information corresponding to the second vehicle.

[0091] After obtaining vehicle information, it is determined whether the first vehicle and the second vehicle meet the preset negotiation trigger conditions. Specifically, if the road in front of the first vehicle is narrow and the second vehicle is approaching from the opposite direction, the second vehicle may make a U-turn or take another route, preventing them from meeting. Alternatively, if the section of road where they meet is wide, then adjusting the rearview mirrors may not be necessary, meaning there is no need to determine a passing plan and negotiate confirmation. Therefore, preset negotiation trigger conditions are set, indicating that the first vehicle and the second vehicle need to negotiate a passing plan.

[0092] If the preset negotiation triggering conditions are met, then step S122 is executed to determine the meeting plan and negotiate and confirm the meeting plan. Conversely, if the preset negotiation triggering conditions are not met, then step S122 does not need to be executed, the meeting plan does not need to be determined in the manner of step S122, and there is no need to negotiate and confirm with the second vehicle.

[0093] Continue by Figure 1 and Figure 2 and combined Figure 3 As shown, in some exemplary embodiments, step S121, determining whether the preset negotiation triggering condition is met between the first vehicle and the second vehicle, may specifically include the following steps S1211-S1213.

[0094] Step S1211: Based on the vehicle information of the first vehicle and the second vehicle, determine whether there are overlapping road sections in the driving paths of the first vehicle and the second vehicle.

[0095] Specifically, based on the travel routes of the first vehicle and the second vehicle, the future travel paths of the first vehicle and the second vehicle are determined. Then, it is determined whether there are any overlapping road sections in the future travel paths of the first and second vehicles. Overlapping road sections refer to the same road segments that the first and second vehicles will share within a certain period of time.

[0096] The routes of the first and second vehicles can be directly extracted from the navigation system. These routes may include information such as the roads traversed, the direction of travel, and turning points. It's worth noting that if the navigation system is not activated, the current and intended routes of the vehicles can be calculated in real time by collecting data on steering wheel angle, speed, and turn signal signals, combined with identified lane lines, road signs, intersection directions, and road topology information from a high-precision map.

[0097] Then, by extracting road segments after the current position of the first and second vehicles from their respective driving routes, the future driving routes of the two vehicles can be obtained, that is, the future driving paths of the two vehicles can be obtained, and whether there are overlapping road segments can be identified based on the future driving paths of the two vehicles.

[0098] If there are no overlapping road sections, it means that the first vehicle and the second vehicle will not meet, and there is no need to negotiate a meeting plan.

[0099] In the case of overlapping road sections, it means that the two vehicles are likely to meet, but steps S1212-S1213 still need to be executed to determine whether the two vehicles will meet in the narrow road section.

[0100] Step S1212: In the case of overlapping road sections, predict the road section where the first vehicle and the second vehicle will meet, and determine whether the road width of the road section meets the preset width requirement.

[0101] Specifically, the meeting section refers to the road segment from the moment the first vehicle and the second vehicle meet until the meeting is completed, that is, the specific road area where the two vehicles are expected to meet.

[0102] The road width of this passing section is the effective road width, or more specifically, the minimum effective road width among the effective road widths corresponding to each position in the passing section.

[0103] The specific method for predicting the meeting point can include: combining the real-time position, speed, heading angle, and road contour information of the two vehicles, extrapolating the positions of the two vehicles at various future moments starting from the next moment, thereby determining the meeting point of the two vehicles (the position when they are in the same position at the same moment is the meeting point). With the meeting point as the center, a preset distance is extended in each of the two vehicles' directions of travel, and the resulting road segment is the meeting point. The preset distance can be determined according to the road width and vehicle speed, for example, 10-20 meters.

[0104] After predicting the oncoming traffic segment, it is determined whether the road width of the segment meets a preset width requirement. This preset width requirement refers to a segment width insufficient for two vehicles to safely pass without folding their side mirrors. For example, this preset width requirement includes: the road width of the oncoming traffic segment is less than a first preset road width threshold (indicating that the oncoming traffic segment is narrow and there is a high probability that vehicles will need to adjust their side mirrors). This first preset road width threshold is equal to the sum of the width of the first vehicle, the width of the second vehicle, and the first preset width value; for example, this first preset width value is 1 meter.

[0105] In some embodiments, the preset width requirement includes not only that the road width is less than a first preset road width threshold, but also that the road width of the passing section is greater than a second preset road width threshold (meaning that the passing section can be traversed after both the first and second vehicles have their side mirrors fully folded). The second preset road width threshold is less than the first preset road width threshold. The second preset road width threshold is equal to the sum of the width of the first vehicle with its side mirrors fully folded, the width of the second vehicle with its side mirrors fully folded, and the second preset width value. The second preset width value is the allowance for passing vehicles, for example, 0.2m.

[0106] Step S1213: If the preset width requirement is met, determine that the preset negotiation triggering condition is met between the first vehicle and the second vehicle.

[0107] Specifically, if there is an overlapping road section in the travel paths of the first and second vehicles, and the road width of this section meets the preset width requirement, it indicates that the first and second vehicles are highly likely to meet, and there is a significant probability that they will need to adjust their rearview mirrors to pass each other. Therefore, in this case, it is determined that the first and second vehicles meet the preset negotiation triggering conditions, and then the following step S122 is executed to determine the passing plan.

