Rearview mirror detection method and apparatus, and intelligent driving device

Abstract

Provided are a rearview mirror detection method (400) and apparatus, and an intelligent driving device (100). The method (400) comprises: acquiring a first image and a second image, wherein the first image and the second image are respectively images captured from different angles and each comprising a first rearview mirror (611) of a target vehicle (610) (S410); determining the position of the first rearview mirror (611) on the target vehicle (610) on the basis of the first image and the second image (S420); and controlling the intelligent driving device on the basis of the position of the first rearview mirror (611) on the target vehicle (610) (S430). The images captured from different angles and each comprising the first rearview mirror (611) of the target vehicle (610) help to improve the detection precision of the root position of the first rearview mirror (611), and can improve the precision of path planning of the ego vehicle based on the root position of the rearview mirror in an automatic parking process, thereby reducing the probability of collision between the ego vehicle and the first rearview mirror (611) of the target vehicle (610), helping to improve the parking efficiency and safety.

Description

Rearview mirror detection method, device and intelligent driving equipment

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on December 28, 2023, with application number 202311840519.6 and invention name “Rearview mirror detection method, device and intelligent driving equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of smart cars, and more specifically, to a rearview mirror detection method, device and smart driving equipment. Background Art

[0003] With the rapid development of the automotive industry, a wide range of assisted driving and autonomous driving technologies have emerged, which can reduce driving stress and improve safety and traffic efficiency. Automatic parking (AP) is a widely used assisted driving technology. AP refers to the automatic parking of a vehicle, meaning that the autonomous driving system can semi-automatically or fully automatically help the user park the vehicle into a parking space. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP).

[0004] During automated parking, especially when maneuvering into narrow or extremely narrow spaces, accurately detecting the position of the other vehicle's rearview mirror is crucial for ensuring parking safety. Therefore, a rearview mirror detection solution that can accurately detect the position of the other vehicle's rearview mirror is urgently needed. Summary of the Invention

[0005] The present application provides a rearview mirror detection method, device and intelligent driving equipment, which can improve the detection accuracy of the rearview mirror position of other vehicles, thereby helping to improve the efficiency and safety of parking in narrow or extremely narrow parking spaces.

[0006] In a first aspect, a rearview mirror detection method is provided. The method can be executed by an intelligent driving device, or by a computing platform of the intelligent driving device, or by a chip or circuit set in the computing platform.

[0007] The method includes: acquiring a first image and a second image, wherein the first image and the second image are images of a first rearview mirror of a target vehicle captured at different angles; determining the position of the first rearview mirror on the target vehicle based on the first image and the second image; and controlling an intelligent driving device based on the position of the first rearview mirror on the target vehicle.

[0008] In some implementations, the position of the target vehicle at the time the first image is acquired is the same as the position of the target vehicle at the time the second image is acquired.

[0009] The position of the first rearview mirror on the target vehicle may be understood as the position of the root of the first rearview mirror on the target vehicle.

[0010] It should be noted that the above-mentioned acquisition of images at different angles can be understood as: the angle between the line between the optical center of the camera device that obtains the first image and the first rearview mirror, and the angle between the line between the optical center of the camera device that obtains the second image and the first rearview mirror is not 0.

[0011] In the above technical solution, the images of the first rearview mirror including the target vehicle collected at different angles can help improve the detection accuracy of the root position of the rearview mirror. During the automatic parking process of the intelligent driving device, the accuracy of the intelligent driving device in planning the path according to the root position of the rearview mirror can be improved, and the probability of the intelligent driving device scratching the rearview mirror of the target vehicle can be reduced, which helps to improve parking efficiency and safety.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the first image is captured at a first moment, and the second image is captured at a second moment, and determining the position of the first rearview mirror on the target vehicle includes: determining a first straight line based on the first image, the first straight line being a straight line between the first area of ​​the intelligent driving device and the root of the first rearview mirror at the first moment; determining a second straight line based on the second image, the second straight line being a straight line between the second area of ​​the intelligent driving device and the root of the first rearview mirror at the second moment; and determining the position of the root of the first rearview mirror on the target vehicle based on the intersection of the first straight line and the outer contour of the target vehicle, and the intersection of the second straight line and the outer contour of the target vehicle.

[0013] In some implementations, the first moment and the second moment are the same moment, and the first area and the second area are different areas. Alternatively, the first moment and the second moment are different moments, and the first area and the second area are the same area.

[0014] Illustratively, a first straight line is determined based on the pixel positions corresponding to the first rearview mirror in the first image, where the first straight line indicates the direction in which the optical center of the camera device that captured the first image points to the first rearview mirror. A second straight line is determined based on the pixel positions corresponding to the first rearview mirror in the second image, where the second straight line indicates the direction in which the optical center of the camera device that captured the second image points to the first rearview mirror.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the intelligent driving device includes a first camera device and a second camera device, the first image is captured by the first camera device at a first moment, and the second image is captured by the second camera device at a second moment; the first area is an area on the intelligent driving device where the first camera device is set, and the second area is an area on the intelligent driving device where the second camera device is set.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the first rearview mirror is in a retracted state, determining the position of the outer contour of the first rearview mirror based on the position of the first rearview mirror on the target vehicle and a first compensation amount; or, when the first rearview mirror is in an open state, determining the position of the outer contour of the first rearview mirror based on the position of the first rearview mirror on the target vehicle and a second compensation amount; wherein the first compensation amount is less than or equal to the second compensation amount.

[0017] In the above technical solution, different compensation amounts are provided for the outer contour of the rearview mirror according to the state of the rearview mirror of the target vehicle, which helps to further improve the detection accuracy of the rearview mirror position. When parking in an extremely narrow parking space caused by the target vehicle or driving in an extremely narrow aisle caused by the target vehicle, path planning is performed based on the position of the outer contour of the rearview mirror after the compensation, which helps to further improve parking or driving efficiency.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: determining the first compensation amount and / or the second compensation amount according to a model of the target vehicle.

