A rearview mirror control method, system, and related products

Abstract

This application discloses a rearview mirror control method, system, and related products. When image recognition results indicate that the front and side front of a two-wheeled vehicle are in a narrow road scenario, the lateral distances on the left and right sides of the vehicle are determined based on obstacle information on the left and right sides of the vehicle in the narrow road scenario. The lateral width occupied by the two-wheeled vehicle in the unfolded state is adjusted according to the vehicle's tilt angle to obtain the actual passage width of the two-wheeled vehicle. Based on the lateral distances on the left and right sides of the vehicle and the actual passage width, the vehicle control result is determined. When the vehicle control result indicates that the rearview mirrors should be folded, the left and / or right rearview mirrors of the two-wheeled vehicle are folded. Thus, this application achieves automatic rearview mirror control for narrow road scenarios, reducing additional driver operations and improving the safety of two-wheeled vehicles when passing through narrow road scenarios.

Description

Technical Field

[0001] This application relates to the field of intelligent driving assistance technology for two-wheeled vehicles, and in particular to a rearview mirror control method, system and related products. Background Technology

[0002] As the application scenarios for two-wheeled vehicles continue to expand, their demand for passage in road environments is also gradually increasing. In some narrow road scenarios, the rearview mirrors of two-wheeled vehicles increase the overall lateral space occupied by the vehicle, which may affect the two-wheeled vehicle's ability to pass through narrow areas.

[0003] In related technologies, rearview mirrors are typically folded manually by the driver or controlled by a button to reduce the lateral space occupied by the two-wheeled vehicle. However, these methods require the driver to pay extra attention to road conditions and perform rearview mirror control operations while driving, increasing the operational burden. Furthermore, because the driver needs to simultaneously monitor vehicle movement and adjust the rearview mirror settings, it may affect the safety of the two-wheeled vehicle in narrow road conditions.

[0004] Therefore, how to better control the rearview mirrors of two-wheeled vehicles is a key issue of concern to those skilled in the art. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a rearview mirror control method, system, and related products to better achieve rearview mirror control for two-wheeled vehicles.

[0006] The embodiments of this application disclose the following technical solutions: The first aspect of this application provides a rearview mirror control method for use in two-wheeled vehicles, including: Obtain the current road environment image corresponding to the two-wheeled vehicle, as well as the current vehicle speed and vehicle tilt angle of the two-wheeled vehicle; When the vehicle speed is less than a preset speed, the road environment image is processed to obtain an image recognition result. When the image recognition result indicates that the front and side front of the two-wheeled vehicle are in a narrow road scene, the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are determined according to the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scene. The lateral distance is used to represent the distance between the outermost edge of the corresponding side rearview mirror of the two-wheeled vehicle and the corresponding side obstacle. Based on the vehicle body tilt angle, the lateral width occupied by the two-wheeled vehicle in the rearview mirror unfolded state is adjusted to obtain the actual passing width of the two-wheeled vehicle. Based on the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the actual passing width, the vehicle control result corresponding to the two-wheeled vehicle is determined, wherein the vehicle control result is used to characterize the control instruction for the rearview mirror of the two-wheeled vehicle. When the vehicle control result indicates that the rearview mirrors should be folded, the left and / or right rearview mirrors of the two-wheeled vehicle are folded.

[0007] The second aspect of this application provides a rearview mirror control system for use in a two-wheeled vehicle, including: The vehicle information acquisition unit is used to acquire the road environment image corresponding to the two-wheeled vehicle, as well as the vehicle speed and vehicle tilt angle corresponding to the two-wheeled vehicle. An environmental image recognition unit is used to perform recognition processing on the road environment image when the vehicle speed is less than a preset speed, and obtain the image recognition result. The lateral distance determination unit is used to determine the lateral distances corresponding to the left and right sides of the two-wheeled vehicle based on the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scene when the image recognition result indicates that the front and side front of the two-wheeled vehicle are in a narrow road scene. The lateral distance is used to represent the distance between the outermost edge of the corresponding side rearview mirror of the two-wheeled vehicle and the corresponding side obstacle. The width occupancy adjustment unit is used to adjust the lateral occupancy width of the two-wheeled vehicle in the rearview mirror unfolded state according to the vehicle body tilt angle, so as to obtain the actual passage width of the two-wheeled vehicle. The control result determination unit is used to determine the vehicle control result corresponding to the two-wheeled vehicle based on the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the actual passing width, wherein the vehicle control result is used to characterize the control instruction for the rearview mirror of the two-wheeled vehicle. A rearview mirror folding control unit is used to control the left and / or right rearview mirrors of the two-wheeled vehicle to fold when the vehicle control result indicates that the rearview mirrors should be folded.

[0008] A third aspect of this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the rearview mirror control method as described in any one of the first aspects of the embodiments of this application.

[0009] A fourth aspect of this application provides a computer-readable storage medium storing instructions that, when executed on an electronic device, cause the electronic device to perform the rearview mirror control method as described in any one of the first aspects of this application.

[0010] Compared with the prior art, this application has the following beneficial effects: This application's technical solution is applied to two-wheeled vehicles. In this solution, firstly, an image of the road environment corresponding to the two-wheeled vehicle's current location, as well as the vehicle's current speed and tilt angle, are acquired. Then, when the vehicle speed is less than a preset speed, the road environment image is processed for recognition to obtain an image recognition result. Thus, this application can recognize the road environment when the two-wheeled vehicle is traveling at low speed, thereby determining whether there are narrow road scenarios requiring rearview mirror control, improving the applicability of the rearview mirror control process.

[0011] Subsequently, given that the image recognition results indicate a narrow road scenario in front of and to the sides of the two-wheeled vehicle, the lateral distances on the left and right sides of the vehicle are determined based on obstacle information on both sides of the narrow road scenario. This allows the application to obtain the spatial distance between the outermost edge of the corresponding side rearview mirror and the corresponding side obstacle, enabling subsequent judgment based on the remaining passage space on both sides to determine whether the current rearview mirror deployment state meets passage requirements. Next, the lateral occupancy width of the two-wheeled vehicle in the rearview mirror deployment state is adjusted according to the vehicle's tilt angle to obtain the actual passage width of the two-wheeled vehicle. Thus, this application can correct the lateral occupancy of the vehicle by combining the actual driving posture of the two-wheeled vehicle, making the obtained actual passage width more consistent with the actual passage conditions of the two-wheeled vehicle in its current state.

[0012] Subsequently, based on the lateral distances to the left and right sides of the two-wheeled vehicle and the actual passage width, the corresponding vehicle control result is determined. In this way, this application can comprehensively consider the distances to obstacles on both sides of the two-wheeled vehicle and the actual passage width to judge the rearview mirror status, improving the accuracy of the rearview mirror control result. Finally, when the vehicle control result indicates that the rearview mirrors should be folded, the left and / or right rearview mirrors of the two-wheeled vehicle are folded. Thus, this application can automatically adjust the rearview mirror status according to the actual traffic conditions in narrow road scenarios, reducing manual operation by the driver and improving the convenience and safety of the two-wheeled vehicle when passing through narrow road scenarios.

