Electronic rearview mirror control method and apparatus, electronic device, and storage medium

Abstract

An electronic rearview mirror control method and apparatus, an electronic device, and a storage medium. The electronic rearview mirror control method is applied to a vehicle, and comprises: acquiring a first image of an electronic rearview mirror in a first state; acquiring a switching signal indicating that a vehicle is switched from a first traveling state to a second traveling state; acquiring a mapping relationship on the basis of the switching signal; on the basis of the mapping relationship, controlling the electronic rearview mirror to be switched from the first state to a second state; and acquiring a second image of the electronic rearview mirror in the second state. By means of the first image acquired on the basis of the first state of the electronic rearview mirror or the second image acquired on the basis of the second state of the electronic rearview mirror, the electronic rearview mirror can provide more information for a driver or a passenger, thereby improving the driving safety.

Description

Control method, device, electronic device and storage medium of electronic rearview mirror

[0001] This application claims priority to Chinese Patent Application No. 202410007056.3 filed on January 2, 2024, and the contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this application. Technical Field

[0002] At least one embodiment of the present disclosure relates to a control method, device, electronic device, and storage medium for an electronic rearview mirror. Background Art

[0003] Compared to traditional physical mirrors, electronic rearview mirrors offer advantages such as a wider field of view, reduced blind spots, automatic light compensation, and reduced environmental impact. They also effectively reduce wind resistance and noise, contributing to energy conservation and emission reductions. On December 29, 2022, my country promulgated the national standard GB 15084-2022, "Performance and Installation Requirements for Indirect Vision Devices on Motor Vehicles," which officially came into effect on July 1, 2023. This opens the door to the widespread adoption of electronic exterior rearview mirrors in China. Electronic rearview mirrors use cameras at the rear of the vehicle to capture the surrounding scene and display it in real time on the in-car display for the driver to see, improving driving safety. Summary of the Invention

[0004] At least one embodiment of the present disclosure provides a method for controlling an electronic rearview mirror, an electronic rearview mirror device, a vehicle device, an electronic device, and a storage medium.

[0005] At least one embodiment of the present disclosure provides a control method for an electronic rearview mirror for a vehicle, comprising: obtaining a first image of the electronic rearview mirror in a first state; obtaining a switching signal for switching the vehicle from a first driving state to a second driving state; obtaining a mapping relationship based on the switching signal; controlling the electronic rearview mirror to switch from the first state to the second state based on the mapping relationship; and obtaining a second image of the electronic rearview mirror in the second state.

[0006] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes at least one camera.

[0007] For example, according to at least one embodiment of the present disclosure, the at least one camera includes a first camera and a second camera located on the same side of the vehicle; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling at least one of the first camera and the second camera to move to change the distance between the centers of the first camera and the second camera.

[0008] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a connecting unit; the connecting unit is telescopically connected between the first camera and the second camera to change the center connection distance.

[0009] For example, according to at least one embodiment of the present disclosure, the switching signal includes at least one of a steering signal, a vehicle slope driving signal, a vehicle speed signal, and a lane change signal, and the mapping relationship includes at least one of a mapping relationship between a steering amplitude and the center line distance, a mapping relationship between a current slope and the center line distance, a mapping relationship between a current speed and the center line distance, and a mapping relationship between a lane change distance and the center line distance.

[0010] For example, according to at least one embodiment of the present disclosure, the steering amplitude includes a steering wheel rotation angle or a tire steering angle, and the steering wheel rotation angle or the tire steering angle is positively correlated with the center line distance.

[0011] For example, according to at least one embodiment of the present disclosure, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling at least one of the first camera and the second camera to rotate a first preset rotation angle, and the first preset rotation angle is negatively correlated with the center line distance.

[0012] For example, according to at least one embodiment of the present disclosure, the at least one camera includes a first camera and a second camera; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling at least one of the first camera and the second camera to move so that the electronic rearview mirror switches from the first state to the second state.

[0013] For example, according to at least one embodiment of the present disclosure, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the first camera and the second camera to move synchronously or separately so that the electronic rearview mirror switches from the first state to the second state.

[0014] For example, according to at least one embodiment of the present disclosure, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the at least one camera to rotate to change the rotation angle of the at least one camera.

[0015] For example, according to at least one embodiment of the present disclosure, the switching signal includes a vehicle slope driving signal; the mapping relationship includes: a mapping relationship between the current slope of the vehicle and a second preset rotation angle; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the camera to rotate to the second preset rotation angle.

[0016] For example, according to at least one embodiment of the present disclosure, the switching signal includes a vehicle speed signal; the mapping relationship includes: a mapping relationship between the current speed of the vehicle and a third preset rotation angle; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the camera to rotate the third preset rotation angle.

[0017] For example, according to at least one embodiment of the present disclosure, the switching signal includes a turn signal; the mapping relationship includes: a mapping relationship between the steering amplitude of the vehicle and a fourth preset rotation angle; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: controlling the camera to rotate the fourth preset rotation angle.

[0018] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a first camera and a second camera located on the same side of the vehicle; the switching signal includes a lane change signal; the mapping relationship includes: a mapping relationship between the lane change distance and the working state; the electronic rearview mirror is controlled to switch from the first state to the second state according to the mapping relationship, including: in response to the lane change distance being greater than a preset lane change distance, the first camera is changed from a working state to a non-working state, and the second camera is changed from a non-working state to a working state, so that the electronic rearview mirror is switched from the first state to the second state.