[0019] In the above technical solution, different compensation amounts are determined according to different vehicle models, which can provide compensation for different vehicles more accurately and thus determine a more accurate outer contour position of the rearview mirror.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the target vehicle is located on one side of the first position area, and the first rearview mirror is close to the first position area; wherein the first position area is the target parking area of ​​the intelligent driving device, or the first position area is the area passed by the intelligent driving device when driving to the destination.

[0021] In the above technical solution, the position of the target vehicle's first rearview mirror is detected when the target vehicle is located near the intelligent driving device's target parking area or in the intelligent driving device's travel path. In other words, if another vehicle is located in another area, such as one farther from the intelligent driving device's target parking area, the position of that vehicle's rearview mirror is not detected. This reduces the intelligent driving device's computational complexity and helps save energy.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the drivable width of the first location area is less than or equal to a width threshold.

[0023] In the above technical solution, when the width of the first position area is narrow, detecting the position of the first rearview mirror of the target vehicle helps to further reduce calculation complexity and save energy consumption.

[0024] In combination with the first aspect, in certain implementations of the first aspect, controlling the intelligent driving device includes: controlling the intelligent driving device to enter a first position area according to a position of the first rearview mirror on the target vehicle.

[0025] Illustratively, a path along which the intelligent driving device enters or passes through the first position area is determined based on the position of the first rearview mirror on the target vehicle, and the intelligent driving device is controlled to travel along the path.

[0026] In the above technical solution, during the process of automatic parking or automatic driving, the accuracy of the intelligent driving device in planning the path according to the position of the base of the rearview mirror can be improved, the probability of the intelligent driving device scratching the rearview mirror of the target vehicle can be reduced, and it helps to improve parking efficiency and safety.

[0027] In combination with the first aspect, in certain implementations of the first aspect, controlling the intelligent driving device includes: controlling a display device of the intelligent driving device to display a position of the first rearview mirror on the target vehicle.

[0028] In the above technical solution, when the intelligent driving device is in the human driving mode, the display device displays the more precise position of the first rearview mirror on the target vehicle, which can reduce the probability of scratching the vehicle and other vehicles in the human driving mode, thereby improving driving safety.

[0029] In a second aspect, a rearview mirror detection device is provided, which includes: an acquisition unit for acquiring a first image and a second image, wherein the first image and the second image are images of the first rearview mirror of a target vehicle captured at different angles; a processing unit for determining the position of the first rearview mirror on the target vehicle based on the first image and the second image; the processing unit is also used to control an intelligent driving device based on the position of the first rearview mirror on the target vehicle.

[0030] In combination with the second aspect, in certain implementations of the second aspect, the first image is collected at a first moment, and the second image is collected at a second moment, and the processing unit is used to: determine a first straight line based on the first image, the first straight line being the straight line where the first area of ​​the intelligent driving device and the root of the first rearview mirror are located at the first moment; determine a second straight line based on the second image, the second straight line being the straight line where the second area of ​​the intelligent driving device and the root of the first rearview mirror are located at the second moment; determine the position of the root of the first rearview mirror on the target vehicle based on the intersection of the first straight line and the outer contour of the target vehicle, and the intersection of the second straight line and the outer contour of the target vehicle.

[0031] In combination with the second aspect, in certain implementations of the second aspect, the intelligent driving device includes a first camera device and a second camera device, the first image is captured by the first camera device at a first moment, and the second image is captured by the second camera device at a second moment; the first area is an area on the intelligent driving device where the first camera device is set, and the second area is an area on the intelligent driving device where the second camera device is set.

[0032] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is further used to: when the first rearview mirror is in a retracted state, determine the position of the outer contour of the first rearview mirror based on the position of the first rearview mirror on the target vehicle and a first compensation amount; or, when the first rearview mirror is in an open state, determine the position of the outer contour of the first rearview mirror based on the position of the first rearview mirror on the target vehicle and a second compensation amount; wherein the first compensation amount is less than or equal to the second compensation amount.

[0033] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is further configured to: determine the first compensation amount and / or the second compensation amount according to a model of the target vehicle.

[0034] In combination with the second aspect, in certain implementations of the second aspect, the target vehicle is located on one side of the first position area, and the first rearview mirror is close to the first position area; wherein the first position area is the target parking area of ​​the intelligent driving device, or the first position area is the area passed by the intelligent driving device when driving to the destination.

[0035] In combination with the second aspect, in certain implementations of the second aspect, the drivable width of the first location area is less than or equal to a width threshold.

[0036] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is used to: control the intelligent driving device to enter the first position area according to the position of the first rearview mirror on the target vehicle.

[0037] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is used to: control a display device of the intelligent driving device to display the position of the first rearview mirror on the target vehicle.

[0038] In a third aspect, a rearview mirror detection device is provided, which includes: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device performs a method as in any possible implementation of the first aspect.

[0039] In a fourth aspect, an intelligent driving device is provided, which includes the apparatus in any possible implementation of the second aspect or the third aspect.

[0040] In combination with the fourth aspect, in some implementations of the fourth aspect, the intelligent driving device is a vehicle.

[0041] In a fifth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in any one of the possible implementations of the first aspect.

[0042] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or separately from the processor.

[0043] In a sixth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions. When the instructions are executed by a processor, the processor implements the method in any possible implementation of the first aspect.