[0108] Conversely, if the road width of the meeting section does not meet the preset width requirement, or if there is no overlapping road section in the driving paths of the first and second vehicles, it means that the two vehicles are unlikely to need to adjust their rearview mirrors to meet, and therefore step S122 to determine the meeting plan is not executed.

[0109] Therefore, through steps S1211-S1213, the meeting point is predicted and it is determined whether the width of the meeting point meets the preset width requirement, thereby identifying whether the preset negotiation trigger condition is met. In this way, the meeting plan is determined only when it is confirmed that there is a high probability that the two vehicles will meet on a narrow road, which can reduce the vehicle's computing power consumption.

[0110] Step S122: If the preset negotiation triggering conditions are met, determine the meeting plan based on the vehicle information of the first vehicle and the second vehicle.

[0111] Therefore, through steps S121 and S122, after establishing communication with the second vehicle, the vehicle information of the second vehicle is obtained first, and it is determined whether the preset negotiation triggering conditions are met. If the preset negotiation triggering conditions are met, the meeting plan is determined based on the vehicle information of both parties. That is, the meeting plan is generated only when the preset negotiation triggering conditions are met, thereby avoiding unnecessary determination and negotiation processes for the meeting plan in scenarios where no collaborative adjustment is required, and thus reducing vehicle computing power consumption.

[0112] Continue by Figures 1-3 As shown, in some exemplary embodiments, in step S122 above, determining a passing plan based on the vehicle information of the first vehicle and the second vehicle may specifically include: determining the distance between the two vehicles when passing through the passing section without folding the rearview mirrors of the first vehicle and the second vehicle, based on the vehicle information of the first vehicle and the second vehicle and the road width of the passing section; and determining the passing plan based on the distance between the two vehicles.

[0113] The distance between the two vehicles is generally the lateral distance when both vehicles are driving close to the side of the road and passing each other. Specifically, based on the vehicle information of the first and second vehicles, the width of the first vehicle (the width of the vehicle with the rearview mirrors not folded; if the width varies at different locations, the width at the widest point is taken as the vehicle width) and the width of the second vehicle (the width of the vehicle with the rearview mirrors not folded) can be determined. Then, by subtracting the width of the first vehicle from the width of the road section, and then subtracting the width of the second vehicle, the distance between the two vehicles when both vehicles are driving with their rearview mirrors folded can be obtained.

[0114] Then, a passing plan is determined based on the distance between the two vehicles. Specifically, a pre-defined hierarchical determination method can be used when determining the passing plan.

[0115] Specifically, the preset classification method includes: determining the meeting danger level corresponding to the distance between the two vehicles; and determining the corresponding rearview mirror adjustment strategies for the first and second vehicles based on the preset rearview mirror adjustment strategies corresponding to the meeting danger level, thereby determining the meeting plan.

[0116] More specifically, the risk levels for passing vehicles include mild risk, moderate risk, and high risk.

[0117] When the distance between the two vehicles is not less than the first preset threshold (e.g., 0.3m), it corresponds to a mild danger level.

[0118] When the distance between two vehicles is less than the first preset threshold and not less than the second preset threshold (the second preset threshold is less than the first preset threshold, for example, it can be 0.2m), it corresponds to a moderate risk level.

[0119] When the distance between two vehicles is less than the second preset threshold, it corresponds to a high-risk level.

[0120] In addition, if there are irregular obstacles on both sides of the passing section, the passing hazard level can be directly determined as a high-risk level. When the obstacles on both sides of the passing section are more complex (for example, there are many types of obstacles and a large number of obstacles), the passing hazard level can be directly determined as a moderate-risk level.

[0121] For example, the preset rearview mirror adjustment strategies corresponding to different levels of oncoming traffic hazard could be:

[0122] Mild hazard level: Only the passenger side rearview mirror is fully folded, and the driver side rearview mirror is rotated inward to a first preset angle, for example, the first preset angle is 15°.

[0123] Moderate hazard level: Both side mirrors are folded to their 70% opening position. Additionally, when determining the passing route, the vehicle's built-in 360° surround view system can be activated, and the passing speed in the passing section can be set to 2-3 km / h.

[0124] High risk level: Both side mirrors are fully folded down, with an opening of 0%.

[0125] Specifically, considering the different passing orders of the first and second vehicles, the preconditions for each passing plan also need to be considered when determining the passing strategies. For example, if the precondition is that the first and second vehicles pass together, the rearview mirror adjustment strategies of the first and second vehicles can be set to preset rearview mirror adjustment strategies corresponding to the risk level of the passing collision. Because the risk of a collision is high when two vehicles pass simultaneously, adjusting both vehicles according to the corresponding strategies can minimize the chance of a collision.

[0126] When the first vehicle passes first, the rearview mirror adjustment strategy is determined based on the priority of the second vehicle (the vehicle that passes later) in adjusting its rearview mirror. For example, suppose the second vehicle (the vehicle that passes later) first adjusts its rearview mirror according to the preset rearview mirror adjustment strategy corresponding to the current meeting danger level. It is then determined whether the two vehicles can pass safely after the adjustment (e.g., whether the adjusted distance is greater than the preset safe distance threshold). If they cannot pass safely, the current meeting danger level is upgraded (e.g., from slightly dangerous to moderately dangerous). It is then determined whether the second vehicle can pass safely after adjusting its rearview mirror according to the upgraded rearview mirror adjustment strategy. This process is repeated until it is determined that the second vehicle can pass safely after adjusting its rearview mirror according to the corresponding preset rearview mirror adjustment strategy. At this point, the preset rearview mirror adjustment strategy is determined as the rearview mirror adjustment strategy for the second vehicle.