[0013] As can be seen, this application identifies the road environment and determines the vehicle control result by combining the lateral distance on both sides of the two-wheeled vehicle and the actual passing width after considering the influence of vehicle tilt. This achieves automatic control of the rearview mirror in narrow road scenarios, which improves the safety of two-wheeled vehicles when passing through narrow road scenarios while reducing the driver's extra operation. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A flowchart of a rearview mirror control method provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the determination of the left lateral distance and the right lateral distance in a rearview mirror control method provided in an embodiment of this application. Figure 3 A schematic diagram illustrating the adjustment of lateral occupancy width in a rearview mirror control method provided in an embodiment of this application; Figure 4 A flowchart illustrating the rearview mirror control process in a rearview mirror control method provided in this application embodiment; Figure 5 A diagram illustrating the architecture of a rearview mirror control method provided in this application embodiment; Figure 6 A diagram illustrating the architecture of a two-wheeled vehicle in a rearview mirror control method provided in this application embodiment; Figure 7 This is a schematic diagram of a rearview mirror control system provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0017] It should be noted that the "first" and "second" in the names such as "first" and "second" (if they exist) mentioned in the embodiments of this application are only used as name identifiers and do not represent the first and second in order.

[0018] As described earlier, with the increasing variety of application scenarios for two-wheeled vehicles, their demand for passage in road environments is also gradually increasing. In some narrower road scenarios, the rearview mirrors of two-wheeled vehicles increase the overall lateral space occupied by the vehicle, which may affect the two-wheeled vehicle's ability to pass through narrow areas.

[0019] In related technologies, rearview mirrors are typically folded manually by the driver or controlled by a button to reduce the lateral space occupied by the two-wheeled vehicle. However, these methods require the driver to pay extra attention to road conditions and perform rearview mirror control operations while driving, increasing the operational burden. Furthermore, because the driver needs to simultaneously monitor vehicle movement and adjust the rearview mirror settings, it may affect the safety of the two-wheeled vehicle in narrow road conditions.

[0020] Therefore, how to better control the rearview mirrors of two-wheeled vehicles is a key issue of concern to those skilled in the art.

[0021] In view of this, embodiments of this application provide a rearview mirror control method, system, and related products, aiming to better realize rearview mirror control for two-wheeled vehicles. The technical solution of this application is applied to two-wheeled vehicles. In the technical solution of this application, firstly, an image of the road environment corresponding to the current two-wheeled vehicle is acquired, as well as the current vehicle speed and vehicle tilt angle; then, when the vehicle speed is less than a preset speed, the road environment image is processed for recognition to obtain image recognition results. Thus, this application can identify the road environment when the two-wheeled vehicle is traveling at low speed, thereby determining whether there are narrow road scenarios requiring rearview mirror control, improving the applicability of the rearview mirror control process.

[0022] Subsequently, given that the image recognition results indicate a narrow road scenario in front of and to the sides of the two-wheeled vehicle, the lateral distances on the left and right sides of the vehicle are determined based on obstacle information on both sides of the narrow road scenario. This allows the application to obtain the spatial distance between the outermost edge of the corresponding side rearview mirror and the corresponding side obstacle, enabling subsequent judgment based on the remaining passage space on both sides to determine whether the current rearview mirror deployment state meets passage requirements. Next, the lateral occupancy width of the two-wheeled vehicle in the rearview mirror deployment state is adjusted according to the vehicle's tilt angle to obtain the actual passage width of the two-wheeled vehicle. Thus, this application can correct the lateral occupancy of the vehicle by combining the actual driving posture of the two-wheeled vehicle, making the obtained actual passage width more consistent with the actual passage conditions of the two-wheeled vehicle in its current state.

[0023] Subsequently, based on the lateral distances to the left and right sides of the two-wheeled vehicle and the actual passage width, the corresponding vehicle control result is determined. In this way, this application can comprehensively consider the distances to obstacles on both sides of the two-wheeled vehicle and the actual passage width to judge the rearview mirror status, improving the accuracy of the rearview mirror control result. Finally, when the vehicle control result indicates that the rearview mirrors should be folded, the left and / or right rearview mirrors of the two-wheeled vehicle are folded. Thus, this application can automatically adjust the rearview mirror status according to the actual traffic conditions in narrow road scenarios, reducing manual operation by the driver and improving the convenience and safety of the two-wheeled vehicle when passing through narrow road scenarios.

[0024] As can be seen, this application identifies the road environment and determines the vehicle control result by combining the lateral distance on both sides of the two-wheeled vehicle and the actual passing width after considering the influence of vehicle tilt. This achieves automatic control of the rearview mirror in narrow road scenarios, which improves the safety of two-wheeled vehicles when passing through narrow road scenarios while reducing the driver's extra operation.

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0026] This application applies to two-wheeled vehicles, which include at least two-wheeled electric vehicles and motorcycles. Figure 1 A flowchart illustrating a rearview mirror control method provided in an embodiment of this application. (In conjunction with...) Figure 1 As shown, the rearview mirror control method provided in this application embodiment may include: S101: Obtain the current road environment image corresponding to the two-wheeled vehicle, and obtain the current vehicle speed and vehicle tilt angle corresponding to the two-wheeled vehicle.

[0027] In this step, images of the current road environment can be captured using cameras mounted on the two-wheeled vehicle. These cameras can include a front-facing camera and side-facing cameras, positioned at the front and sides of the vehicle, respectively. Specifically, the front-facing camera is mounted in the center of the vehicle's front end, with its lens facing forward and a field of view greater than or equal to 120°, used to capture wide-angle images of the road environment in front of the vehicle; the side-facing cameras are mounted on the left and / or right sides of the vehicle's body to capture images of the road environment to the front and sides of the vehicle.

[0028] Simultaneously, the current vehicle tilt angle can be collected by an attitude sensor installed on the two-wheeled vehicle, and the current vehicle speed can be collected by a speed sensor installed on the two-wheeled vehicle. The vehicle tilt angle can be understood as the roll angle, which reflects the degree of vehicle tilt during travel. For example, when the vehicle is upright, the vehicle tilt angle is 0°; when the vehicle is tilted, the vehicle tilt angle is greater than 0°.

[0029] S102: When the vehicle speed is less than the preset speed, the road environment image is processed to obtain the image recognition result.

[0030] In this step, after obtaining the current vehicle speed of the two-wheeled vehicle, it can be determined whether the vehicle speed is less than the preset speed. The preset speed is used to represent the low-speed driving state that requires road environment identification. The preset speed can be 5km / h to 10km / h, and the preset speed can also be determined according to the actual situation in practical applications.

[0031] Understandably, when the vehicle's speed is greater than or equal to the preset speed, it can be considered that the two-wheeled vehicle is traveling at high speed. At this time, the vehicle typically has high maneuverability, and narrow road scene recognition processing can be omitted, allowing for subsequent acquisition of road environment images, vehicle speed, and vehicle tilt angle. When the vehicle's speed is less than the preset speed, it can be considered that the two-wheeled vehicle is traveling at low speed, at which point further recognition processing of the road environment image is required. This avoids unnecessary narrow road scene recognition processing at high speeds, reducing the probability of false triggering during rearview mirror control.