[0019] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a first camera and a second camera located on the same side of the vehicle; the switching signal includes a lane change signal; the mapping relationship includes: a mapping relationship between the lane change distance and the working state; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: in response to the lane change distance being greater than a preset lane change distance, keeping the first camera in the working state, and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

[0020] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a left-side camera located on the left side of the vehicle and a right-side camera located on the right side of the vehicle, and the switching signal includes a lane change signal; the mapping relationship includes: when the switching signal is a left turn signal, the mapping relationship between the steering amplitude and the fifth preset rotation angle; when the switching signal is a right turn signal, the mapping relationship between the steering amplitude and the sixth preset rotation angle; according to the mapping relationship, the electronic rearview mirror is controlled to switch from the first state to the second state, including: when the turn signal is a left turn signal, controlling the left camera to rotate the fifth preset rotation angle; when the turn signal is a right turn signal, controlling the right camera to rotate the sixth preset rotation angle.

[0021] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a left-side camera located on the left side of the vehicle and a right-side camera located on the right side of the vehicle, and the switching signal includes a turn signal; the mapping relationship includes: when the switching signal is a left turn signal, a mapping relationship between the steering amplitude and the seventh preset rotation angle; when the switching signal is a right turn signal, a mapping relationship between the steering amplitude and the eighth preset rotation angle; according to the mapping relationship, the electronic rearview mirror is controlled to switch from the first state to the second state, including: when the turn signal is a left turn signal, controlling the left camera to rotate the seventh preset rotation angle; when the turn signal is a right turn signal, controlling the right camera to rotate the eighth preset rotation angle.

[0022] For example, according to at least one embodiment of the present disclosure, the method further includes: determining that the switching signal is the left turn signal or the right turn signal based on a steering wheel rotation direction or a tire steering direction.

[0023] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes at least two cameras; obtaining a first image of the electronic rearview mirror in a first state includes: respectively obtaining at least two first sub-images of the at least two cameras in the first state; fusing the at least two first sub-images to obtain the first image; obtaining a second image of the electronic rearview mirror in a second state includes: respectively obtaining at least two second sub-images of the at least two cameras in the second state; fusing the at least two second sub-images to obtain the second image.

[0024] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a first camera and a second camera; the electronic rearview mirror is configured to satisfy at least one of the following conditions: the first camera is configured to acquire an input image, and the input image includes the first image and the second image; the second camera is configured to detect abnormal information.

[0025] For example, according to at least one embodiment of the present disclosure, the method further includes: issuing an alarm in response to the second camera detecting the abnormal information; wherein the alarm includes at least one of a voice message reminder and a screen display reminder.

[0026] For example, according to at least one embodiment of the present disclosure, the screen display reminder includes at least one of the following: adjusting the edge luminance of the input image; and adjusting the edge luminance change frequency of the input image.

[0027] For example, according to at least one embodiment of the present disclosure, the first image is different from the second image.

[0028] For example, according to at least one embodiment of the present disclosure, the method further includes: obtaining the image offset when the electronic rearview mirror switches from the first state to the second state; determining the overlapping area between the first image and the second image based on the image offset; and marking the overlapping area on the second image.

[0029] For example, according to at least one embodiment of the present disclosure, the electronic rearview mirror includes a camera and a camera bracket; the camera bracket is used to connect to the vehicle; the mapping relationship includes: a mapping relationship between the rotation angle of the camera bracket and the rotation angle of the camera; wherein, the rotation angle of the camera bracket is negatively correlated with the rotation angle of the camera.

[0030] At least one embodiment of the present disclosure provides an electronic rearview mirror device for a vehicle, comprising: an acquisition module configured to acquire a first image of the electronic rearview mirror in a first state; an acquisition module configured to acquire a switching signal for switching the vehicle from a first driving state to a second driving state; a mapping module configured to acquire a mapping relationship based on the switching signal; a switching module configured to control the electronic rearview mirror to switch from the first state to the second state based on the mapping relationship; and the acquisition module is further configured to acquire a second image of the electronic rearview mirror in the second state.

[0031] At least one embodiment of the present disclosure provides an electronic rearview mirror device, comprising: a first camera and a second camera located on the same side of a vehicle, at least one of the first camera and the second camera being configured to acquire an input image; and a display device configured to display the input image.

[0032] For example, according to at least one embodiment of the present disclosure, the rearview mirror device further includes a connecting unit; the connecting unit is telescopically connected between the first camera and the second camera.

[0033] For example, according to at least one embodiment of the present disclosure, the first camera is configured to acquire an input image, and the second camera is configured to detect abnormal information.

[0034] At least one embodiment of the present disclosure provides a vehicle device, comprising: a vehicle; an electronic rearview mirror device as described in any one of the above items, connected to the vehicle; wherein the electronic rearview mirror device also includes a camera bracket, and at least one of the first camera and the second camera is installed on the camera bracket; the first camera, the second camera and at least one of the camera bracket are configured to be able to move relative to the vehicle.

[0035] At least one embodiment of the present disclosure provides an electronic device, comprising: a memory, which non-transitorily stores computer-executable instructions; and a processor, configured to execute the computer-executable instructions, wherein the computer-executable instructions, when executed by the processor, implement the control method of the electronic rearview mirror according to any one of the above items.

[0036] At least one embodiment of the present disclosure provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the control method of the electronic rearview mirror according to any one of the above items is implemented.