[0127] If it is determined that the second vehicle still cannot pass safely after adjusting its rearview mirror according to the preset rearview mirror adjustment strategy of the highest passing danger level, then the preset rearview mirror adjustment strategy of the highest passing danger level will be used as the rearview mirror adjustment strategy of the second vehicle. Based on the original distance between the two vehicles and the distance formed by the folded rearview mirror of the second vehicle, the passing danger level will be re-determined to determine the rearview mirror adjustment strategy of the first vehicle, thereby obtaining a passing sub-plan with the premise that the first vehicle passes first.

[0128] Similarly, the process of determining the passing scheme when the second vehicle passes first is similar to the process of determining the passing scheme when the first vehicle passes first, and will not be elaborated here.

[0129] Therefore, by using the vehicle information of the two vehicles and the road width of the meeting section, the distance between the two vehicles when neither vehicle folds its rearview mirror is calculated, and a meeting plan including rearview mirror adjustment strategy is determined based on the distance between the two vehicles. This makes the adjustment range of the rearview mirror match the actual spatial distance, thereby avoiding the problems of loss of vision or insufficient safety distance caused by blindly folding the rearview mirror.

[0130] Continue to combine Figure 1-3 As shown, in step S120 above, when the passing plan is sent to the second vehicle, since the passing plan includes multiple sub-plans, to facilitate negotiation between the first and second vehicles, a corresponding plan evaluation index can be calculated for each sub-plan during the confirmation of the passing plan, so that each sub-plan includes its corresponding plan evaluation index. In this way, the second vehicle can understand the advantages and disadvantages of each passing plan based on the plan evaluation index corresponding to each sub-plan, and select one of the multiple passing plans for confirmation.

[0131] Specifically, the evaluation indicators for this scheme may include at least one of the following: the estimated time for oncoming traffic to pass each other and the distance between the two vehicles after the rearview mirrors are folded down.

[0132] Specifically, the calculation method for the estimated passing time includes: based on the driving speed strategy and the length of the passing section in the passing sub-plan, combined with the driving trajectories of the two vehicles, the total time from the two vehicles entering the passing section to completely passing each other is calculated using kinematic principles; if the plan includes requirements such as activation of the 360° surround view system and low-speed passage, the corresponding operation time coefficient needs to be added to the base time to obtain the estimated passing time.

[0133] The distance between the two vehicles after the rearview mirrors are folded is assumed to be the distance left after the first vehicle and the second vehicle adjust their rearview mirrors according to their respective adjustment strategies. For example, if the original distance between the two vehicles is 0.1m, by adjusting the rearview mirrors, the first vehicle gives up 0.2m of space and the second vehicle gives up 0.1m of space, so that the distance between the two vehicles after the rearview mirrors are folded is 0.4m.

[0134] Therefore, in this embodiment, the first vehicle can provide multiple passing sub-plans that include plan evaluation indicators. This allows the second vehicle to understand the traffic efficiency and safety level of each passing sub-plan based on plan evaluation indicators such as the estimated passing time and the distance between the two vehicles after the rearview mirrors are folded. This makes it easier for the second vehicle to select a passing plan and improves the overall smoothness of the passing process.

[0135] Continue to combine Figure 1-3 As shown, in step S130, if the second vehicle confirms the passing plan, it is also necessary to detect in real time whether the second vehicle adjusts its rearview mirror according to the passing plan, so as to respond promptly if the second vehicle does not adjust according to the agreed passing plan. That is, the rearview mirror control method also includes:

[0136] After the second vehicle confirms the passing plan, within a preset waiting time, it is checked whether the second vehicle adjusts its rearview mirrors according to the confirmed passing plan. If the second vehicle still does not adjust its rearview mirrors according to the passing plan, the first vehicle's rearview mirrors are adjusted according to the preset passing handling measures until the two vehicles pass each other.

[0137] Specifically, after the first and second vehicles confirm the meeting plan, the two vehicles can begin to continuously monitor the rearview mirror status of the other vehicle.

[0138] Taking the first vehicle as an example, the first vehicle starts monitoring the rearview mirror status of the second vehicle. For example, it can continuously monitor whether it receives the rearview mirror status information from the second vehicle, and determine whether the second vehicle meets the rearview mirror folding requirements corresponding to the oncoming traffic plan based on the rearview mirror status information.

[0139] If the second vehicle fails to fold its rearview mirror according to the oncoming traffic plan within the preset waiting time, it indicates that the second vehicle may have lost communication with the first vehicle, or that the second vehicle is malfunctioning and unable to fold its rearview mirror as required. Therefore, the preset oncoming traffic handling measures will be implemented to adjust the first vehicle's rearview mirror according to the preset oncoming traffic handling measures.

[0140] The preset waiting time can be pre-set, for example, 3 seconds. When setting the preset waiting time, it is necessary to ensure that the second vehicle can complete the adjustment of the rearview mirror normally, and the preset waiting time should not be too long. It needs to reach the preset waiting time before the first vehicle and the second vehicle start to meet.