[0032] That is, when the vehicle speed is less than a preset speed, the road environment image can be processed to obtain an image recognition result. This image recognition result is used to characterize whether the two-wheeled vehicle is in a narrow road scenario in front of and to the side. In one feasible implementation, a pre-trained image recognition model can be used to process the road environment image to obtain the image recognition result. The image recognition model can be a deep learning model based on a Convolutional Neural Network (CNN) or Visual Transformer architecture. This model can be trained on sample images containing different road environments and is used to identify at least one type of narrow road scenario. Narrow road scenario types can include: symmetrical narrow road scenarios with obstacles on both sides; asymmetrical narrow road scenarios with obstacles only on the left side; asymmetrical narrow road scenarios with obstacles only on the right side; scenarios with artificial narrow road facilities such as width-limiting barriers or gates in front; and gradually narrowing narrow road scenarios where the road width gradually narrows in front.

[0033] Specifically, a road environment image can be input into an image recognition model. The model extracts features from the road environment image to obtain its corresponding image features. Based on these features, it determines the obstacle category, location, and outline information of the obstacle in the road environment image, thereby obtaining the image recognition result (which can determine whether there is a narrowing area in front of the vehicle based on the obstacle outline information; if so, it is identified as a narrow road scene). The obstacle category characterizes the type of object detected in the road environment image, such as walls, vehicles, width-restricting barriers, and width-restricting gates; the obstacle location characterizes the location area of ​​the obstacle in the road environment image; and the obstacle outline information characterizes the edge contour of the obstacle in the road environment image.

[0034] In one example, the image recognition model may include an object detection model and / or an image segmentation model. The object detection model can determine the type and location of obstacles in the road environment image; the image segmentation model can further determine the edge contour information of the obstacles and the boundary relationship between the road area and the obstacle area. For example, when a width-restricted barrier or gate is detected in front of a two-wheeled vehicle in the road environment image, the location of the width-restricted structure can be determined based on the obstacle's position, and the boundary range corresponding to the width-restricted structure can be determined based on the obstacle's contour information, thus indicating that there is a passage space restriction in front of the two-wheeled vehicle. When obstacles such as walls or vehicles are detected on the left and right sides of the two-wheeled vehicle in the road environment image, the road passage area formed between the obstacles on both sides can be determined based on the positions and corresponding edge contours of the obstacles on both sides. As another example, when the two-wheeled vehicle is traveling in an area where the road width gradually decreases, the road space gradually narrows based on the changes in the obstacle contours corresponding to the road boundaries in continuously acquired road environment images, thus determining whether a gradually narrowing road scenario exists.

[0035] S103: When the image recognition result indicates that the front and side front of the two-wheeled vehicle are in a narrow road scene, determine the lateral distances corresponding to the left and right sides of the two-wheeled vehicle according to the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scene.

[0036] In this step, the lateral distance is used to characterize the distance between the outermost edge of the corresponding side rearview mirror of the two-wheeled vehicle and the corresponding side obstacle. Specifically, the distance between the outermost edge of the left side rearview mirror of the two-wheeled vehicle and the left side obstacle can be defined as the left lateral distance D. L The distance between the outermost edge of the right-side rearview mirror of the two-wheeled vehicle and the obstacle on the right is defined as the right-side lateral distance D. R Understandably, lateral distance reflects the remaining space between the two-wheeled vehicle's rearview mirror and the obstacle on the corresponding side of the road, and can be used to determine whether the two-wheeled vehicle can pass through the current narrow road scenario while keeping the rearview mirror in its current deployed state.

[0037] The process of "determining the lateral distances corresponding to the left and right sides of the two-wheeled vehicle based on the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scenario" in this application is as follows: First, the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scene can be determined based on the image recognition results. The obstacle information is used to characterize the obstacle-related information that restricts the passage space of the two-wheeled vehicle in the narrow road scene, and may include obstacle type, obstacle location and obstacle outline information, etc.

[0038] In one feasible implementation, edge detection processing can be performed on the obstacle region in the road environment image based on the obstacle region determined in the image recognition results to determine the edge contour corresponding to the obstacle, and then the edge contour closest to the two-wheeled vehicle can be determined from the edge contour corresponding to the obstacle. The edge contour is used to characterize the boundary position of the obstacle's side closest to the two-wheeled vehicle. For example, when the two-wheeled vehicle is in a narrow road scenario with obstacles on both sides, the edge contour of the left obstacle closest to the left rearview mirror and the edge contour of the right obstacle closest to the right rearview mirror can be determined separately.

[0039] Next, based on the obstacle information on the corresponding side of the two-wheeled vehicle, the image coordinates corresponding to the edge contours of the obstacles near the corresponding side of the two-wheeled vehicle in the road environment image are determined. Then, according to the camera calibration parameters used when acquiring the road environment image, the image coordinates are converted into obstacle coordinates in the world coordinate system. Specifically, the image coordinates represent the position of the obstacle edge contours in the road environment image; the world coordinate system represents the actual spatial position of each object in the road environment; and the camera calibration parameters represent the conversion relationship between the camera's imaging coordinates and the actual spatial coordinates. These parameters can include intrinsic and extrinsic camera parameters. Intrinsic parameters represent the camera's own imaging parameters, including at least focal length and distortion parameters; extrinsic parameters represent the positional relationship between the camera and the two-wheeled vehicle, including at least camera mounting height and camera pitch angle.

[0040] Understandably, this application can establish a mapping relationship between image coordinates and world coordinates based on camera intrinsic and extrinsic parameters, and convert the image coordinates corresponding to the obstacle edge contour into obstacle coordinates in the actual road space based on this mapping relationship. Finally, the position coordinates corresponding to the outermost edge of the rearview mirror on the corresponding side of the two-wheeled vehicle and the converted obstacle coordinates can be calculated to obtain the lateral distance corresponding to the corresponding side of the two-wheeled vehicle.

[0041] This application can obtain the position coordinates corresponding to the outermost edge of the left rearview mirror and the coordinates of the obstacle corresponding to the obstacle on the left, and calculate the left lateral distance D. L Simultaneously, the coordinates of the outermost edge of the right rearview mirror and the coordinates of the obstacle corresponding to the obstacle on the right can be obtained, and the lateral distance D on the right can be calculated. R For example, when a two-wheeled vehicle passes through a narrow passage formed by the walls on the left and right sides, the distance between the outermost edge of the left rearview mirror and the left wall, and the distance between the outermost edge of the right rearview mirror and the right wall, can be calculated separately to obtain the left lateral distance D. L And the right lateral distance D R .

[0042] Thus, this application can determine the actual remaining space on both sides of a two-wheeled vehicle in a narrow road scenario based on image recognition results, providing an accurate data foundation for subsequent judgment based on the width to determine whether the current rearview mirror status of the two-wheeled vehicle affects vehicle passage. It should be noted that, when the image recognition results indicate that the front and side front of the two-wheeled vehicle are in a narrow road scenario, subsequent operations such as acquiring road environment images, vehicle speed, and vehicle tilt angle are performed.

[0043] like Figure 2 As shown, Figure 2 This is a schematic diagram illustrating the determination of the left and right lateral distances in a rearview mirror control method provided in an embodiment of this application. Figure 2 In scenarios where a two-wheeled vehicle is situated in front of and to the sides on a narrow road, obstacle information corresponding to the left and right sides of the vehicle can be determined based on image recognition results from the road environment image. Furthermore, based on this obstacle information, the corresponding lateral distances (left lateral distance D) can be determined for each side of the vehicle. L And the right lateral distance D R Thus, by determining the lateral distances corresponding to the left and right sides of the two-wheeled vehicle, the remaining passage space for the two-wheeled vehicle in a narrow road scenario can be obtained, which can then be used to determine the vehicle control result for the two-wheeled vehicle in combination with the actual passage width.