[0037] According to the electronic rearview mirror control method, device, electronic device, and storage medium described in the embodiments of the present disclosure, a mapping relationship is obtained based on a switching signal indicating that a vehicle switches from a first driving state to a second driving state, and the electronic rearview mirror is adjusted based on the mapping relationship to switch the electronic rearview mirror from the first state to the second state. Thus, the first image obtained based on the first state of the electronic rearview mirror, or the second image obtained based on the second state of the electronic rearview mirror, can enable the electronic rearview mirror to provide more information to the driver or passenger, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, rather than limiting the present disclosure.

[0039] FIG1 is a flow chart of a method for controlling an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0040] 2A and 2B are schematic diagrams of a camera of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0041] FIG3 is a schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0042] 4A and 4B are schematic diagrams of different fields of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0043] FIG5A is a schematic diagram of a vehicle changing lanes.

[0044] FIG5B is a schematic diagram of the field of view of an electronic rearview mirror.

[0045] FIG6 is a schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0046] 7A and 7B are schematic diagrams showing the operation of different cameras of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0047] FIG8 is a schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0048] FIG9 is a flowchart of a method for controlling an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0049] 10A to 10D are schematic diagrams of state switching of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0050] 11A and 11B are schematic diagrams of state switching of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0051] FIG12 is a schematic block diagram of an electronic rearview mirror device provided by at least one embodiment of the present disclosure.

[0052] FIG13 is a schematic block diagram of an electronic device provided by at least one embodiment of the present disclosure.

[0053] FIG14 is a schematic diagram of a non-transitory computer-readable storage medium provided by at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0054] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0055] Unless otherwise defined, technical or scientific terms used in this disclosure should have the ordinary meanings understood by people with ordinary skills in the field to which this disclosure belongs. The words "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are simply used to distinguish different components. The words "include" or "comprising" and similar terms mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0056] The features such as "perpendicular", "parallel" and "same" used in this disclosure include the features such as "perpendicular", "parallel" and "same" in the strict sense, as well as the cases where "approximately perpendicular", "approximately parallel" and "approximately the same" include certain errors, taking into account the errors associated with the measurement and the measurement of specific quantities (that is, the limitations of the measurement system), and are expressed as being within the acceptable deviation range for a specific value determined by a person of ordinary skill in the art. The "center" in the embodiments of the present disclosure can include a position strictly at the geometric center and a position approximately at the center of a small area around the geometric center. For example, "approximately" can mean within one or more standard deviations, or within 10% or 5% of the value.

[0057] An electronic rearview mirror (Camera Monitor System, CMS), also known as a camera monitoring system, captures the field of view with a camera, sends signals to an electronic control unit (ECU) for further processing, and displays the field of view for the driver on a display screen. Compared to optical rearview mirrors, electronic rearview mirrors offer a wider field of view, for example, by 10%, reducing blind spots and improving vehicle safety. Furthermore, electronic rearview mirrors can be adjusted to suit the driver's needs, such as displaying additional information and controlling the image. Furthermore, electronic rearview mirrors have less wind resistance, which can reduce fuel consumption.

[0058] For example, vehicles can be divided into three categories: M, N and O. Class M vehicles include passenger cars, pickup trucks and multi-purpose vehicles (MPVs), Class N vehicles include trucks, and Class O vehicles include trailers and semi-trailers.

[0059] Category M vehicles can also be divided into Category M1, Category M2, and Category M3 vehicles. Category M1 vehicles are passenger vehicles with at least three or four wheels, a maximum gross mass exceeding one ton, and no more than eight passenger seats excluding the driver's seat. Category M2 vehicles are passenger vehicles with at least three or four wheels, a maximum gross mass not exceeding five tons, and no more than eight passenger seats excluding the driver's seat. Category M3 vehicles are passenger vehicles with at least three or four wheels, and a maximum gross mass exceeding five tons.

[0060] Category N vehicles can be further divided into Category N1, Category N2, and Category N3. Category N1 vehicles are cargo vehicles with a maximum design gross mass not exceeding 3,500 kg. Category N2 vehicles are cargo vehicles with a maximum design gross mass exceeding 3,500 kg but not exceeding 12,000 kg. Category N3 vehicles are cargo vehicles with a maximum design gross mass exceeding 12,000 kg.

[0061] Category O vehicles can be further divided into Category O1, Category O2, and Category O3. Category O1 vehicles are trailers with a maximum design gross mass not exceeding 750 kg. Category O2 vehicles are trailers with a maximum design gross mass exceeding 750 kg but not exceeding 3,500 kg. Category O3 vehicles are trailers with a maximum design gross mass exceeding 3,500 kg but not exceeding 10,000 kg.

[0062] Furthermore, different mirrors can be selected for indirect vision devices for different types of vehicles based on standards. For example, mirrors include: Category I mirrors (internal mirrors), Category II and Category III mirrors (main exterior mirrors), Category IV mirrors (wide-angle exterior rearview mirrors), Category V mirrors (blind spot replacement exterior rearview mirrors), Category VI mirrors (front view mirrors), and Category VII mirrors (mirrors for Category L vehicles with at least a partially enclosed cab). It is understood that in addition to the aforementioned mirrors, other mirrors can be installed based on specific needs.

[0063] During research, the inventors of the present disclosure found that the adjustment method of the electronic rearview mirror is very limited, and it is difficult to adjust it in real time for different situations in different scenarios, which makes it difficult for the driver or passenger to obtain sufficient information through the electronic rearview mirror.