[0044] In a seventh aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a functional schematic diagram of an intelligent driving device provided in an embodiment of the present application;

[0046] FIG2 is a schematic block diagram of a rearview mirror detection system provided in an embodiment of the present application;

[0047] FIG3 is a schematic diagram of the location of the camera device provided in an embodiment of the present application;

[0048] FIG4 is a schematic flow chart of a rearview mirror detection method provided in an embodiment of the present application;

[0049] FIG5 is a schematic diagram of an application scenario of a rearview mirror detection method provided in an embodiment of the present application;

[0050] FIG6 is another schematic diagram of an application scenario of the rearview mirror detection method provided in an embodiment of the present application;

[0051] FIG7 is another schematic diagram of an application scenario of the rearview mirror detection method provided in an embodiment of the present application;

[0052] FIG8 is another schematic flow chart of a rearview mirror detection method provided in an embodiment of the present application;

[0053] FIG9 is a schematic block diagram of a rearview mirror detection device provided in an embodiment of the present application;

[0054] FIG10 is another schematic block diagram of the rearview mirror detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] To facilitate understanding of the solutions of the embodiments of the present application, the following introduces the concepts involved in the present application:

[0056] 1. The root of the rearview mirror: the area where the exterior rearview mirror connects to the vehicle body.

[0057] 2. The tip of the rearview mirror: the point where the exterior rearview mirror is farthest from the car body, or the outer contour of the rearview mirror.

[0058] 3. The rearview mirror is in the retracted or unfolded state: Taking a flip-up rearview mirror as an example, the flip angle of the rearview mirror is the angle between the tangent surface of the rearview mirror housing (upper or lower) when the rearview mirror is unfolded and when the rearview mirror is folded to its limit position. The limit position can be understood as the position where the angle between the rearview mirror and the vehicle body is the smallest, as supported by the rearview mirror's steering mechanism. The flip angle can be broken down into a horizontal flip angle and a vertical flip angle. Taking a four-wheeled vehicle as an example, the horizontal flip angle can be the angle at which the rearview mirror flips within the plane of the vehicle's four tires, and the vertical flip angle can be the angle at which the rearview mirror flips perpendicular to the plane of the vehicle's four tires. It is understood that both the horizontal and vertical flip angles of the rearview mirror are greater than or equal to zero. When the rearview mirror is folded to its limit position, both the horizontal and vertical flip angles are zero. The rearview mirror is in the unfolded state when it is folded to its limit position, and it is in the unfolded state when the horizontal flip angle is not zero.

[0059] The technical solution in this application will be described below with reference to the accompanying drawings.

[0060] Figure 1 is a functional block diagram of an intelligent driving device provided in an embodiment of the present application. As shown in Figure 1, the intelligent driving device 100 may include a perception system 120 and a computing platform 150, wherein the perception system 120 may include several sensors for sensing information about the environment surrounding the intelligent driving device 100. For example, the perception system 120 may also include a positioning system, which may be a global positioning system (GPS), a Beidou system, or other positioning systems. For another example, the perception system 120 may also include one or more of an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera. In the present application, the camera may include but is not limited to a fisheye camera, a wide-angle camera, a camera may include a red, green, and blue / infrared (RGB / IR) camera, or a depth camera, such as a time of flight (TOF) camera, a binocular camera, a structured light camera, etc.

[0061] Some or all functions of the intelligent driving device 100 can be controlled by a computing platform 150. The computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. The logical relationships of the hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions, and some or all of the processors 151 to 15n may call the instructions in the memory to implement corresponding functions.

[0062] The intelligent driving device 100 may include an advanced driving assistant system (ADAS). ADAS uses multiple sensors on the intelligent driving device (including but not limited to: lidar, millimeter wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surrounding of the intelligent driving device, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, intelligent driving device positioning, path planning, driver monitoring / reminder, etc., thereby improving the safety, automation and comfort of driving the intelligent driving device.

[0063] From a logical function perspective, ADAS systems generally include three main functional modules: perception module, decision module and execution module. The perception module perceives the surrounding environment of the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center. The perception module mainly includes on-board cameras / ultrasonic radars / millimeter-wave radars / lidars, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, warnings, etc.

[0064] ADAS can provide varying degrees of automated driving assistance at different levels of automation (L0-L5), based on artificial intelligence algorithms and information from multiple sensors. These levels are based on the Society of Automotive Engineers (SAE) grading standards. L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At L1-L3, monitoring and responding to road conditions are performed jointly by the driver and the system, with the driver taking over dynamic driving tasks. At L4 and L5, the driver transitions completely to the role of passenger. Currently, ADAS features include, but are not limited to, adaptive cruise control, automatic emergency braking, automated parking, blind spot monitoring, front cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keep assist, rear collision warning, traffic sign recognition, traffic jam assistance, and highway assistance. It should be understood that the various functions mentioned above may have specific modes at different autonomous driving levels (L0-L5), and the higher the autonomous driving level, the more intelligent the corresponding mode. For example, automatic parking may include APA, RPA, and AVP. For APA, the driver does not need to operate the steering wheel, but the driver is still required to operate the intelligent driving device in real time to monitor the status of the intelligent driving device; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the intelligent driving device outside the intelligent driving device; for AVP, the intelligent driving device can complete parking without a driver. In terms of the corresponding autonomous driving level, APA is approximately at the L2 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0065] In this embodiment of the present application, the computing platform 150 can determine the tip position of the other vehicle's rearview mirror based on the image of the other vehicle acquired by the perception system 120. The computing platform 150 can also perform parking path planning based on the determined tip position of the other vehicle's rearview mirror to reduce the probability of the vehicle scratching the other vehicle's rearview mirror during parking.

[0066] The intelligent driving devices involved in the embodiments of the present application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device may be a vehicle, which is a vehicle in a broad sense and may be a transportation vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle.

[0067] Figure 2 shows a schematic diagram of the rearview mirror detection system architecture provided by an embodiment of the present application. As shown in Figure 2 , the system includes a perception module 210, a detection module 220, a regulation and control module 230, and an actuator 240. The perception module 210 may include one or more sensors from the perception system 120 shown in Figure 1 . For example, the perception module 210 includes a camera 211. The detection module 220 and the regulation and control module 230 may each be one or more processors from the computing platform 150 shown in Figure 1 .