[0044] S104: Adjust the lateral width occupied by the two-wheeled vehicle in the rearview mirror deployment state according to the vehicle body tilt angle to obtain the actual passing width of the two-wheeled vehicle.

[0045] In this step, the lateral occupancy width is used to characterize the space width occupied by the two-wheeled vehicle in the lateral direction of the road when the rearview mirrors are deployed. It includes the sum of the width of the two-wheeled vehicle body and the extension width of the left and right rearview mirrors when they are deployed, for example, 0.85m. This lateral occupancy width can also be determined according to the actual situation in practical applications. The actual passage width is used to characterize the actual lateral space range occupied by the two-wheeled vehicle in the current tilted state.

[0046] The process in this application of "adjusting the lateral width occupied by the two-wheeled vehicle in the rearview mirror deployment state according to the vehicle body tilt angle to obtain the actual passage width of the two-wheeled vehicle" is as follows: First, based on the vehicle's tilt angle, determine the corresponding width correction for the two-wheeled vehicle. The vehicle tilt angle characterizes the degree of tilt of the two-wheeled vehicle relative to the vertical direction during travel, while the width correction represents the amount of correction for the change in the lateral projection width of the rearview mirrors caused by the vehicle's tilt. It can be understood that when the two-wheeled vehicle is upright, the tilt angle is 0°, and the lateral width occupied by the rearview mirrors in their extended state can be used as the base width. When the two-wheeled vehicle is tilted, as the tilt angle changes, the projection position of the rearview mirrors relative to the road in the lateral direction changes, and the corresponding width correction can be determined based on the vehicle tilt angle.

[0047] In one feasible implementation, the width correction amount corresponding to the current vehicle tilt angle can be determined based on a pre-established correspondence between the vehicle tilt angle and the width correction amount. For example, the changes in the lateral projection width of the two-wheeled vehicle's rearview mirrors at different tilt angles can be obtained in advance through vehicle testing, and a correspondence between the vehicle tilt angle and the width correction amount can be established. In practical applications, this correspondence can be queried based on the currently collected vehicle tilt angle to obtain the corresponding width correction amount.

[0048] Subsequently, the lateral width of the two-wheeled vehicle can be adjusted based on the vehicle's tilt angle, width correction amount, and the lateral width occupied by the two-wheeled vehicle with the rearview mirrors deployed, to obtain the actual passage width of the two-wheeled vehicle. In one feasible implementation, this application can determine the actual passage width using the following formula:

[0049] in, This indicates the actual passing width for a two-wheeled vehicle. This indicates the lateral width occupied by a two-wheeled vehicle when the rearview mirrors are unfolded. Indicates the vehicle body tilt angle. This indicates the width correction amount corresponding to the vehicle's tilt angle. For example, when a two-wheeled vehicle is in an upright position, the actual passing width is close to the lateral width occupied when the rearview mirrors are unfolded. When a two-wheeled vehicle tilts while turning or avoiding obstacles in a narrow road scenario, the lateral space occupied by the vehicle can be corrected according to the current tilt angle to obtain the corresponding actual passing width.

[0050] Thus, this application can dynamically adjust the lateral space occupied by the vehicle in combination with the current driving posture of the two-wheeled vehicle, so that the actual passing width can reflect the real passage needs of the two-wheeled vehicle in different tilt states, thereby improving the accuracy of subsequent rearview mirror control judgment based on lateral distance.

[0051] like Figure 3 As shown, Figure 3 This is a schematic diagram illustrating the adjustment of the lateral occupancy width in a rearview mirror control method provided in an embodiment of this application. Figure 3 When the two-wheeled vehicle is in an upright position, the lateral width occupied by the rearview mirrors with them unfolded can be determined. When the two-wheeled vehicle is tilted, the corresponding tilt angle of the vehicle body is obtained. Then, the corresponding width correction amount can be determined based on the vehicle body tilt angle. Based on the vehicle's tilt angle, width correction, and the lateral width occupied by the two-wheeled vehicle with the rearview mirrors extended, the lateral width is adjusted to obtain the actual passing width for the two-wheeled vehicle. Among them, the vehicle body tilt angle The angle can be 5° to 10°, and the vehicle body tilt angle can be determined according to the actual situation in practical applications.

[0052] S105: Determine the vehicle control result corresponding to the two-wheeled vehicle based on the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the actual passing width.

[0053] In this step, the vehicle control result is used to characterize the control instruction for the two-wheeled vehicle rearview mirror, which may include control results indicating that the rearview mirror should be folded or control results indicating that the rearview mirror should not be folded.

[0054] The process of "determining the vehicle control result corresponding to the two-wheeled vehicle based on the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the actual passing width" in this application is as follows: First, the actual passage width can be calculated to obtain a passage distance threshold. This threshold characterizes the distance condition for determining whether a two-wheeled vehicle can safely pass through a narrow road scenario with its rearview mirrors deployed. In one feasible implementation, the passage distance threshold can be calculated based on half of the actual passage width (…). Determine the corresponding travel distance threshold. ).

[0055] Then, the relationship between the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the travel distance threshold can be determined. On the one hand, if the lateral distance corresponding to the left side of the two-wheeled vehicle is less than or equal to the travel distance threshold, or if the lateral distance corresponding to the right side of the two-wheeled vehicle is less than or equal to the travel distance threshold (D... L ≤D T Or D R ≤D T This allows us to determine the first vehicle's passage status for the two-wheeled vehicle. The first vehicle's passage status indicates that a narrow road scenario does not support safe passage for two-wheeled vehicles with the rearview mirror currently deployed.

[0056] Understandably, when the lateral distance on either side is less than or equal to the passage distance threshold, it indicates that the remaining space between the rearview mirror on that side and the corresponding obstacle is insufficient to meet the vehicle's passage requirements. If the rearview mirror continues to be deployed while passing through the narrow road, there is a risk of the rearview mirror colliding with the obstacle (unsafe passage). After determining the first vehicle passage status, the vehicle control result used to instruct the rearview mirror to be folded can be determined based on the first vehicle passage status.

[0057] On the other hand, when the lateral distances corresponding to both the left and right sides of the two-wheeled vehicle are greater than the travel distance threshold (D) L >D T And D R >D T This allows us to determine the second vehicle passage status for the two-wheeled vehicle. The second vehicle passage status indicates whether the two-wheeled vehicle can safely pass through narrow road scenarios with its rearview mirrors deployed. It's understood that when the lateral distances on both sides of the two-wheeled vehicle are greater than a passage distance threshold, it indicates that there is sufficient remaining space on both sides of the vehicle, and the deployed rearview mirrors will not affect the vehicle's passage through the current narrow road scenario. After determining the second vehicle passage status, we can determine the vehicle control result that indicates not folding the rearview mirrors.

[0058] Thus, by calculating the actual passage width, a passage distance threshold is obtained. Based on the relationship between the lateral distances on the left and right sides of the two-wheeled vehicle and the passage distance threshold, the vehicle's passage status is determined. This allows for a more accurate assessment of whether the current narrow road scenario supports safe passage of the two-wheeled vehicle with the rearview mirrors deployed. Furthermore, by determining the corresponding vehicle control results based on different vehicle passage statuses, the rearview mirror control can adapt to various narrow road conditions, improving the accuracy and safety of rearview mirror control.