[0064] At least one embodiment of the present disclosure provides a control method for an electronic rearview mirror for a vehicle, comprising: acquiring a first image of the electronic rearview mirror in a first state; acquiring a switching signal for switching the vehicle from the first driving state to the second driving state; acquiring a mapping relationship according to the switching signal; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; and acquiring a second image of the electronic rearview mirror in the second state.

[0065] At least one embodiment of the present disclosure provides an electronic rearview mirror device for a vehicle, comprising: an acquisition module configured to acquire a first image of the electronic rearview mirror in a first state; an acquisition module configured to acquire a switching signal for switching the vehicle from the first driving state to the second driving state; a mapping module configured to acquire a mapping relationship according to the switching signal; a switching module configured to control the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; and the acquisition module is further configured to acquire a second image of the electronic rearview mirror in the second state.

[0066] At least one embodiment of the present disclosure provides an electronic rearview mirror device, comprising: a first camera and a second camera located on the same side of a vehicle, at least one of the first camera and the second camera being configured to acquire an input image; and a display device configured to display the input image.

[0067] At least one embodiment of the present disclosure provides a vehicle device, comprising: a vehicle; an electronic rearview mirror device connected to the vehicle; wherein the electronic rearview mirror device also includes a camera bracket, at least one of a first camera and a second camera is mounted on the camera bracket; at least one of the first camera, the second camera and the camera bracket is configured to be able to move relative to the vehicle.

[0068] At least one embodiment of the present disclosure provides an electronic device, comprising: a memory, which non-transitorily stores computer-executable instructions; and a processor, configured to execute the computer-executable instructions, wherein the computer-executable instructions, when executed by the processor, implement the control method of the electronic rearview mirror according to any of the above items.

[0069] At least one embodiment of the present disclosure provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the control method of the electronic rearview mirror according to any of the above items is implemented.

[0070] At least one embodiment of the present disclosure provides a control method, device, electronic device, and storage medium for an electronic rearview mirror. Based on a switching signal indicating a vehicle switching from a first driving state to a second driving state, a mapping relationship is obtained, and the electronic rearview mirror is adjusted based on the mapping relationship to switch the electronic rearview mirror from the first state to the second state. Thus, a first image obtained based on the first state of the electronic rearview mirror, or a second image obtained based on the second state of the electronic rearview mirror, can enable the electronic rearview mirror to provide more information to the driver or passenger, thereby improving driving safety.

[0071] The control method, device, electronic device and storage medium of the electronic rearview mirror are described below with reference to the accompanying drawings and through some embodiments.

[0072] FIG1 is a flow chart of a method for controlling an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0073] 1 , a method for controlling an electronic rearview mirror according to at least one embodiment of the present disclosure may be used in a vehicle. The method includes the following steps S110 to S150 .

[0074] S110: Acquire a first image of the electronic rearview mirror in a first state.

[0075] S120: Acquire a switching signal for the vehicle to switch from a first driving state to a second driving state.

[0076] S130: Acquire a mapping relationship according to the switching signal.

[0077] S140 , controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship.

[0078] S150: Acquire a second image of the electronic rearview mirror in a second state.

[0079] As shown in Figure 1, based on a switching signal indicating that the vehicle is switching from a first driving state to a second driving state, a mapping relationship is obtained, and the electronic rearview mirror is adjusted based on the mapping relationship to switch the electronic rearview mirror from the first state to the second state. Thus, the first image obtained based on the first state of the electronic rearview mirror, or the second image obtained based on the second state of the electronic rearview mirror, can enable the electronic rearview mirror to provide more information to the driver or passenger, thereby improving driving safety.

[0080] As shown in FIG1 , for example, in step S110 , the electronic rearview mirror may include a display screen disposed inside the vehicle to display the first image via the display screen. For example, the display screen may be embedded in the vehicle body.

[0081] As shown in Figure 1, for example, in step S120, the vehicle switches from a first driving state to a second driving state, which means that the vehicle's driving behavior state has changed. A switching signal is a signal issued when the driving behavior state changes. For example, the switching signal may be issued when the vehicle starts or brakes. For example, the switching signal may be issued when the vehicle switches between a straight-ahead state and a turning state. For example, the switching signal may be issued when the vehicle is traveling uphill or downhill. Correspondingly, the switching signal may be issued when the vehicle switches from driving on a slope to driving on a flat road. For example, the switching signal may be issued when the vehicle switches between a straight-ahead state and a lane-changing state. For example, the switching signal may be issued when the vehicle accelerates or decelerates. For example, the switching signal may be issued when the vehicle turns right while traveling uphill. For example, the switching signal may be issued when the vehicle decelerates while traveling downhill. Of course, other driving state changes are also possible, and this disclosure is not limited to this.

[0082] As shown in FIG1 , for example, in step S130 , different mapping relationships can be obtained based on different switching signals. For example, a switching signal can be issued based on an operation by a driver or passenger to switch the vehicle from a first driving state to a second driving state, thereby obtaining the mapping relationship.

[0083] As shown in FIG1 , for example, in step S140, the electronic rearview mirror may switch from the first state to the second state because the electronic rearview mirror undergoes a state change that is discernible to the naked eye. For example, the state change may be caused by movement of a portion of the electronic rearview mirror's structure. For example, the state change may be caused by a change in the image displayed in the electronic rearview mirror. Of course, the electronic rearview mirror may also switch from the first state to the second state because a change that is not discernible to the naked eye occurs, and this disclosure is not limited to this.