[0141] Therefore, in this embodiment, after the second vehicle confirms the meeting plan, it detects whether the second vehicle performs the rearview mirror adjustment operation according to the meeting plan within a preset waiting time. This allows for timely identification of situations where the other vehicle has not performed the cooperative meeting plan, thereby avoiding situations where the meeting is interrupted or the risk of collision increases due to the other vehicle's lack of cooperation.

[0142] Reference Figure 4 In some exemplary embodiments, when the rearview mirror of the first vehicle is adjusted according to the preset oncoming traffic handling measures before the second vehicle has adjusted its rearview mirror according to the oncoming traffic plan, the preset oncoming traffic handling measures may specifically include the following steps S410-S430.

[0143] Step S410: Based on the road width of the meeting section and the vehicle information of the first and second vehicles, determine the maximum distance between the two vehicles that the first vehicle can generate by folding its rearview mirrors when the second vehicle does not fold its rearview mirrors.

[0144] Specifically, the maximum distance between two vehicles when passing each other is the same, with the second vehicle's side mirrors not folded and both of the first vehicle's side mirrors folded (both side mirrors open to 0%).

[0145] Step S420: If the maximum distance between the two vehicles is not greater than the preset safe distance threshold, control the first vehicle to stop before reaching the meeting point.

[0146] Specifically, if the maximum distance between the two vehicles does not exceed a preset safe distance threshold, it means that even if all the side mirrors of the first vehicle are folded down, there is still a significant risk of collision on the passing section. Therefore, controlling the first vehicle to stop before reaching the passing section improves driving safety when passing other vehicles.

[0147] Step S430: When the maximum distance between the two vehicles is greater than the preset safe distance threshold, determine the required rearview mirror folding angle of the first vehicle, and control the first vehicle to fold the rearview mirror according to the rearview mirror folding angle until the two vehicles meet.

[0148] Specifically, if the maximum distance between the two vehicles is greater than the preset safe distance threshold, it means that when the first vehicle passes through the meeting section using its folded rearview mirror, there is a relatively small risk of collision, and it can attempt to pass at a low speed. Therefore, in step S430, the required folding angle of the rearview mirror for the first vehicle is determined, and the first vehicle is controlled to fold its rearview mirror according to the required folding angle until the two vehicles pass each other.

[0149] More specifically, assuming the second vehicle's side mirrors are not folded, the folding angles of the side mirrors on both sides of the first vehicle are determined. Specifically, the folding angles can be determined by folding both side mirrors completely to maximize space utilization. Simultaneously, the speed of the first vehicle in the passing section is reduced, for example, to 2 km / h.

[0150] In another implementation, when determining the folding angle of the rearview mirrors corresponding to the two side mirrors of the first vehicle, the rearview mirror adjustment strategy of the first vehicle in the originally agreed-upon passing scheme can be upgraded (for example, it can be upgraded from a slightly dangerous level to a moderately dangerous level). The folding angle of the rearview mirror corresponding to the upgraded rearview mirror adjustment strategy can be used as the folding angle of the rearview mirrors corresponding to the two side mirrors of the first vehicle.

[0151] Therefore, when the second vehicle does not perform the rearview mirror adjustment operation according to the passing plan, the maximum distance between the two vehicles that the first vehicle can achieve by folding the rearview mirror is calculated based on the premise that the second vehicle does not fold the rearview mirror. This allows for an accurate determination of whether the first vehicle's adjustment alone can meet the safe passing conditions. Furthermore, since this embodiment controls the first vehicle to stop before reaching the passing section when the maximum distance between the two vehicles is not greater than the preset safe distance threshold, and determines and executes the corresponding rearview mirror folding angle when the maximum distance between the two vehicles is greater than the preset safe distance threshold, it can avoid the situation of forcibly passing the other vehicle when there is insufficient space, thereby ensuring passing safety.

[0152] In some embodiments, the preset vehicle meeting handling measures may include steps of communication establishment retry and communication link upgrade before step S410. Specifically, the communication connection request can be re-initiated via V2V, and at the same time, the communication connection between the first vehicle and the second vehicle can be established through the communication link of the first vehicle-cloud-second vehicle, with the cloud server acting as an intermediary.

[0153] When the first vehicle and the second vehicle re-establish communication, steps S410-430 are not executed again; instead, the negotiated and confirmed meeting plan is directly sent to the second vehicle. If no communication connection is re-established, steps S410-S430 are executed again.

[0154] In this embodiment, when the first vehicle is in a narrow passage meeting scenario, the vehicle's rearview mirrors can be controlled in the manner described in the above embodiment to facilitate the first vehicle's smooth passage. In some exemplary embodiments, the rearview mirrors can also be automatically adjusted when the first vehicle is in other scenarios. For example, in a preset high-speed driving scenario, wind resistance can be reduced by automatically adjusting the rearview mirrors.

[0155] That is, the rearview mirror control method may further include: when the first vehicle is in a preset high-speed driving scenario, determining the wind resistance optimization level of the first vehicle based on the vehicle speed; determining the rearview mirror angle adjustment strategy of the first vehicle based on the wind resistance optimization level; and adjusting the rearview mirror angle of the first vehicle according to the rearview mirror angle adjustment strategy.