[0059] In one feasible implementation, in order to further improve the safety of narrow road passage judgment, after determining the vehicle control result of not folding the rearview mirrors, the current passage status can be further classified according to a safe distance threshold.

[0060] First, a safe distance threshold is calculated based on the actual width and a preset distance threshold. This safe distance threshold characterizes the safe distance condition between the outermost edge of the corresponding side rearview mirror of the two-wheeled vehicle and the corresponding side obstacle. In one feasible implementation, the safe distance threshold can be obtained using the following formula:

[0061] in, Indicates the safe distance threshold. This indicates a preset distance threshold, which can be between 0.15m and 0.25m. The preset distance threshold can also be determined based on the actual situation in practical applications.

[0062] When the lateral distance corresponding to the left side of the two-wheeled vehicle is greater than the safe distance threshold, and the lateral distance corresponding to the right side of the two-wheeled vehicle is greater than the safe distance threshold (D) L >D A And D R >D A It can be determined that the remaining space on both sides meets the requirements for safe passage. At this time, the rearview mirrors of the two-wheeled vehicle should be kept in the unfolded state.

[0063] Additionally, if the lateral distance corresponding to the left side of the two-wheeled vehicle is greater than the travel distance threshold but less than or equal to the safe distance threshold, or if the lateral distance corresponding to the right side of the two-wheeled vehicle is greater than the travel distance threshold but less than or equal to the safe distance threshold (D) T <D L ≤D A Or D T <D R ≤D A It can be determined that although the vehicle can pass through the narrow road scenario, the safety margin between the vehicle and the obstacle is small. At this time, the rearview mirror of the two-wheeled vehicle is kept in the current unfolded state, and the narrow road warning information is output.

[0064] Narrow road warning information is used to alert drivers that the current road space is narrow and that they need to pay attention to the vehicle's passage. As an example, narrow road warning information may include at least one of the following methods: displaying a narrow road warning icon and / or lateral distance value on the display screen; emitting a warning sound at a specific frequency; or emitting a vibration alert on the handlebars.

[0065] For example, suppose at a certain moment D L =0.50m, D R =0.45m, =0.85m, D A = / 2+0.20m=0.625m, D T = / 2=0.425m. Therefore, D R =0.45m at D A With D T If the distance is between 0.425m and 0.45m (≤ 0.625m), a warning state is declared, indicating a narrow space on the right. In this case, the vehicle's rearview mirrors should remain deployed, and a narrow road warning message should be output. If the vehicle continues to move forward, D... R Further reduced to 0.40m, at which point D RIf the value is ≤D2 (0.40m≤0.425m), it is considered a dangerous situation, and a right-side rearview mirror folding indicator can be generated subsequently.

[0066] Thus, in this application, a safe distance threshold is determined based on the actual passing width and a preset distance threshold. By combining the relationship between the lateral distance and the passing distance threshold and the safe distance threshold, the road space situation under passable conditions is further judged. This allows for the differentiation between safe passage conditions and narrow road conditions requiring warning, thereby improving the accuracy of judging the narrow road passage conditions of two-wheeled vehicles.

[0067] S106: When the vehicle control result indicates that the rearview mirrors should be folded, control the left and / or right rearview mirrors of the two-wheeled vehicle to be folded.

[0068] In this step, after determining the vehicle control result, the folding control of the corresponding side mirrors of the two-wheeled vehicle can be performed according to the rearview mirror control instructions included in the vehicle control result. Specifically, the control instructions may include at least one of a left rearview mirror folding instruction, a right rearview mirror folding instruction, and left and right side mirror folding instructions. Specifically, the left rearview mirror folding instruction is used to instruct the folding of the left rearview mirror of the two-wheeled vehicle; the right rearview mirror folding instruction is used to instruct the folding of the right rearview mirror of the two-wheeled vehicle; and the left and right side mirror folding instructions are used to instruct the simultaneous folding of both the left and right rearview mirrors of the two-wheeled vehicle.

[0069] In one feasible implementation, the left and right rearview mirrors of the two-wheeled vehicle can be connected to corresponding drive mechanisms. The drive mechanism includes a drive motor and a reduction gear set, used to generate a corresponding driving force based on vehicle control results, thereby switching the corresponding side rearview mirror from an unfolded state to a folded state.

[0070] Specifically, when the vehicle control result indicates that the left rearview mirror should be folded, the corresponding drive mechanism of the left rearview mirror can be controlled to operate, so that the left rearview mirror folds inward into the vehicle; when the vehicle control result indicates that the right rearview mirror should be folded, the corresponding drive mechanism of the right rearview mirror can be controlled to operate, so that the right rearview mirror folds inward into the vehicle; when the vehicle control result indicates that the left and right rearview mirrors should be folded simultaneously, the corresponding drive mechanisms of the left and right rearview mirrors can be controlled simultaneously, so that both rearview mirrors can be folded at the same time.

[0071] For example, in a narrow road scenario, when an obstacle on the left side of the two-wheeled vehicle is detected to be close, while there is still enough space to pass on the right side, only the left side mirror can be folded to reduce the lateral space occupied by the vehicle on the left side; when obstacles on both the left and right sides of the two-wheeled vehicle are detected to be close, both side mirrors can be folded simultaneously to further reduce the overall lateral width occupied by the two-wheeled vehicle and increase the possibility of passing through narrow road scenarios.

[0072] It is understandable that by selectively controlling the folding of the corresponding side rearview mirror based on the vehicle control results, the rearview mirror state can be avoided when folding is not necessary. Simultaneously, differentiated control can be performed based on the distribution of obstacles on different sides, improving the accuracy of rearview mirror control. In one feasible implementation, the folding status prompt of the corresponding side rearview mirror can be displayed on the screen, along with an audible prompt. Furthermore, in this application, the rotation angle of the rearview mirror can be detected by a position sensor in the drive mechanism to determine if the rearview mirror has been folded. Specifically, when the PWM control signal reaches the drive motor, the motor can drive the corresponding side rearview mirror to rotate around the folding axis via a reduction gear set. The position sensor detects the rotation angle of the rearview mirror in real time and feeds back the position signal. When the rearview mirror rotates to the preset folding position (e.g., 90° relative to the unfolded position), the control motor stops driving, completing the folding action. Moreover, when the driver manually operates the rearview mirror, the automatic folding function can be temporarily disabled until the driver releases the manual priority mode.

[0073] Thus, this application can automatically control the left and / or right rearview mirrors to fold according to the actual passage conditions of two-wheeled vehicles in narrow road scenarios, reducing manual operation by the driver and improving the convenience and safety of two-wheeled vehicles when passing through narrow roads.

[0074] It should be noted that, when the vehicle control result instruction is executed to fold the rearview mirrors, after the left and / or right rearview mirrors of the two-wheeled vehicle are folded, this application can continue to acquire the corresponding lateral distances on the left and right sides of the two-wheeled vehicle, and determine whether to restore the folded rearview mirrors based on the changes in lateral distances.