[0084] As shown in Figure 1, for example, in step S150, the second image may be displayed on a display screen in the electronic rearview mirror. For example, the first image may be the same as or different from the second image.

[0085] In some examples, the electronic rearview mirror includes at least one camera. For example, the electronic rearview mirror may include one camera, and acquire the first image or the second image through the one camera. For example, the electronic rearview mirror may include multiple cameras, thereby obtaining a wider field of view and reducing blind spots through the multiple cameras, and providing more information to the driver or passenger through the first image or the second image acquired by the multiple cameras. Moreover, by providing multiple cameras, simultaneous monitoring of multiple lanes can also be achieved. For example, multiple cameras can be provided on at least one side of the vehicle. For example, multiple cameras can be provided on both the left and right sides of the vehicle. This disclosure does not impose any restrictions on this.

[0086] For example, an electronic rearview mirror can acquire an input image via a camera and display a first image on a display screen. The first image can be a portion of the input image. For example, during the process of switching the electronic rearview mirror from the first state to the second state, the camera can remain motionless while an algorithm retrieves another portion of the input image, causing the display screen to display a second image different from the first image. For example, the camera can acquire an input image with a larger field of view, while displaying only the portion of the image that the user is likely to be interested in.

[0087] For example, when there is only one camera, the camera can be an image sensor. For example, the camera can be a photosensor or a charge coupled device (CCD) camera. For example, when there are two or more cameras, one of the cameras can be set as the main camera, and at least one other camera can be set as a CCD camera. For example, when there are two or more cameras, at least two cameras can be set as different types of cameras to achieve blind spot coverage.

[0088] Figures 2A and 2B are schematic diagrams of cameras of an electronic rearview mirror provided by at least one embodiment of the present disclosure. The difference between Figures 2A and 2B is that the spacing between the two cameras in Figure 2B is different from the spacing between the two cameras in Figure 2A.

[0089] As shown in Figures 2A and 2B, in some examples, at least one camera includes a first camera 100 and a second camera 200 located on the same side of the vehicle 300. For example, the first camera 100 and the second camera 200 can be set on the left side of the vehicle 300. For example, the first camera 100 and the second camera 200 can be set on the right side of the vehicle 300. For example, the first camera can be set to one or more. For example, the second camera can be set to one or more. For example, the first camera and the second camera can be the same type of camera (for example, both are CCD cameras) or different types of cameras (for example, the first camera is a CCD camera and the second camera is an infrared camera).

[0090] 1 to 2B , controlling the electronic rearview mirror to switch from a first state to a second state according to the mapping relationship, i.e., step S140, may include: controlling at least one of the first camera 100 and the second camera 200 to move so as to change the center-line distance between the first camera 100 and the second camera 200. Thus, different fields of view can be obtained by changing the center-line distance between the first camera 100 and the second camera 200, thereby reducing blind spots. For example, the first camera 100 may be controlled to move toward or away from the second camera 200 to change the center-line distance. For example, the second camera 200 may be controlled to move toward or away from the first camera 100 to change the center-line distance. For example, the first camera 100 and the second camera 200 may be controlled to move toward or away from each other to change the center-line distance.

[0091] With reference to Figures 1 to 2B , for example, the first camera 100 can be located outside the second camera 200, with the second camera 200 located between the vehicle 300 and the first camera 100. When the driver needs to focus on an area close to the vehicle 300, the second camera 200 can be controlled to move toward the vehicle 300, thereby changing the field of view of the second camera 200. When the driver needs to focus on an area with a larger field of view, the first camera 100 can be controlled to move away from the vehicle 300, thereby obtaining a larger field of view. Of course, the first camera 100 and the second camera 200 can also be moved according to different circumstances, and this disclosure is not limited thereto.

[0092] In some examples, the electronic rearview mirror includes a connection unit. The connection unit is retractably connected between the first camera and the second camera to change the center-to-center distance. For example, the connection unit can change the center-to-center distance based on the acquired mapping relationship in response to a switching signal. For example, the connection unit can be a telescopic connector.

[0093] In some examples, the switching signal includes at least one of a turn signal, a vehicle slope signal, a vehicle speed signal, and a lane change signal. Different mapping relationships can be obtained based on different switching signals, thereby switching the state of the electronic rearview mirror. Of course, the switching signal may also include other switching signals, and this disclosure is not limited to this. It is understood that the switching signal can be obtained by sensors on the vehicle, by images captured by a camera, or by user control instructions, and this disclosure is not limited to this.

[0094] For example, a turn signal may be a signal when a vehicle is turning, or a signal when the vehicle is preparing to turn. For example, a turn signal may be a signal when a vehicle is traveling straight and is turning. For example, a turn signal may be a signal when a vehicle is preparing to turn while waiting at a red light.

[0095] For example, the vehicle slope driving signal may be a signal indicating that the vehicle is traveling on a sloping road. For example, the vehicle slope driving signal may be a signal indicating that the vehicle is traveling uphill. For example, the vehicle slope driving signal may be a signal indicating that the vehicle is traveling downhill. For example, the current road slope may be obtained using an onboard level meter or an onboard inclinometer.