[0068] More specifically, the detection module 220 includes a base determination module 221 and a tip determination module 222. The base determination module 221 determines the base position of the target rearview mirror based on images of the target rearview mirror of the target vehicle captured by the camera device 211 from at least two angles. The tip determination module 222 is configured to determine the open or closed state of the target rearview mirror based on the images of the target rearview mirror captured by the camera device 211, further determine a tip compensation amount based on the open or closed state of the target rearview mirror, and further determine the tip position of the target rearview mirror based on the base position and the tip compensation amount. The target vehicle may be located in the path required for the intelligent driving device to travel to the target location, and the target rearview mirror may be a rearview mirror on the target vehicle that is adjacent to the path required for the intelligent driving device to travel to the target location.

[0069] Furthermore, the detection module 220 transmits the determined position of the rearview mirror tip to the control module 230. When planning a path for the intelligent driving device to reach the target location, the control module 230 uses the position of the rearview mirror tip to plan the path for the intelligent driving device to pass the target vehicle. The control module 230 calculates corresponding control variables based on the planned path and outputs these control variables to the actuator 240. When the actuator 240 executes the control variables, the vehicle is controlled to travel along the planned path. In some possible implementations, the actuator may include the steering and braking control systems in the intelligent driving device 100.

[0070] It should be understood that the above modules are merely examples, and in actual applications, the above modules may be added or deleted based on actual needs. For example, in the system architecture shown in FIG2 , the root determination module 221 and the tip determination module 222 can be combined into a single module. As another example, the system architecture shown in FIG2 may also include a prompt module for indicating the tip position of the target rearview mirror of the target vehicle, or for indicating the relationship between the tip position of the target rearview mirror and the planned path of the intelligent driving device, such as the distance between the tip position of the target rearview mirror and the outer contour of the intelligent driving device when the intelligent driving device is traveling on the planned path.

[0071] Taking a vehicle as an example, Figure 3 shows a schematic diagram of the placement of the camera devices on the vehicle in the above-mentioned embodiments. As shown in Figure 3, the camera device can be placed at the front of the vehicle (e.g., position ①), such as a front-facing camera located below the front license plate frame; at the rear of the vehicle (e.g., position ④), such as a rear-facing camera located above the rear license plate frame; or at the side of the vehicle (e.g., positions ② and ③), such as side cameras located on the left and right rearview mirrors.

[0072] It should be understood that the arrangement position of the camera device shown in FIG3 is only for illustrative purposes. In actual implementation, the camera device may also be arranged at other positions outside the vehicle.

[0073] The rearview mirror detection system provided by the present application is introduced above in conjunction with Figures 1 to 3. The rearview mirror detection method provided by the present application is described in detail below.

[0074] Figure 4 shows a schematic flow chart of a rearview mirror detection method provided by an embodiment of the present application. Method 400 shown in Figure 4 can be executed by the intelligent driving device 100 shown in Figure 1 , for example, by the computing platform 150 of the intelligent driving device 100. Alternatively, method 400 can be executed by the system shown in Figure 2 , for example, by the detection module 220. Specifically, method 400 may include steps S410 and S420.

[0075] S410 , obtaining a first image and a second image, where the first image and the second image are images of a first rearview mirror of a target vehicle captured at different angles.

[0076] Exemplarily, the first image and the second image may be captured by the same camera device at different times. For example, if the target vehicle is located on the right side of the intelligent driving device, the camera device may be a side-view camera located at position ③ as shown in FIG3 . Alternatively, the first image and the second image may be captured by different camera devices at the same time. For example, if the target vehicle is located in front of the right side of the intelligent driving device, the different camera devices may be a front-view camera located at position ① as shown in FIG3 , and a side-view camera located at position ③ as shown in FIG3 . Alternatively, the first image and the second image may be captured by different camera devices at different times. For example, during the driving process of the intelligent driving device, the first image may be captured by the front-view camera located at position ① as shown in FIG3 at the first moment, and the second image may be captured by the side-view camera located at position ③ as shown in FIG3 at the second moment.

[0077] For example, the target vehicle may be stationary. Alternatively, the speed of the target vehicle may be less than or equal to a speed threshold. For example, the speed threshold may be 1 meter per second (m / s), or 0.5 m / s, or other values. More specifically, if the first image and the second image are captured by the same camera at different times, the position of the target vehicle at these two different times may be the same; if the first image and the second image are captured by different cameras at the same time, the speed of the target vehicle may be less than or equal to the speed threshold.

[0078] In some implementations, the target vehicle can be a vehicle that affects the travel of the intelligent driving device. For example, the target vehicle is located on one side of a first position area, and the first rearview mirror is close to the first position area. The first position area is the target parking area for the intelligent driving device, or the first position area is the area that the intelligent driving device passes through when traveling to its destination. As shown in FIG5 , vehicle 501 is used as an example of an intelligent driving device. In one example, vehicle 501 needs to pass through area a while traveling forward. Since there is vehicle 502 on one side of area a, and the presence of vehicle 502 may affect the smoothness of vehicle 501's travel (for example, if the posture of vehicle 501 is not appropriate, it may rub against the convex part of the outer contour of vehicle 502), vehicle 501 can detect the position of the convex part of vehicle 502 on the side close to area a (such as rearview mirror 5021), and plan the driving path in area a based on the position of the convex part of vehicle 502 to avoid rubbing against vehicle 502. In another example, vehicle 501 selects area b as the parking area. Since there is vehicle 505 on one side of area b and the presence of vehicle 505 may affect the parking posture of vehicle 501, vehicle 501 can detect the position of the convex part of vehicle 505 (such as rearview mirror 5051) close to the side of area b, and plan its parking posture in area b and the driving path when parking into area b according to the position of the convex part of vehicle 505, so as to avoid scratches between the vehicle 501 and vehicle 505, and / or avoid inconvenience for passengers on the right side to get on and off the vehicle after the vehicle is parked in area b.