[0075] Specifically, it can continuously acquire the lateral distances corresponding to the left and right sides of the two-wheeled vehicle, and determine whether the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are greater than the safe distance threshold within a continuous preset time. The continuous preset time is used to avoid the rearview mirrors from frequently unfolding and folding due to changes in road environment or detection errors. The continuous preset time can be set from 2s to 5s, and can also be set according to actual needs in practical applications.

[0076] When the lateral distances to the left and right sides of both vehicles are greater than the safety distance threshold within a consecutive preset time period, it can be determined that the current road space meets the conditions for the rearview mirrors to unfold, and the folded left and / or right rearview mirrors are restored. In other words, if only the left rearview mirror was previously folded, it can now be unfolded; if only the right rearview mirror was previously folded, it can now be unfolded; and if both the left and right rearview mirrors were previously folded, both can now be unfolded simultaneously.

[0077] Alternatively, this application can restore the folded left and / or right rearview mirrors when the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are both greater than a safe distance threshold within a consecutive preset time period, and the vehicle speed is less than a preset speed. In this way, this application can automatically adjust the rearview mirror state according to changes in road conditions, so that the rearview mirrors only fold when it is necessary to reduce the lateral space occupied by the vehicle, and automatically unfold after safe passage conditions are restored, improving the continuity and adaptability of the rearview mirror control process, and also enhancing the intelligent experience.

[0078] like Figure 4 As shown, Figure 4 This is a flowchart illustrating the rearview mirror control process in a rearview mirror control method provided in an embodiment of this application. Figure 4 After acquiring road environment images, vehicle speed, and vehicle tilt angle, the system first determines whether the vehicle speed is less than a preset speed. If the vehicle speed is less than the preset speed, the system identifies the road environment to determine whether the two-wheeled vehicle is currently in a narrow road environment; if the vehicle speed is not less than the preset speed, the system acquires subsequent road environment images, vehicle speed, and vehicle tilt angle.

[0079] When it is determined that the vehicle is not in a narrow road environment, subsequent road environment images, vehicle speed, and vehicle tilt angle are acquired. When it is determined to be in a narrow road environment, the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are further calculated, and the lateral width occupied by the vehicle is adjusted according to the vehicle tilt angle to obtain the actual passage width. Then, a safety passage comparison is performed based on the lateral distance and the actual passage width, and a graded judgment is made based on the comparison results. Specifically, when the condition is determined to be safe, the rearview mirrors remain in the deployed state; when the condition is determined to be a warning state, the rearview mirrors remain in the deployed state and a narrow road warning message is output; when the condition is determined to be dangerous, a folding control strategy is determined based on the corresponding lateral distance, and the left rearview mirror, the right rearview mirror, or both rearview mirrors are selectively folded. Furthermore, after the rearview mirrors are folded, it can be continuously judged whether the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are greater than a safe distance threshold; if the restoration condition is met, the folded rearview mirrors are restored; otherwise, the folded rearview mirrors remain in the folded state. In this way, automatic control of the rearview mirrors can be achieved for different narrow road passage conditions.

[0080] like Figure 5 As shown, Figure 5 This is a diagram illustrating the architecture of a rearview mirror control method provided in an embodiment of this application. Figure 5 This application implements two-wheeled vehicle rearview mirror control through an input layer, an auxiliary control layer, a main control layer, and an output execution layer. The input layer acquires road environment images, vehicle speed, and vehicle tilt angle corresponding to the two-wheeled vehicle, and inputs this information into the corresponding processing flow. The auxiliary control layer processes auxiliary information during the rearview mirror control process, including determining whether the narrow road scene recognition conditions are met based on the vehicle speed, and adjusting the rearview mirror control process in response to automatic rearview mirror recovery requests or manual folding / unfolding operations. The automatic rearview mirror recovery request triggers the folded rearview mirror to return to its unfolded state.

[0081] The main control layer is used to control the rearview mirrors of two-wheeled vehicles based on information obtained from the input layer and control information provided by the auxiliary control layer. Specifically, the main control layer first identifies narrow road scenarios based on road environment images, compares the safety of passage based on the identification results, and then makes a graded judgment based on the comparison results to determine a safe state, a warning state, or a dangerous state. In the safe state, the rearview mirror remains in the unfolded state; in the warning state, the rearview mirror remains in the unfolded state and outputs narrow road warning information; in the dangerous state, the rearview mirror folding strategy is determined based on the judgment results, and the corresponding folding control command is output. The output execution layer is used to execute corresponding actions according to the control commands output by the main control layer, including controlling the rearview mirror to fold or unfold via the electric folding drive mechanism, and outputting corresponding prompt information through the display screen or audible alarm. In this way, a complete processing flow from road environment perception, auxiliary control, narrow road passage judgment to automatic rearview mirror control can be realized, improving the accuracy of rearview mirror control and passage safety of two-wheeled vehicles in narrow road scenarios.

[0082] like Figure 6 As shown, Figure 6 This is a diagram illustrating the architecture of a two-wheeled vehicle in a rearview mirror control method provided in an embodiment of this application. Figure 6 In the diagram, 101 represents a front-facing camera positioned at the front of the two-wheeled vehicle, used to capture images of the road environment ahead; 102a and 102b represent side-facing cameras positioned at the sides of the two-wheeled vehicle, used to capture images of the road environment corresponding to the front and sides of the vehicle; 103 represents a posture sensor, used to capture the current tilt angle of the two-wheeled vehicle; 104 represents a vehicle speed sensor, used to capture the current vehicle speed; 500 represents an Electronic Control Unit (ECU), used to perform rearview mirror control processing based on the captured road environment images, vehicle speed, and vehicle tilt angle; 601a and 601b represent the left and right rearview mirrors and drive mechanisms of the two-wheeled vehicle, respectively; and 700 represents a display and interaction unit, used to output corresponding prompts.

[0083] In summary, this embodiment of the application obtains road environment images, vehicle speed, and vehicle tilt angle corresponding to the two-wheeled vehicle, and identifies the road environment images under low-speed driving conditions to determine whether the two-wheeled vehicle is in a narrow road scenario. Furthermore, it determines the lateral distance based on the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scenario, and adjusts the lateral occupancy width of the rearview mirror in the unfolded state in combination with the vehicle tilt angle to obtain an actual passage width that is more consistent with the current vehicle posture, thereby improving the accuracy of passage space judgment in narrow road scenarios.

[0084] Subsequently, the vehicle control result is determined based on the lateral distances on the left and right sides of the two-wheeled vehicle and the actual passing width. Based on this result, the corresponding side rearview mirror is folded, allowing the two-wheeled vehicle to automatically adjust the mirror status according to the current road environment. This reduces manual operation by the driver and improves the convenience and safety of passing through narrow roads. Furthermore, this application uses road environment images captured by a camera to complete narrow road recognition and spatial judgment, eliminating the need for additional distance detection equipment (such as ultrasonic radar, lidar, millimeter-wave radar, etc.). By classifying and judging different traffic conditions, the rearview mirror control can adapt to varying degrees of narrow road scenarios, improving the accuracy and reliability of the control process.

[0085] Based on the rearview mirror control method provided in the above embodiments, this application can also provide a rearview mirror control system. The rearview mirror control system will now be described in conjunction with the embodiments and accompanying drawings.