[0096] For example, the vehicle speed signal may be a signal of the vehicle traveling at different speeds. For example, the vehicle speed signal may be a signal of the vehicle accelerating. For example, the vehicle speed signal may be a signal of the vehicle decelerating. For example, the vehicle speed signal may be a signal of the vehicle traveling at a constant speed.

[0097] For example, the lane change signal may be a signal when the vehicle changes lanes, for example, it may be a signal when the vehicle merges from the right lane to the left lane, or it may be a signal when the vehicle merges from the left lane to the right lane.

[0098] In some examples, the mapping relationship includes at least one of a mapping relationship between steering amplitude and center-line distance, a mapping relationship between current slope and center-line distance, a mapping relationship between current speed and center-line distance, and a lane change distance and center-line distance. For example, the mapping relationship between steering amplitude and center-line distance can be obtained based on a steering signal. For example, the mapping relationship between current slope and center-line distance can be obtained based on a vehicle slope signal. For example, the mapping relationship between current speed and center-line distance can be obtained based on a vehicle speed signal. For example, the mapping relationship between lane change distance and center-line distance can be obtained based on a lane change signal.

[0099] In some examples, the steering amplitude includes a steering wheel rotation angle or a tire steering angle. For example, a larger steering wheel rotation angle indicates a larger steering amplitude. For example, a larger tire steering angle indicates a larger steering amplitude. For example, the magnitude of the steering wheel rotation angle and the tire steering angle may not distinguish between clockwise rotation and counterclockwise rotation. For example, when the steering wheel is rotated 30° clockwise and 30° counterclockwise, the steering amplitude can be considered to be the same. The steering wheel rotation angle or the tire steering angle is positively correlated with the center line distance. For example, the larger the steering wheel rotation angle or the tire steering angle, the larger the center line distance. For example, the smaller the steering wheel rotation angle or the tire steering angle, the smaller the center line distance.

[0100] As the steering wheel or tire steering angle increases, the distance between the centers of the first and second cameras increases, providing the driver with a wider field of view. For example, the first camera can be located outside the second camera, and the first camera can be adjusted to move away from the second camera (that is, away from the vehicle body). This allows the first camera to capture more image information, reducing blind spots and promoting safer driving.

[0101] For example, in response to the vehicle slope driving signal, it can be determined whether the vehicle is in an uphill driving state or a downhill driving state. For example, when the vehicle is driving uphill, the speed of the vehicle will slow down accordingly, and the driver needs to observe the road conditions and the traffic conditions around the vehicle more accurately to ensure that the vehicle is driving stably when going uphill. Adjusting the center line distance between the first camera and the second camera according to the current slope can provide the driver with a wider field of view, helping the driver to judge the steepness and curvature of the slope and avoid accidents caused by poor vision. In addition, when driving uphill, more space and time are usually required to complete overtaking or lane changes. By adjusting the center line distance between the first camera and the second camera, traffic conflicts and dangerous driving behaviors caused by limited vision can also be prevented.

[0102] For example, when traveling downhill, the vehicle's speed is relatively high. Adjusting the distance between the center lines of the first and second cameras based on the current slope helps the driver observe road conditions. Furthermore, adjusting the distance between the first and second cameras creates a wider field of view, helping the driver better observe road conditions, particularly potential potholes, road damage, and obstacles. This allows the driver to make timely driving adjustments and avoid accidents or vehicle damage due to poor road conditions.

[0103] For example, the vehicle speed signal can be used to determine whether the vehicle is traveling at high or low speed. For example, at high speed, the vehicle's speed is very high, and the vehicles and road conditions behind it change more rapidly. By adjusting the center-to-center distance between the first and second cameras based on the vehicle's current speed, the driver can more clearly observe the following vehicle's progress, making timely decisions to overtake or change lanes, and reducing safety hazards caused by blind spots.

[0104] While the vehicle is traveling slowly, road conditions are often complex, such as congested or narrow roads. By adjusting the center-to-center distance between the first and second cameras based on the vehicle's current speed, the driver can gain a wider field of view, providing a clearer view of surrounding vehicles and pedestrians, thus avoiding traffic conflicts and accidents. Furthermore, this wider field of view helps the driver better observe both sides of the road, especially when parking or reversing, allowing for a clearer view of the vehicle's surroundings and reducing the risk of collisions.

[0105] For example, in response to a lane change signal, the vehicle's lane change distance can be determined. For example, when changing lanes, the lane change distance can be determined based on the number of lanes. For example, by adjusting the center-line distance between a first camera and a second camera, the number of monitored lanes can be controlled, thereby improving driving safety and convenience.

[0106] FIG3 is a schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0107] Referring to FIG3 , in some examples, controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling at least one of the first camera 101 and the second camera 201 to rotate to a first preset rotation angle, the first preset rotation angle being negatively correlated with the center connection distance. For example, the first camera 101 may be controlled to rotate to the first preset rotation angle, the second camera 201 may be controlled to rotate to the first preset rotation angle, or the first camera 101 and the second camera 201 may be controlled to rotate to the first preset rotation angle at the same time, and the present disclosure does not impose any restrictions on this. The first preset rotation angle is negatively correlated with the center connection distance, that is, the larger the center connection distance is, the smaller the first preset rotation angle is, and conversely, the smaller the center connection distance is, the larger the first preset rotation angle is. When the distance between the first camera 101 and the second camera 201 is small, the overlap of the fields of view of the first camera 101 and the second camera 201 is large. By adjusting the rotation of at least one of the first camera 101 and the second camera 201, the overlap of the fields of view of the first camera 101 and the second camera 201 can be further reduced, thereby increasing the field of view of the first camera 101 and the second camera 201, thereby reducing the blind spot. Of course, when the first camera 101 and the second camera 201 are operating simultaneously, the overlap of their fields of view can also be further reduced by controlling the rotation angle of the first camera 101 and the second camera 201.