[0079] In some implementations, when the drivable width of a first location area is less than or equal to a width threshold, the position of a rearview mirror of a vehicle on one side of the first location area approaching the first location area is detected. For example, due to restrictions imposed by vehicles 502, 503, and 504, the width of area a perpendicular to the direction of vehicle 501's travel is too narrow, potentially causing vehicle 501 to collide with at least one of vehicles 502, 503, and 504 when passing through area a. Vehicle 501 can then detect the position of vehicle 502's rearview mirror 5021 and plan its own path within area a based on the position of rearview mirror 5021. For example, the width threshold can be 2.3 meters, 2.5 meters, or other values. For example, the width threshold is determined based on the vehicle's width by adding a preset width to the vehicle's width to obtain the width threshold. The preset width can be 30 centimeters, 40 centimeters, or other values.

[0080] It can be understood that the above-mentioned vehicles 502 and 505 can be regarded as some examples of target vehicles, areas a and b can be regarded as some examples of first position areas, and rearview mirrors 5021 and 5051 can be regarded as some examples of first rearview mirrors.

[0081] S420: Determine the position of the first rearview mirror on the target vehicle based on the first image and the second image.

[0082] For example, the position of the first rearview mirror on the target vehicle includes the position of the first rearview mirror in the longitudinal direction of the target vehicle, or may also include the position of the first rearview mirror in the height direction of the target vehicle. The longitudinal direction refers to a direction parallel to the centerline of the vehicle, and the height direction refers to a direction perpendicular to the plane of the vehicle's four wheels. Furthermore, the position of the first rearview mirror on the target vehicle may be understood as the position of the base of the first rearview mirror on the outer contour of the target vehicle.

[0083] In some implementations, determining the position of the first rearview mirror on the target vehicle based on the first image and the second image includes: determining a first straight line based on the first image, the first straight line being a straight line between the first area of ​​the intelligent driving device and the root of the first rearview mirror at the first moment; determining a second straight line based on the second image, the second straight line being a straight line between the second area of ​​the intelligent driving device and the root of the first rearview mirror at the second moment; and determining the position of the root of the first rearview mirror on the outer contour of the target vehicle based on the intersection of the first straight line and the outer contour of the target vehicle and the intersection of the second straight line and the outer contour of the target vehicle.

[0084] A first straight line is determined based on the pixel positions corresponding to the first rearview mirror in the first image, and indicates the direction in which the optical center of the camera device that captured the first image points to the first rearview mirror. A second straight line is determined based on the pixel positions corresponding to the first rearview mirror in the second image, and indicates the direction in which the optical center of the camera device that captured the second image points to the first rearview mirror.

[0085] As shown in Figure 6(a), vehicle 610 is an example of a target vehicle, and rearview mirror 611 is an example of a first rearview mirror. As shown in Figure 6(b), outline 601 is the outer contour of vehicle 610 as sensed by a radar sensor, and outline 602 is the outer contour of vehicle 610 determined by fusing the perception results of multiple sensors (such as radar sensors and cameras). Arrow 603 can be understood as indicating that when camera 1 of the ego vehicle is in position 1, the optical center of camera 1 points toward the base of rearview mirror 611; arrow 604 can be understood as indicating that when camera 2 of the ego vehicle is in position 2, the optical center of camera 2 points toward the base of rearview mirror 611. Camera 1 and camera 2 can be the same camera. In such cases, position 1 and position 2 represent different positions of the camera. Furthermore, position 605 is determined based on the intersection of arrow 603 and outline 602 (hereinafter referred to as intersection a), and the intersection of arrow 604 and outline 602 (hereinafter referred to as intersection b). Position 605 indicates the position of the base of rearview mirror 611 on vehicle 610. For example, position 605 can be determined based on different weights for the position indicated by intersection a and the position indicated by intersection b. For example, when determining position 605, the weights for the position indicated by intersection a and the position indicated by intersection b are each 0.5, or the weights for the position indicated by intersection a and the position indicated by intersection b are 0.4 and 0.6, respectively. This application does not impose specific limitations on this. In actual implementation, the weights of the indicated positions of intersection a and intersection b can be determined based on the positions of camera device 1 and camera device 2 in the vehicle; or, the weights of the indicated positions of intersection a and intersection b can be determined based on the angle between arrow 603 (or 604) and the center axis of the vehicle; or, the weights of the indicated positions of intersection a and intersection b can be determined by other methods.

[0086] It can be understood that the straight line where the arrow 603 is located can be regarded as an example of the first straight line mentioned above; the straight line where the arrow 604 is located can be regarded as an example of the second straight line mentioned above.

[0087] In some implementations, after executing S420, method 400 further includes determining a lateral position of the first rearview mirror relative to the target vehicle. The lateral position refers to a direction parallel to a plane containing four wheels and perpendicular to a centerline of the vehicle. The lateral position of the first rearview mirror may include a tip position of the first rearview mirror.

[0088] Exemplarily, the lateral distance can be added to the root position of the first rearview mirror in the lateral direction parallel to the target vehicle to obtain the tip position of the first rearview mirror. For example, the coordinates of the root position of the first rearview mirror in the xoy plane of the whole vehicle coordinate system are (x, y), and the coordinates of the tip position of the first rearview mirror in the xoy plane of the whole vehicle coordinate system can be (x, y+Δy). Wherein, the x-axis is parallel to the longitudinal direction of the target vehicle, the y-axis is parallel to the lateral direction of the target vehicle and the positive direction of the y-axis is the direction from the center of the vehicle to the first rearview mirror, and Δy represents the above-mentioned lateral distance. Exemplarily, the lateral distance can be 12 cm, or 15 cm, or it can be other values, for example, the lateral distance can be determined according to the model of the target vehicle.