[0156] For example, when the first vehicle is in a preset high-speed driving scenario, it means that the vehicle is traveling at a high speed. At this time, the rearview mirror, as a protruding component on the outside of the vehicle body, will form a large frontal area and become one of the important sources of air resistance during vehicle driving. Moreover, the higher the vehicle speed, the greater the proportion of wind resistance generated by the rearview mirror. This will not only increase the vehicle's power consumption, but may also affect the vehicle's high-speed driving stability. Therefore, the wind resistance experienced by the first vehicle can be reduced by adjusting the angle of the rearview mirror, thereby reducing the vehicle's driving energy consumption, improving the economy of high-speed driving, optimizing the vehicle's aerodynamic layout, reducing driving disturbances caused by wind resistance, and improving the smoothness and stability of the vehicle at high speed.

[0157] Specifically, in a preset high-speed driving scenario, the wind resistance optimization level of the first vehicle is determined based on its speed, and then the corresponding rearview mirror angle adjustment strategy is determined for adjustment.

[0158] More specifically, the first vehicle has preset aerodynamic optimization levels, and for each preset aerodynamic optimization level, there is a corresponding preset rearview mirror angle adjustment strategy and a corresponding trigger condition. When the speed of the first vehicle meets the trigger condition, it indicates that the first vehicle currently belongs to the preset aerodynamic optimization level corresponding to that trigger condition.

[0159] Specifically, based on the speed of the first vehicle, a preset wind resistance optimization level corresponding to that speed is determined to obtain the current wind resistance optimization level of the first vehicle. The preset rearview mirror angle adjustment strategy corresponding to this wind resistance optimization level is the rearview mirror angle adjustment strategy currently adapted to the first vehicle. Adjusting the rearview mirrors of the first vehicle according to this rearview mirror angle adjustment strategy can reduce the wind resistance encountered by the first vehicle when driving at high speed.

[0160] More specifically, in this embodiment, three preset wind resistance optimization levels are pre-set: a first preset wind resistance optimization level, a second preset wind resistance optimization level, and a third preset wind resistance optimization level. Each preset wind resistance optimization level and its corresponding triggering conditions, along with a preset rearview mirror angle adjustment strategy, may include:

[0161] The first preset wind resistance optimization level (light optimization, suitable for initial high-speed cruising and heavy traffic scenarios) is triggered when the vehicle speed is ≥110km / h for 30 seconds. The corresponding preset rearview mirror angle adjustment strategy is as follows: the rearview mirror is slightly adjusted inwards at a first preset horizontal angle (e.g., 3°), while remaining unchanged in the vertical direction. This first preset horizontal angle setting should consider the impact of rearview mirror folding on the driver's field of vision, reducing the driver's field of vision by approximately 5% to retain full visibility of the current lane.

[0162] The triggering conditions for the second preset aerodynamic optimization level (moderate optimization, suitable for stable high-speed cruising and long-distance driving scenarios) include: meeting the triggering conditions for the first preset aerodynamic optimization level and having a vehicle speed ≥ 120 km / h for 60 seconds. The corresponding preset rearview mirror angle adjustment strategy is as follows: in the horizontal direction, the rearview mirror is adjusted inwards to a second preset horizontal angle (e.g., 6°, greater than the first preset horizontal angle); in the vertical direction, it is slightly adjusted upwards by 1° (to compensate for the height of the field of vision). The setting of this second preset horizontal angle should comprehensively consider the optimization effect on aerodynamics and the impact of rearview mirror folding on the driver's field of vision. For example, it should reduce the driver's field of vision by 10% or less so that the driver can still see adjacent lanes using the rearview mirror, and the aerodynamic drag experienced by the vehicle can be expected to be reduced by 1.5-2.5%.

[0163] Furthermore, considering that folding rearview mirrors compress the driver's field of vision, which may affect safety, the triggering condition for the second preset aerodynamic optimization level may also include additional conditions. These additional conditions are environmental requirements set for safety considerations, such as low traffic volume in the environment where the first vehicle is currently located, as detected by millimeter-wave radar or cameras, indicating that the additional condition is met. When the vehicle speed is ≥120km / h for 60 seconds (and the triggering condition for the first preset aerodynamic optimization level is met), and the first vehicle also meets the additional condition, the triggering condition corresponding to the second preset aerodynamic optimization level is met.

[0164] The trigger condition for the third preset aerodynamic optimization level (deep optimization, suitable for highways with extremely low traffic volume and scenarios where maximum energy efficiency is pursued) is: the trigger condition for the first preset aerodynamic optimization level and a vehicle speed ≥ 130 km / h for 90 seconds. The corresponding preset rearview mirror angle adjustment strategy is: in the horizontal direction, adjust the rearview mirror inward to the third preset horizontal angle (e.g., 9°), and in the vertical direction, adjust it upward by 2°. The setting of this third preset horizontal angle should take into account the impact of rearview mirror folding on the driver's field of vision, so that the driver's field of vision is reduced by about 15%, so as to retain the key rear area. Aerodynamic drag is expected to be reduced by 3-4%.