[0108] Referring to Figure 1, in some examples, at least one camera includes a first camera and a second camera; controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: controlling the movement of at least one of the first camera and the second camera to switch the electronic rearview mirror from the first state to the second state. For example, by controlling the movement of the first camera, the movement of the second camera can be controlled, and the movement of the first camera and the second camera can also be controlled. For example, the first camera can be fixedly connected to the vehicle, and the second camera can be controlled to move. For example, the second camera can be fixedly connected to the vehicle, and the first camera can be controlled to move. For example, both the first camera and the second camera can be controlled to move. In this way, the field of view of the electronic rearview mirror can be adjusted to meet different user needs.

[0109] 1 , in some examples, controlling the electronic rearview mirror to switch from a first state to a second state according to a mapping relationship, i.e., step S140, may include: controlling the first camera and the second camera to move synchronously or separately so that the electronic rearview mirror switches from the first state to the second state. For example, the first camera may be a camera located on the left side of the vehicle, and the second camera may be a camera located on the right side of the vehicle. For example, the first camera and the second camera may both be located on the left side of the vehicle, or both on the right side of the vehicle. For example, the movement of the first camera and the second camera may be controlled synchronously. For example, the movement of the first camera and the second camera may be controlled separately. For example, the first camera and the second camera may be controlled to rotate 45° clockwise at the same time. For example, the first camera and the second camera may be controlled to rotate simultaneously, and the first camera may be rotated 30° and the second camera may be rotated 60°. For example, the second camera may be controlled to move away from the vehicle while the first camera is being controlled to move away from the vehicle. Of course, the synchronization or separate control of the first camera and the second camera may also be achieved in other ways, which are not limited by the present disclosure.

[0110] With reference to FIG1 , in some examples, controlling the electronic rearview mirror to switch from a first state to a second state according to a mapping relationship, that is, step S140, may include: controlling at least one camera to rotate to change the rotation angle of at least one camera. For example, the electronic rearview mirror may include one camera, and the electronic rearview mirror may be switched from a first state to a second state by rotating one camera. For example, the electronic rearview mirror may include multiple cameras, and the electronic rearview mirror may be switched from a first state to a second state by controlling one or more of the multiple cameras to rotate. For example, the camera may be fixed to the vehicle, and the camera may be a spherical camera, so that it has at least four degrees of freedom (up, down, left, and right), thereby facilitating rotation.

[0111] Referring to Figures 1 to 2B , for example, the electronic rearview mirror may further include a camera bracket 10 connected to the vehicle 300. The camera bracket 10 may be made of a polymer material. For example, the driver may control the four degrees of freedom of the lens of the dome camera via a display screen. This may be accomplished by embedding signal transmission lines in the camera bracket or designing a control circuit into the vehicle's master control system. For example, the camera may be rotatably connected to the camera bracket. Alternatively, the camera may be fixed to the camera bracket and rotatably connected to the vehicle.

[0112] 4A and 4B are schematic diagrams of different fields of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0113] Referring to FIG4A and FIG4B , in some examples, the switching signal includes a vehicle slope driving signal. The mapping relationship may include: a mapping relationship between the vehicle's current slope and a second preset rotation angle. Controlling the electronic rearview mirror from the first state to the second state based on the mapping relationship, i.e., step S140, may include: controlling the camera to rotate to the second preset rotation angle. For example, a mapping relationship between the vehicle's current slope and the second preset rotation angle may be obtained based on the vehicle slope driving signal, thereby controlling the camera to rotate to the second preset rotation angle.

[0114] For example, the current slope of the vehicle can be used to determine whether the vehicle is in an uphill or downhill driving state, thereby determining the second preset rotation angle. For example, the current slope of the vehicle can be determined based on a vehicle-mounted level or a vehicle-mounted inclinometer. Referring to Figures 4A and 4B, taking the vehicle going uphill as an example, when the camera is not adjusted, the center line of the camera's field of view is basically parallel to the ground, thereby losing a larger field of view, and most of the field of view will display the ground situation. When a vehicle is coming quickly from a distance behind, especially when the driver of the vehicle behind is negligent (such as inattention, fatigue driving, etc.), if the driver of the vehicle on the slope fails to observe the vehicle behind in time, there may be a hidden danger of vehicle collision. By controlling the camera to rotate upward (as shown in Figure 4B), it is easier for the driver to see more of the rear view.

[0115] For example, in response to the vehicle being driven uphill, a second preset rotation angle can be determined to rotate the camera upward. For example, in response to the vehicle being driven downhill, a second preset rotation angle can be determined to rotate the camera downward. This allows the driver to see more of the rearward view. For example, if the vehicle turns right while driving uphill, the camera can be controlled to rotate upward and right, thereby allowing the driver to see more of the upper right view and the rearward view.

[0116] For example, the vehicle's current slope can be positively correlated with the second preset rotation angle. For example, the greater the vehicle's current slope, the greater the second preset rotation angle, thereby automatically adjusting the camera. Of course, other relationships between the vehicle's current slope and the second preset rotation angle can also be set, and this disclosure is not limited to this.