[0089] In some implementations, before or after executing S420, or simultaneously with executing S420, method 400 further includes: determining an open / closed state of the first rearview mirror, i.e., whether the first rearview mirror is in a retracted state or an unfolded state. When the first rearview mirror is in the retracted state, the position of the outer contour of the first rearview mirror is determined based on the outer contour of the target vehicle and a first compensation amount; or, when the first rearview mirror is in the unfolded state, the position of the outer contour of the first rearview mirror is determined based on the outer contour of the target vehicle and a second compensation amount; wherein the first compensation amount is less than or equal to the second compensation amount.

[0090] Exemplarily, when the base position of the first rearview mirror has been determined, determining the position of the outer contour of the first rearview mirror based on the outer contour of the target vehicle and the first compensation amount (or second compensation amount) may include: determining the tip position of the first rearview mirror based on the position of the base of the first rearview mirror on the outer contour of the target vehicle and the first compensation amount (or second compensation amount). As shown in Figure 7, the outer contour line of vehicle 610 is 701, and position 702 is the position of the base of rearview mirror 611 on the outer contour of the vehicle. More specifically, as shown in Figure 7 (a), if the rearview mirror 611 is in the retracted state, the first compensation amount is added to 702 to obtain the outer contour position 703 of the first rearview mirror; as shown in Figure 7 (b), if the rearview mirror 611 is in the retracted state, the second compensation amount is added to 702 to obtain the outer contour position 704 of the first rearview mirror.

[0091] For example, the first compensation amount may be 8 centimeters, or 10 centimeters, or other values; the second compensation amount may be 12 centimeters, or 15 centimeters, or other values.

[0092] In a specific implementation, the open and closed state of the first rearview mirror can be determined based on multiple images collected within a period of time, or the open and closed state of the first rearview mirror can be determined in combination with the driving state of the target vehicle. The multiple images may include the first image and / or the second image, or may be other images in addition to the first image and the second image. In one example, the multiple images can be processed by a neural network to determine the open and closed state of the first rearview mirror. If after processing the multiple images in sequence, it is determined that the first rearview mirror is retracted, then the first rearview mirror is in the retracted state; if after processing the multiple images in sequence, it is determined that the first rearview mirror is open, then the first rearview mirror is in the open state. In another example, if the target vehicle is in a driving state, it can be determined that the first rearview mirror is in the open state. The neural network can be the visual geometry group (VGG) 16, VGG19, residual neural network (ResNet) 50, etc.

[0093] In some implementations, method 400 further includes determining the first compensation amount and / or the second compensation amount based on the model of the target vehicle. The model of the target vehicle indicates whether the target vehicle is one of a sedan, a bus (e.g., mini, light, medium, large, or extra-large), or a truck (e.g., mini, light, medium, or heavy). It should be understood that the aforementioned models are merely exemplary, and in actual implementations, the vehicle models may include more or fewer models.

[0094] Exemplarily, the image of the target vehicle captured by the camera device can be processed by an image processing method to determine the model of the target vehicle; alternatively, it can be received through vehicle-to-everything (V2X) communication or vehicle-to-vehicle (V2V) communication.

[0095] S430: Control the intelligent driving device according to the position of the first rearview mirror on the target vehicle.

[0096] In some implementations, controlling the intelligent driving device includes: controlling the intelligent driving device to enter a first position area based on the position of the first rearview mirror on the target vehicle; and / or controlling a display device of the intelligent driving device to display the position of the first rearview mirror on the target vehicle.

[0097] The rearview mirror detection method provided in the embodiment of the present application can improve the accuracy of detecting the position of the rearview mirror of another vehicle. Furthermore, when meeting another vehicle in a narrow space or parking in a narrow parking space, accurate detection of the rearview mirror position helps to improve the rationality and safety of the driving path planned for the own vehicle, increase the vehicle traffic rate, and reduce the chance of scratching the own vehicle and other vehicles.

[0098] 8 shows another schematic flow chart of a rearview mirror detection method provided in an embodiment of the present application. Method 800 can be considered as an extension or further explanation of method 400. Specifically, method 800 includes S801 to S806.

[0099] S801: Acquire multiple images containing the vehicle 1 captured by a camera device.

[0100] Among them, vehicle 1 can be an example of the above-mentioned target vehicle.

[0101] S802 : Determine the outline of the vehicle 1 according to one or more of the multiple images.

[0102] Exemplarily, the outline of vehicle 1 can be determined using a post-fusion method. For example, after processing the data collected by the camera and the data perceived by the radar, the processed data collected by the camera and the data perceived by the radar are fused using a post-fusion method such as Kalman filtering, extended Kalman filtering (EKF), or Hungarian matching to determine the outline of vehicle 1.

[0103] S803 : Determine a pixel position of the rearview mirror 1 in each of the at least two images including the rearview mirror 1 of the vehicle 1 in the plurality of images.

[0104] The rearview mirror 1 is an example of the first rearview mirror mentioned above.

[0105] S804 : Determine the open or closed state of the rearview mirror 1 based on at least one image of the rearview mirror 1 of the vehicle 1 among the multiple images.

[0106] S805 : Determine the position of the rearview mirror 1 in the longitudinal direction of the vehicle 1 according to the pixel position and the outer contour of the vehicle 1 .

[0107] The position of the rearview mirror 1 in the longitudinal direction of the vehicle 1 can be understood as the intersection of the root position of the rearview mirror 1 and the outer contour of the vehicle 1 in a direction parallel to the central axis of the vehicle 1 .

[0108] For example, the method for determining the longitudinal position of the rearview mirror 1 on the vehicle 1 based on the pixel position and the outer contour of the vehicle 1 can refer to the description of method 400 and will not be repeated here.

[0109] S806 , determining the tip position of the rearview mirror 1 based on the position of the rearview mirror 1 in the longitudinal direction of the vehicle 1 and the open / closed state of the rearview mirror 1 .