[0165] Furthermore, the triggering conditions for the third preset wind resistance optimization level may also include additional conditions. For example, the additional conditions corresponding to the third preset wind resistance optimization level may be: the cruise control system of the first vehicle is activated, there are no close vehicles in the adjacent lanes of the first vehicle, and the first vehicle travels in a straight line for more than a preset straight-line travel time threshold (e.g., 30 seconds, to ensure that the first vehicle is in a straight-line travel section).

[0166] Therefore, under a preset high-speed driving scenario, the wind resistance optimization level is determined based on vehicle speed, and the rearview mirror angle is adjusted based on the wind resistance optimization level to reduce the frontal area of ​​the rearview mirror during high-speed driving, thereby reducing the wind resistance experienced by the vehicle. Furthermore, since reducing wind resistance can reduce vehicle energy consumption, adjusting the rearview mirror angle according to the wind resistance optimization level can also improve the fuel economy of the vehicle at high speeds.

[0167] In some embodiments, when the first vehicle is in a driving scenario with severe weather, a parking scenario against a wall / in a narrow space, or a scenario where it is meeting a non-motorized vehicle, the angle of the rearview mirror can be automatically adjusted to facilitate vehicle driving.

[0168] Specifically, the first vehicle has a built-in multi-source environmental perception module (used to collect environmental data around the first vehicle in real time). The multi-source environmental perception module includes: a lateral ranging unit, a visual recognition unit, a vehicle state sensing unit, and a scene pattern recognition unit.

[0169] The lateral ranging unit consists of ultrasonic radar and / or millimeter-wave radar deployed on both sides of the first vehicle, used to accurately measure the distance between the first vehicle and lateral obstacles (such as walls, guardrails, and other vehicles).

[0170] The visual recognition unit can be an onboard surround-view camera and / or a side-rear camera, used to capture image information and identify lane width, oncoming vehicles, obstacle types (such as walls, pillars), etc. through image recognition algorithms.

[0171] The vehicle status sensing unit is used to acquire real-time vehicle data, including vehicle speed signal, steering wheel angle, gear status (such as P / D / R gear), turn signal, accelerator / brake pedal opening, etc.

[0172] The scenario pattern recognition unit receives data streams from the multi-source environment perception module and, based on a pre-set decision logic algorithm, determines whether the first vehicle is currently in various preset scenarios (including preset narrow road meeting scenario, bad weather driving scenario, parking near a wall / narrow space scenario, meeting non-motorized vehicles on a narrow road scenario, and preset high-speed driving scenario).

[0173] Specifically, when the vehicle speed is greater than 0 and less than the first preset vehicle speed threshold (e.g., 20 km / h), and the side radar detects that the width of the available space on both sides or one side is less than the first preset available space width threshold (e.g., 1.8 meters), and the visual recognition unit detects that an obstacle is approaching from the opposite direction, and the obstacle is a non-motorized vehicle (e.g., pedestrian, bicycle, motorcycle, etc.), it indicates that the current situation is a scenario of meeting non-motorized vehicles on a narrow road.

[0174] In the scenario of meeting non-motorized vehicles on a narrow passage, the first vehicle generates a command to fold both side mirrors to maximize the passage width. Furthermore, once the first vehicle is detected to have cleared the obstacle, if the lateral radar detects that the available space on both sides remains greater than a second preset available space width threshold (e.g., 2.2 meters, where the second preset available space width threshold should be greater than or equal to the first preset available space width threshold) for a first preset duration, or if the first vehicle's speed increases to exceed the aforementioned first preset speed threshold, it indicates that the first vehicle has exited the scenario of meeting non-motorized vehicles on a narrow passage. Therefore, a command is generated to unfold both side mirrors, restoring the mirrors to their original state for normal vehicle movement.

[0175] In addition, when the speed of the first vehicle is less than the second preset speed threshold (e.g., 5 km / h), and the distance between the first vehicle and a fixed obstacle on the side (identified by the visual unit as a wall, pillar, or other fixed obstacle) continues to decrease and falls below the preset fixed obstacle distance threshold (e.g., 15 cm), and the first vehicle is in P gear, it indicates that the first vehicle has entered a wall-to-wall / narrow parking scenario.

[0176] In this wall-block / narrow parking scenario, a command is generated to fold the rearview mirror on the side closest to the obstacle, so as to prevent the rearview mirror from being scratched when the occupants get out of the car.

[0177] Furthermore, when the first vehicle starts again, the gear shifts from P to D / R. At the same time, if the ultrasonic radar detects that there are no obstacles on that side or the distance is large enough, it indicates that the first vehicle has moved away from the fixed obstacle. Therefore, the rearview mirror on the side closest to the obstacle is controlled to unfold to facilitate the driver's operation.

[0178] Furthermore, when the rain sensor built into the first vehicle detects continuous heavy rain / snow, or when other detection methods determine that the current environment is in bad weather and the rearview mirror is easily obstructed by raindrops, it indicates that the first vehicle is in a bad weather driving scenario.

[0179] In this adverse weather driving scenario, the rearview mirror heating function can be automatically activated, and the rear windshield heating can be activated in conjunction with it. Additionally, when the first vehicle is traveling at low speed in the rain, the folding function can be triggered more sensitively if a narrow passage is detected. It's worth noting that the rearview mirror heating can be automatically deactivated after the rain stops or the weather improves to reduce energy consumption.