[0086] Figure 7 This is a schematic diagram of a rearview mirror control system provided in an embodiment of this application. (Combined with...) Figure 7 As shown in the embodiment of this application, a rearview mirror control system is provided. This rearview mirror control system is applied to a two-wheeled vehicle, and the rearview mirror control system includes: The vehicle information acquisition unit 701 is used to acquire the road environment image corresponding to the two-wheeled vehicle, as well as the vehicle speed and vehicle tilt angle corresponding to the two-wheeled vehicle. The environmental image recognition unit 702 is used to perform recognition processing on the road environment image when the vehicle speed is less than a preset speed, and obtain the image recognition result. The lateral distance determination unit 703 is used to determine the lateral distances corresponding to the left and right sides of the two-wheeled vehicle based on the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scene when the image recognition result indicates that the front and side front of the two-wheeled vehicle are in a narrow road scene. The lateral distance is used to represent the distance between the outermost edge of the corresponding side rearview mirror of the two-wheeled vehicle and the corresponding side obstacle. The width occupancy adjustment unit 704 is used to adjust the lateral occupancy width of the two-wheeled vehicle in the rearview mirror unfolded state according to the vehicle body tilt angle, so as to obtain the actual passage width of the two-wheeled vehicle. The control result determination unit 705 is used to determine the vehicle control result corresponding to the two-wheeled vehicle based on the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the actual passing width, wherein the vehicle control result is used to characterize the control instruction for the rearview mirror of the two-wheeled vehicle. The rearview mirror folding control unit 706 is used to control the left and / or right rearview mirrors of the two-wheeled vehicle to fold when the vehicle control result indicates that the rearview mirrors should be folded.

[0087] In one feasible implementation, the lateral distance determining unit 703 is specifically used for: Based on the obstacle information on the side of the two-wheeled vehicle in the narrow road scenario, determine the image coordinates corresponding to the edge contour of the obstacle in the road environment image that is close to the side of the two-wheeled vehicle; Based on the camera calibration parameters corresponding to the acquisition of the road environment image, the image coordinates are converted into obstacle coordinates in the world coordinate system; The position coordinates corresponding to the outermost edge of the rearview mirror on the corresponding side of the two-wheeled vehicle and the coordinates of the obstacle are calculated and processed to obtain the lateral distance corresponding to the corresponding side of the two-wheeled vehicle.

[0088] In one feasible implementation, the occupancy width adjustment unit 704 is specifically used for: Based on the vehicle body tilt angle, determine the width correction amount corresponding to the two-wheeled vehicle; Based on the vehicle body tilt angle, the width correction amount, and the lateral occupancy width of the two-wheeled vehicle when the rearview mirrors are deployed, the lateral occupancy width of the two-wheeled vehicle is adjusted to obtain the actual passage width of the two-wheeled vehicle.

[0089] In one feasible implementation, the control result determination unit 705 is specifically used for: The actual passing width is calculated to obtain the passage distance threshold; If the lateral distance corresponding to the left side of the two-wheeled vehicle is less than or equal to the passage distance threshold, or if the lateral distance corresponding to the right side of the two-wheeled vehicle is less than or equal to the passage distance threshold, a first vehicle passage state corresponding to the two-wheeled vehicle is determined, wherein the first vehicle passage state is used to indicate that the narrow road scenario does not support the safe passage of the two-wheeled vehicle in the current rearview mirror deployment state; Based on the first vehicle traffic status, determine the vehicle control result used to indicate the rearview mirror folding; When the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are both greater than the passage distance threshold, the second vehicle passage status corresponding to the two-wheeled vehicle is determined, wherein the second vehicle passage status is used to indicate that the narrow road scenario supports the safe passage of the two-wheeled vehicle in the current rearview mirror deployment state; Based on the second vehicle traffic status, a vehicle control result is determined to indicate that the rearview mirrors are not folded.

[0090] In one feasible implementation, the rearview mirror folding control unit 706 is specifically used for: If the lateral distance on the left side of the two-wheeled vehicle is less than or equal to the passage distance threshold, the vehicle control result is determined to instruct the left side mirror to be folded, and the left side mirror of the two-wheeled vehicle is controlled to be folded. If the lateral distance corresponding to the right side of the two-wheeled vehicle is less than or equal to the passage distance threshold, the vehicle control result is determined to instruct the right-side rearview mirror to be folded, and the right-side rearview mirror of the two-wheeled vehicle is controlled to be folded. If the lateral distance corresponding to the left side of the two-wheeled vehicle is less than or equal to the passage distance threshold, and the lateral distance corresponding to the right side of the two-wheeled vehicle is less than or equal to the passage distance threshold, the vehicle control result is determined to instruct the left and right rearview mirrors to be folded, and the left and right rearview mirrors of the two-wheeled vehicle are controlled to be folded.

[0091] In one feasible implementation, the system further includes a safety distance determination unit, which is specifically used for: Obtain a safe distance threshold, wherein the safe distance threshold is calculated based on the actual passing width and a preset distance threshold; If the lateral distance corresponding to the left side of the two-wheeled vehicle is greater than the safe distance threshold, and the lateral distance corresponding to the right side of the two-wheeled vehicle is greater than the safe distance threshold, the current rearview mirror of the two-wheeled vehicle shall be kept in the deployed state. If the lateral distance corresponding to the left side of the two-wheeled vehicle is greater than the passage distance threshold and less than or equal to the safety distance threshold, or if the lateral distance corresponding to the right side of the two-wheeled vehicle is greater than the passage distance threshold and less than or equal to the safety distance threshold, the current rearview mirror of the two-wheeled vehicle is maintained in the deployed state, and narrow road warning information is output.

[0092] In one feasible implementation, the system further includes a rearview mirror recovery unit, specifically used to: restore the folded left rearview mirror and / or right rearview mirror when the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are both greater than the safe distance threshold within a continuous preset time.

[0093] In one feasible implementation, the road environment image is acquired based on a camera in the two-wheeled vehicle, and the left rearview mirror and / or the right rearview mirror are folded by a drive mechanism in the two-wheeled vehicle.

[0094] The rearview mirror control system provided in this application has the same beneficial effects as the rearview mirror control method provided in the above embodiments, and will not be described again here.

[0095] like Figure 8 The diagram shown is a structural schematic of a computer device provided in an embodiment of this application. Figure 8 The computer device 12 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0096] like Figure 8 As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0097] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0098] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0099] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 8 Not shown; usually referred to as a "hard drive"). Although Figure 8 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0100] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0101] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 20. Figure 8 As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although... Figure 8 As not shown, it can be used in conjunction with computer device 12 with other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0102] The processor unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the rearview mirror control method provided in the embodiments of this application.

[0103] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the rearview mirror control method described in this application.

[0104] In practical applications, the computer-readable storage medium can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0105] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0106] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0107] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0108] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0109] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A rearview mirror control method, characterized in that, Applied to two-wheeled vehicles, the method includes: Obtain the current road environment image corresponding to the two-wheeled vehicle, as well as the current vehicle speed and vehicle tilt angle of the two-wheeled vehicle; When the vehicle speed is less than a preset speed, the road environment image is processed to obtain an image recognition result. When the image recognition result indicates that the front and side front of the two-wheeled vehicle are in a narrow road scene, the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are determined according to the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scene. The lateral distance is used to represent the distance between the outermost edge of the corresponding side rearview mirror of the two-wheeled vehicle and the corresponding side obstacle. Based on the vehicle body tilt angle, the lateral width occupied by the two-wheeled vehicle in the rearview mirror unfolded state is adjusted to obtain the actual passing width of the two-wheeled vehicle. Based on the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the actual passing width, the vehicle control result corresponding to the two-wheeled vehicle is determined, wherein the vehicle control result is used to characterize the control instruction for the rearview mirror of the two-wheeled vehicle. When the vehicle control result indicates that the rearview mirrors should be folded, the left and / or right rearview mirrors of the two-wheeled vehicle are folded.