[0110] For example, the implementation method of determining the tip position of the rearview mirror 1 may refer to the description in method 400 , which will not be repeated here.

[0111] In actual implementation, some steps from S801 to S806 may be performed. For example, S804 and S806 may not be performed. After determining the base position of the rearview mirror 1 (i.e., the position in the longitudinal direction of the vehicle 1), the tip position of the rearview mirror 1 is determined in the lateral direction of the vehicle 1 based on the base position compensation preset value. The preset value may be 15 centimeters, 20 centimeters, or other values.

[0112] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0113] The rearview mirror detection method provided by the embodiment of the present application is described in detail above with reference to Figures 1 to 8 . The rearview mirror detection device provided by the embodiment of the present application will be described in detail below with reference to Figures 9 and 10 . It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, any details not described in detail can be referred to above in the method embodiment, and for the sake of brevity, they will not be repeated here.

[0114] FIG9 shows a schematic block diagram of a rearview mirror detection device 2000 according to an embodiment of the present application. The device 2000 may include units for executing method 400 or method 800. Furthermore, each unit in the device 2000 is configured to implement the corresponding processes of the embodiments of method 400 or method 800.

[0115] Specifically, the apparatus 2000 includes an acquisition unit 2010 and a processing unit 2020. When the apparatus 2000 is used to execute the method 400, the acquisition unit 2010 is configured to acquire a first image and a second image, where the first image and the second image are images of a first rearview mirror of a target vehicle captured at different angles; the processing unit 2020 is configured to determine a position of the first rearview mirror on the target vehicle based on the first image and the second image; and the processing unit 2020 is further configured to control an intelligent driving device based on the position of the first rearview mirror on the target vehicle.

[0116] In some implementations, the first image is captured at a first moment, and the second image is captured at a second moment, and the processing unit 2020 is used to: determine a first straight line based on the first image, where the first straight line is the straight line where the first area of ​​the intelligent driving device and the root of the first rearview mirror are located at the first moment; determine a second straight line based on the second image, where the second straight line is the straight line where the second area of ​​the intelligent driving device and the root of the first rearview mirror are located at the second moment; determine the position of the root of the first rearview mirror on the target vehicle based on the intersection of the first straight line and the outer contour of the target vehicle, and the intersection of the second straight line and the outer contour of the target vehicle.

[0117] In some implementations, the intelligent driving device includes a first camera device and a second camera device, the first image is captured by the first camera device at a first moment, and the second image is captured by the second camera device at a second moment; the first area is the area on the intelligent driving device where the first camera device is set, and the second area is the area on the intelligent driving device where the second camera device is set.

[0118] In some implementations, the processing unit 2020 is further used to: determine the position of the outer contour of the first rearview mirror based on the position of the first rearview mirror on the target vehicle and a first compensation amount when the first rearview mirror is in a retracted state; or, determine the position of the outer contour of the first rearview mirror based on the position of the first rearview mirror on the target vehicle and a second compensation amount when the first rearview mirror is in an open state; wherein the first compensation amount is less than or equal to the second compensation amount.

[0119] In some implementations, the processing unit 2020 is further configured to determine the first compensation amount and / or the second compensation amount according to the model of the target vehicle.

[0120] In some implementations, the target vehicle is located on one side of a first position area, and the first rearview mirror is close to the first position area; wherein the first position area is a target parking area for the intelligent driving device, or the first position area is an area that the intelligent driving device passes through when driving to the destination.

[0121] In some implementations, the drivable width of the first location area is less than or equal to a width threshold.

[0122] In some implementations, the processing unit 2020 is configured to control the intelligent driving device to enter a first position area based on the position of the first rearview mirror on the target vehicle.

[0123] In some implementations, the processing unit 2020 is used to: control a display device of the intelligent driving device to display the position of the first rearview mirror on the target vehicle.

[0124] Exemplarily, the acquisition unit 2010 and the processing unit 2020 may be provided in the system shown in FIG2 . More specifically, the acquisition unit 2010 may be provided in the planning module 220 , and the processing unit 2020 may be provided in the control module 230 . Exemplarily, the operations performed by the acquisition unit 2010 and the processing unit 2020 may be performed by a single processor, or by different processors. In a specific implementation, the one or more processors may be provided in the intelligent driving device 100 shown in FIG1 ; alternatively, the apparatus 2000 may be provided in a chip within the intelligent driving device 100 .

[0125] In a specific implementation process, the various units in the above apparatus may be fully or partially integrated together, or may also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0126] Figure 10 is another schematic block diagram of a rearview mirror detection device provided in an embodiment of the present application. The rearview mirror detection device 2100 shown in Figure 10 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are interconnected via an internal connection path. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods described in the aforementioned embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0127] It should be noted that the transceiver 2120 may include but is not limited to a transceiver device such as an input / output interface to implement communication between the device 2100 and other devices or a communication network.

[0128] Memory 2130 may be a volatile memory and / or a non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM may be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0129] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2110 and other devices or communication networks to receive / send data / information used to implement the methods in the above embodiments.

[0130] An embodiment of the present application further provides a computing platform, which includes the rearview mirror detection device 2000 or the rearview mirror detection device 2100 in the above embodiment.

[0131] An embodiment of the present application further provides an intelligent driving device, which includes the computing platform in the above embodiment; or, the intelligent driving device includes the rearview mirror detection device 2000 or the rearview mirror detection device 2100 in the above embodiment.

[0132] An embodiment of the present application further provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0133] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0134] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0135] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0136] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0137] In the embodiments of this application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects. The use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects. For a statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0140] The units described as separate components may or may not be physically separate, and the components shown 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0141] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0142] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A rearview mirror detection method, characterized in that, Applied to an intelligent driving device, including: Obtain a first image and a second image, where the first image and the second image are images of the first rearview mirror of a target vehicle collected at different angles respectively; Determine the position of the first rearview mirror on the target vehicle according to the first image and the second image; Control the intelligent driving device according to the position of the first rearview mirror on the target vehicle.