[0180] It's worth noting that, in any scenario, during the automatic adjustment of the rearview mirror's folding angle, the motor current output by the rearview mirror control motor can be monitored in real time. If excessive resistance occurs during the rearview mirror folding process, it may be due to the mirror being frozen or manually obstructed. Therefore, immediately stop the folding control of the rearview mirror and return it to its original state to prevent overloading and damage to the rearview mirror control motor.

[0181] It is worth noting that, regarding the rearview mirror control method of this embodiment, based on the above exemplary implementations, in specific implementation, as a preferred embodiment, it is still based on... Figure 1-4 As shown, it may include, for example:

[0182] After the first vehicle enters the preset narrow-lane meeting mode through automatic detection or manual triggering by the driver, it sends a communication establishment request to the oncoming second vehicle.

[0183] After the first vehicle and the second vehicle successfully establish communication, the first vehicle obtains the vehicle information of the second vehicle and determines whether the preset negotiation triggering conditions are met.

[0184] If the preset negotiation triggering conditions are met, the system combines the vehicle information of both parties with the road width of the meeting section to generate multiple meeting plans containing plan evaluation indicators and sends them to the second vehicle.

[0185] After the second vehicle confirms the passing plan, both vehicles adjust their respective rearview mirrors according to the confirmed passing plan.

[0186] During the passing process, if it is detected that the second vehicle has not adjusted according to the confirmed passing plan, the first vehicle will perform preset handling measures to adjust its rearview mirror or stop to avoid the other vehicle; until the passing of the two vehicles ends and the rearview mirror returns to normal.

[0187] Furthermore, when the first vehicle is in a preset high-speed driving scenario, the corresponding wind resistance optimization level is determined based on the vehicle speed, and the rearview mirror angle is adjusted according to the rearview mirror angle adjustment strategy corresponding to the wind resistance optimization level, in order to reduce driving wind resistance and save vehicle energy consumption.

[0188] In the preferred embodiment of the above rearview mirror control method, the specific implementation of each step can still be found in the descriptions of the above exemplary embodiments, and the beneficial effects brought about by the design of each step in this preferred embodiment can also be found in the descriptions of the above exemplary embodiments.

[0189] The rearview mirror control method of this embodiment adopts the above design. When the first vehicle enters the preset narrow road meeting mode, it communicates with the second vehicle coming from the opposite direction and confirms the meeting plan. Then, when the first vehicle and the second vehicle meet, they fold and adjust their respective rearview mirrors according to the agreed meeting plan until the vehicles pass each other.

[0190] Because the passing strategy is determined through negotiation between the two vehicles, rather than by defaulting to not folding the mirrors when the oncoming vehicle is in the direction of the mirrors, the likelihood of excessive mirror folding is reduced. This decreases the compression of the driver's rearward and side visibility, thereby reducing forced stops due to a lack of visibility and ultimately improving passing efficiency.

[0191] In addition, by reducing the chance of excessive folding, unnecessary rearview mirror folding range and execution time can be reduced, thereby further improving passing efficiency.

[0192] In addition, after the passing plan is confirmed, the first and second vehicles can simultaneously implement the corresponding rearview mirror adjustment strategies according to the confirmed passing plan. This can reduce the probability of problems such as inconsistent folding timing and inconsistent execution progress, thereby improving traffic flow and passing efficiency.

[0193] Furthermore, only the main vehicle needs to calculate the passing strategy, and neither vehicle needs to calculate its own rearview mirror folding strategy based on environmental data, which can reduce the vehicle's computing power consumption.

[0194] An embodiment of the second aspect of this application provides a vehicle, the vehicle's controller including a memory and a processor; the memory stores a computer program; when the processor executes the computer program, it can implement the above-described rearview mirror control method.

[0195] Furthermore, the vehicle may also include a multi-source environmental perception module and an execution module. The multi-source environmental perception module includes: a lateral ranging unit, a visual recognition unit, a vehicle state sensing unit, and a scene pattern recognition unit.

[0196] The lateral ranging unit consists of ultrasonic radar and / or millimeter-wave radar deployed on both sides of the first vehicle, used to accurately measure the distance between the first vehicle and lateral obstacles (such as walls, guardrails, and other vehicles).

[0197] The visual recognition unit can be an onboard surround-view camera and / or a side-rear camera, used to capture image information and identify lane width, oncoming vehicles, obstacle types (such as walls, pillars), etc. through image recognition algorithms.

[0198] The vehicle status sensing unit is used to acquire real-time vehicle data, including vehicle speed signal, steering wheel angle, gear status (such as P / D / R gear), turn signal, accelerator / brake pedal opening, etc.

[0199] The scenario pattern recognition unit is used to receive data streams from the multi-source environment perception module and, based on the preset decision logic algorithm, determine whether the first vehicle is currently in various preset scenarios (including preset narrow road meeting scenario, bad weather driving scenario, wall / narrow parking scenario, narrow road meeting scenario with non-motorized vehicles scenario, and preset high-speed driving scenario).

[0200] The execution module, namely the left and right rearview mirror assembly, contains a rearview mirror control motor, which is used to receive and execute corresponding control commands on the rearview mirrors to complete the physical folding or unfolding action.