2. The method according to claim 1, characterized in that, The step of determining the lateral distances corresponding to the left and right sides of the two-wheeled vehicle based on the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scenario includes: Based on the obstacle information on the side of the two-wheeled vehicle in the narrow road scenario, determine the image coordinates corresponding to the edge contour of the obstacle in the road environment image that is close to the side of the two-wheeled vehicle; Based on the camera calibration parameters corresponding to the acquisition of the road environment image, the image coordinates are converted into obstacle coordinates in the world coordinate system; The position coordinates corresponding to the outermost edge of the rearview mirror on the corresponding side of the two-wheeled vehicle and the coordinates of the obstacle are calculated and processed to obtain the lateral distance corresponding to the corresponding side of the two-wheeled vehicle.

3. The method according to claim 1, characterized in that, The step of adjusting the lateral width occupied by the two-wheeled vehicle in the rearview mirror deployment state according to the vehicle body tilt angle to obtain the actual passing width of the two-wheeled vehicle includes: Based on the vehicle body tilt angle, determine the width correction amount corresponding to the two-wheeled vehicle; Based on the vehicle body tilt angle, the width correction amount, and the lateral occupancy width of the two-wheeled vehicle when the rearview mirrors are deployed, the lateral occupancy width of the two-wheeled vehicle is adjusted to obtain the actual passage width of the two-wheeled vehicle.

4. The method according to claim 1, characterized in that, The process of determining the vehicle control result corresponding to the two-wheeled vehicle based on the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the actual passing width includes: The actual passing width is calculated to obtain the passage distance threshold; If the lateral distance corresponding to the left side of the two-wheeled vehicle is less than or equal to the passage distance threshold, or if the lateral distance corresponding to the right side of the two-wheeled vehicle is less than or equal to the passage distance threshold, a first vehicle passage state corresponding to the two-wheeled vehicle is determined, wherein the first vehicle passage state is used to indicate that the narrow road scenario does not support the safe passage of the two-wheeled vehicle in the current rearview mirror deployment state; Based on the first vehicle traffic status, determine the vehicle control result used to indicate the rearview mirror folding; When the lateral distances corresponding to the left and right sides of the two-wheeled vehicle are both greater than the passage distance threshold, the second vehicle passage status corresponding to the two-wheeled vehicle is determined, wherein the second vehicle passage status is used to indicate that the narrow road scenario supports the safe passage of the two-wheeled vehicle in the current rearview mirror deployment state; Based on the second vehicle traffic status, a vehicle control result is determined to indicate that the rearview mirrors are not folded.

5. The method according to claim 4, characterized in that, When the vehicle control result indicates that the rearview mirrors should be folded, controlling the left and / or right rearview mirrors of the two-wheeled vehicle to fold includes: If the lateral distance on the left side of the two-wheeled vehicle is less than or equal to the passage distance threshold, the vehicle control result is determined to instruct the left side mirror to be folded, and the left side mirror of the two-wheeled vehicle is controlled to be folded. If the lateral distance corresponding to the right side of the two-wheeled vehicle is less than or equal to the passage distance threshold, the vehicle control result is determined to instruct the right-side rearview mirror to be folded, and the right-side rearview mirror of the two-wheeled vehicle is controlled to be folded. If the lateral distance corresponding to the left side of the two-wheeled vehicle is less than or equal to the passage distance threshold, and the lateral distance corresponding to the right side of the two-wheeled vehicle is less than or equal to the passage distance threshold, the vehicle control result is determined to instruct the left and right rearview mirrors to be folded, and the left and right rearview mirrors of the two-wheeled vehicle are controlled to be folded.

6. The method according to claim 4, characterized in that, After determining the vehicle control result for indicating that the rearview mirrors should not be folded based on the second vehicle traffic state, the method further includes: Obtain a safe distance threshold, wherein the safe distance threshold is calculated based on the actual passing width and a preset distance threshold; If the lateral distance corresponding to the left side of the two-wheeled vehicle is greater than the safe distance threshold, and the lateral distance corresponding to the right side of the two-wheeled vehicle is greater than the safe distance threshold, the current rearview mirror of the two-wheeled vehicle shall be kept in the deployed state. If the lateral distance corresponding to the left side of the two-wheeled vehicle is greater than the passage distance threshold and less than or equal to the safety distance threshold, or if the lateral distance corresponding to the right side of the two-wheeled vehicle is greater than the passage distance threshold and less than or equal to the safety distance threshold, the current rearview mirror of the two-wheeled vehicle is maintained in the deployed state, and narrow road warning information is output.

7. The method according to claim 6, characterized in that, After controlling the left and / or right rearview mirrors of the two-wheeled vehicle to fold when the vehicle control result indicates that the rearview mirrors should be folded, the method further includes: If the lateral distances on both sides of the two-wheeled vehicle are greater than the safety distance threshold within a continuous preset time, the folded left and / or right rearview mirrors are restored.

8. The method according to claim 5, characterized in that, The road environment image is acquired based on a camera in the two-wheeled vehicle, and the left rearview mirror and / or the right rearview mirror are folded by a drive mechanism in the two-wheeled vehicle.

9. A rearview mirror control system, characterized in that, The system, applied to two-wheeled vehicles, includes: The vehicle information acquisition unit is used to acquire the road environment image corresponding to the two-wheeled vehicle, as well as the vehicle speed and vehicle tilt angle corresponding to the two-wheeled vehicle. An environmental image recognition unit is used to perform recognition processing on the road environment image when the vehicle speed is less than a preset speed, and obtain the image recognition result. The lateral distance determination unit is used to determine the lateral distances corresponding to the left and right sides of the two-wheeled vehicle based on the obstacle information corresponding to the left and right sides of the two-wheeled vehicle in the narrow road scene when the image recognition result indicates that the front and side front of the two-wheeled vehicle are in a narrow road scene. The lateral distance is used to represent the distance between the outermost edge of the corresponding side rearview mirror of the two-wheeled vehicle and the corresponding side obstacle. The width occupancy adjustment unit is used to adjust the lateral occupancy width of the two-wheeled vehicle in the rearview mirror unfolded state according to the vehicle body tilt angle, so as to obtain the actual passage width of the two-wheeled vehicle. The control result determination unit is used to determine the vehicle control result corresponding to the two-wheeled vehicle based on the lateral distances corresponding to the left and right sides of the two-wheeled vehicle and the actual passing width, wherein the vehicle control result is used to characterize the control instruction for the rearview mirror of the two-wheeled vehicle. A rearview mirror folding control unit is used to control the left and / or right rearview mirrors of the two-wheeled vehicle to fold when the vehicle control result indicates that the rearview mirrors should be folded.

10. A computer device, characterized in that, include: Processor, memory, system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform the rearview mirror control method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on an electronic device, cause the electronic device to perform the rearview mirror control method according to any one of claims 1-8.

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