2. The method according to claim 1, wherein The first image is collected at a first moment, and the second image is collected at a second moment. Determining the position of the first rearview mirror on the target vehicle includes: Determine a first straight line according to the first image, where the first straight line is the straight line where the first area of the intelligent driving device and the root of the first rearview mirror are located at the first moment; Determine a second straight line according to the second image, where the second straight line is the straight line where the second area of the intelligent driving device and the root of the first rearview mirror are located at the second moment; Determine the position of the root of the first rearview mirror on the target vehicle according to the intersection point of the first straight line and the outer contour of the target vehicle, and the intersection point of the second straight line and the outer contour of the target vehicle.

3. The method according to claim 2, wherein The intelligent driving device includes a first imaging device and a second imaging device. The first image is collected by the first imaging device at the first moment, and the second image is collected by the second imaging device at the second moment; the first area is the area where the first imaging device is set on the intelligent driving device, and the second area is the area where the second imaging device is set on the intelligent driving device.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: When the first rearview mirror is in the retracted state, determine the position of the outer contour of the first rearview mirror according to the position of the first rearview mirror on the target vehicle and a first compensation amount; or, When the first rearview mirror is in the opened state, determine the position of the outer contour of the first rearview mirror according to the position of the first rearview mirror on the target vehicle and a second compensation amount; Wherein, the first compensation amount is less than or equal to the second compensation amount.

5. The method according to claim 4, characterized in that The method further includes: Determine the first compensation amount and / or the second compensation amount according to the vehicle type of the target vehicle.

6. The method according to any one of claims 1 to 5, characterized in that, The target vehicle is located on one side of a first position area, and the first rearview mirror is close to the first position area; wherein, the first position area is the target parking area of the intelligent driving device, or the first position area is the area passed by the intelligent driving device when driving towards the destination.

7. The method according to claim 6, wherein The drivable width of the first position area is less than or equal to a width threshold.

8. The method according to claim 6 or 7, characterized in that, Controlling the intelligent driving device includes: Control the intelligent driving device to drive into the first position area according to the position of the first rearview mirror on the target vehicle.

9. The method according to any one of claims 1 to 8, characterized in that, Controlling the intelligent driving device includes: Control the display device of the intelligent driving device to display the position of the first rearview mirror on the target vehicle.

10. A rearview mirror detection device, characterized in that, Including: An acquisition unit for acquiring a first image and a second image, where the first image and the second image are images of the first rearview mirror of a target vehicle collected at different angles respectively; A processing unit, configured to determine the position of the first rearview mirror on the target vehicle according to the first image and the second image; The processing unit is further configured to: control the intelligent driving device according to the position of the first rearview mirror on the target vehicle.

11. The device according to claim 10, characterized in that, The first image is acquired at a first moment, and the second image is acquired at a second moment. The processing unit is configured to: Determine a first straight line according to the first image, where the first straight line is the straight line where the first area of the intelligent driving device and the root of the first rearview mirror are located at the first moment; Determine a second straight line according to the second image, where the second straight line is the straight line where the second area of the intelligent driving device and the root of the first rearview mirror are located at the second moment; Determine the position of the root of the first rearview mirror on the target vehicle according to the intersection point of the first straight line and the outer contour of the target vehicle, and the intersection point of the second straight line and the outer contour of the target vehicle.

12. The device according to claim 11, characterized in that, The intelligent driving device includes a first imaging device and a second imaging device. The first image is acquired by the first imaging device at the first moment, and the second image is acquired by the second imaging device at the second moment; the first area is the area where the first imaging device is arranged on the intelligent driving device, and the second area is the area where the second imaging device is arranged on the intelligent driving device.

13. The device according to any one of claims 10 to 12, characterized in that, The processing unit is further configured to: When the first rearview mirror is in a retracted state, determine the position of the outer contour of the first rearview mirror according to the position of the first rearview mirror on the target vehicle and a first compensation amount; or, When the first rearview mirror is in an open state, determine the position of the outer contour of the first rearview mirror according to the position of the first rearview mirror on the target vehicle and a second compensation amount; Wherein, the first compensation amount is less than or equal to the second compensation amount.

14. The device according to claim 13, characterized in that, The processing unit is further configured to: Determine the first compensation amount and / or the second compensation amount according to the vehicle type of the target vehicle.

15. The device according to any one of claims 10 to 14, characterized in that, The target vehicle is located on one side of a first position area, and the first rearview mirror is close to the first position area; wherein, the first position area is the target parking area of the intelligent driving device, or the first position area is the area passed by the intelligent driving device when driving towards the destination.

16. The device according to claim 15, characterized in that, The drivable width of the first position area is less than or equal to a width threshold.

17. The device according to claim 15 or 16, characterized in that, The processing unit is further configured to: Control the intelligent driving device to drive into the first position area according to the position of the first rearview mirror on the target vehicle.

18. The device according to any one of claims 10 to 17, characterized in that, The processing unit is further configured to: Control the display device of the intelligent driving device to display the position of the first rearview mirror on the target vehicle.

19. A rearview mirror detection device, characterized in that, Including: A memory, configured to store a computer program; A processor, configured to execute the computer program stored in the memory, so that the device executes the method according to any one of claims 1 to 9.

20. An intelligent driving device, characterized in that, The intelligent driving device includes the device according to any one of claims 10 to 19.

21. A computer-readable storage medium, characterized in that, Instructions are stored thereon, and when the instructions are executed by a processor, the processor is caused to implement the method according to any one of claims 1 to 9.

22. A chip, characterized in that, The chip includes a circuit for performing the method according to any one of claims 1 to 9.

Images