[0201] In this embodiment, the vehicle, by executing the rearview mirror control method described in the above method embodiment, can confirm a passing plan with the oncoming second vehicle when meeting oncoming traffic in a narrow passage. Both vehicles then synchronously adjust their rearview mirrors according to the plan until they pass each other. This reduces the likelihood of excessive folding of the rearview mirrors, thereby improving the efficiency of meeting oncoming traffic in narrow passages.

[0202] The above are merely some embodiments of this application and are not intended to limit this application. The technical features or structures in the foregoing different embodiments can be arbitrarily combined to form other specific technical solutions as needed. For those skilled in the art, this application can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the protection scope of the claims of this application.

Claims

1. A rearview mirror control method applied to a first vehicle, characterized by, include: When the first vehicle enters the preset narrow passage meeting mode, a communication establishment request is sent to the second vehicle coming from the opposite direction. Once communication is established with the second vehicle, a passing plan is determined and the passing plan is sent to the second vehicle; If the second vehicle confirms the passing plan, determine the rearview mirror folding strategy of the first vehicle, and adjust the rearview mirror of the first vehicle according to the rearview mirror folding strategy until the passing of the two vehicles ends.

2. The rearview mirror control method according to claim 1, characterized in that, The first vehicle enters the preset narrow-lane meeting mode in the following manner: Detect whether there is a second vehicle approaching from the opposite direction in the road ahead of the first vehicle; In the presence of the second vehicle, determine whether the width of the road in front of the first vehicle is not greater than a preset road width threshold; When the road width is not greater than the preset road width threshold, the first vehicle is controlled to enter the preset narrow road meeting mode; The road in front of the first vehicle is a road segment with the first vehicle as the starting point, along the direction of the first vehicle's movement, and a length of a preset road length.

3. The rearview mirror control method according to claim 1, characterized in that, The step of determining a passing plan after establishing communication with the second vehicle includes: When communication is established with the second vehicle, the vehicle information of the second vehicle is obtained, and it is determined whether the preset negotiation triggering conditions are met between the first vehicle and the second vehicle. If the preset negotiation triggering conditions are met, a meeting plan is determined based on the vehicle information of the first vehicle and the second vehicle.

4. The rearview mirror control method according to claim 3, characterized in that, The determination of whether the preset negotiation triggering condition is met between the first vehicle and the second vehicle includes: Based on the vehicle information of the first vehicle and the second vehicle, determine whether there are overlapping road sections in the driving paths of the first vehicle and the second vehicle; In the case of overlapping road sections, predict the meeting road section between the first vehicle and the second vehicle, and determine whether the road width of the meeting road section meets the preset width requirement; If the preset width requirement is met, it is determined that the preset negotiation triggering condition is met between the first vehicle and the second vehicle.

5. The rearview mirror control method according to claim 4, characterized in that, The step of determining a meeting plan based on the vehicle information of the first vehicle and the second vehicle includes: Based on the vehicle information of the first vehicle and the second vehicle, and the road width of the meeting section, the distance between the two vehicles when passing through the meeting section is determined when neither the first vehicle nor the second vehicle folds its rearview mirrors. Based on the distance between the two vehicles, determine the passing plan; The meeting scheme includes rearview mirror adjustment strategies for the first vehicle and the second vehicle, respectively.

6. The rearview mirror control method according to claim 5, characterized in that: The passing scheme includes multiple passing sub-schemes, and each passing scheme includes corresponding scheme evaluation indicators; The evaluation indicators for the proposed scheme include at least one of the following: the estimated time for oncoming traffic to pass and the distance between the two vehicles after the rearview mirrors are folded. The second vehicle is used to select one of the multiple passing schemes for confirmation based on the scheme evaluation index corresponding to each passing scheme.

7. The rearview mirror control method according to claim 5, characterized in that, The method also includes: After the second vehicle confirms the passing plan, within a preset waiting time, it is detected whether the second vehicle adjusts the rearview mirror according to the confirmed passing plan; If the second vehicle fails to adjust its rearview mirror according to the passing plan, the rearview mirror of the first vehicle will be adjusted according to the preset passing procedures until the passing of the two vehicles ends.

8. The rearview mirror control method according to claim 7, characterized in that, The pre-defined measures for handling passing vehicles include: Based on the road width of the meeting section and the vehicle information of the first vehicle and the second vehicle, determine the maximum distance between the two vehicles that the first vehicle can generate by folding its rearview mirrors when the second vehicle does not fold its rearview mirrors. If the maximum distance between the two vehicles is not greater than a preset safe distance threshold, the first vehicle is controlled to stop before reaching the meeting point. When the maximum distance between the two vehicles is greater than the preset safe distance threshold, the required rearview mirror folding angle of the first vehicle is determined, and the first vehicle is controlled to fold the rearview mirror according to the rearview mirror folding angle until the two vehicles meet.

9. The rearview mirror control method according to any one of claims 1 to 8, characterized in that, The method also includes: When the first vehicle is in a preset high-speed driving scenario, the wind resistance optimization level of the first vehicle is determined based on the vehicle speed. Based on the wind resistance optimization level, a rearview mirror angle adjustment strategy for the first vehicle is determined, and the rearview mirror angle of the first vehicle is adjusted according to the rearview mirror angle adjustment strategy.

10. A vehicle, characterized in that, The vehicle's controller includes a memory and a processor; The memory stores computer programs; When the processor executes the computer program, it is able to implement the rearview mirror control method according to any one of claims 1-9.

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