[0117] Referring to FIG. 1 , in some examples, the switching signal includes a vehicle speed signal. The mapping relationship may include a mapping relationship between the vehicle's current speed and a third preset rotation angle. Controlling the electronic rearview mirror from the first state to the second state based on the mapping relationship, i.e., step S140, may include controlling the camera to rotate to the third preset rotation angle. For example, a mapping relationship between the vehicle's current speed and the third preset rotation angle may be obtained based on the vehicle speed signal, thereby controlling the camera to rotate to the third preset rotation angle.

[0118] For example, a reference speed may be pre-set. In response to the current vehicle speed being greater than or equal to the reference speed, a third preset rotation angle may be determined based on the current vehicle speed to cause the camera to rotate upward. When the current vehicle speed is greater than or equal to the reference speed, the vehicle may be considered to be traveling at a high speed, and the driver may be paying less attention to the ground. The camera may be rotated upward to obtain a more rearward-facing view. For example, in response to the current vehicle speed being less than the reference speed, a third preset rotation angle may be determined based on the current vehicle speed to cause the camera to rotate downward. When the current vehicle speed is less than the reference speed, the vehicle may be considered to be traveling at a low speed. For example, the vehicle may be preparing to park. In this case, the driver may be paying more attention to the ground, and the camera may be rotated downward to obtain a more accurate view of the ground.

[0119] Referring to FIG. 1 , in some examples, the switching signal includes a turn signal. The mapping relationship may include a mapping relationship between the vehicle's steering amplitude and a fourth preset rotation angle. Controlling the electronic rearview mirror from the first state to the second state based on the mapping relationship, i.e., step S140, may include controlling the camera to rotate to the fourth preset rotation angle. For example, a mapping relationship between the vehicle's steering amplitude and the fourth preset rotation angle may be obtained based on the turn signal, thereby controlling the camera to rotate to the fourth preset selected angle.

[0120] For example, the steering amplitude includes a steering wheel rotation angle or a tire steering angle. For example, the steering wheel rotation angle or the tire steering angle is positively correlated with the fourth preset rotation angle. For example, the larger the steering wheel rotation angle or the tire steering angle, the larger the fourth preset rotation angle. For example, the smaller the steering wheel rotation angle or the tire steering angle, the smaller the fourth preset rotation angle.

[0121] The greater the steering wheel rotation angle or the tire steering angle, the greater the camera rotation angle, which can provide the driver with a larger field of view, so that the image information captured by the camera is larger and the blind spot of the field of view is smaller, which is beneficial to driving safety.

[0122] Referring to FIG. 1 , in some examples, the electronic rearview mirror includes a left-side camera located on the left side of the vehicle and a right-side camera located on the right side of the vehicle, and the switching signal includes a lane change signal. The mapping relationship includes: when the switching signal is a left-turn signal, a mapping relationship between the steering amplitude and a fifth preset rotation angle; when the switching signal is a right-turn signal, a mapping relationship between the steering amplitude and a sixth preset rotation angle. Controlling the electronic rearview mirror to switch from a first state to a second state based on the mapping relationship, i.e., step S140, includes: when the turn signal is a left-turn signal, controlling the left-side camera to rotate to a fifth preset rotation angle; and when the turn signal is a right-turn signal, controlling the right-side camera to rotate to a sixth preset rotation angle.

[0123] For example, when the vehicle changes lanes to the left, the steering wheel rotation angle or tire steering angle can be used to determine that it is a left turn signal, thereby controlling the rotation of the left camera. For example, when the vehicle changes lanes to the right, the steering wheel rotation angle or tire steering angle can be used to determine that it is a right turn signal, thereby controlling the rotation of the right camera.

[0124] Figure 5A is a schematic diagram of a vehicle changing lanes, Figure 5B is a schematic diagram of the field of view of an electronic rearview mirror, and Figure 6 is a schematic diagram of the field of view of an electronic rearview mirror provided in at least one embodiment of the present disclosure.

[0125] Referring to Figures 1, 5A, and 5B, when a vehicle needs to change lanes to the left, it typically needs to observe the conditions in the left rear lane. Correspondingly, when changing lanes to the right, it needs to observe the conditions in the right rear lane. Taking a lane width of 3.5 meters as an example, as shown in Figure 5B, the field of view of some rearview mirrors is insufficient to fully cover two or more lanes. When a vehicle is making multiple lane changes to the left, the vehicle cannot see the conditions in multiple lanes and can only merge to the left lane one by one. This reduces merging efficiency, causes traffic congestion, and increases the risk of traffic accidents. Referring to Figure 6, in an embodiment of the present disclosure, when the turn signal is left, the left camera can be controlled to rotate by a fifth preset angle to obtain a wider field of view on the left side, allowing the driver to see conditions in more lanes, thereby improving merging efficiency. For example, when the turn signal is right, the right camera can be controlled to rotate by a fifth preset angle to facilitate merging to the right.

[0126] For example, multiple left-side cameras on the left side of the vehicle can be configured. For example, multiple right-side cameras on the right side of the vehicle can be configured. This allows for simultaneous monitoring of multiple lanes and control over the number of monitored lanes.

[0127] In some examples, the electronic rearview mirror includes a left-side camera located on the left side of the vehicle and a right-side camera located on the right side of the vehicle, and the switching signal includes a turn signal; the mapping relationship includes: when the switching signal is a left turn signal, a mapping relationship between the steering amplitude and the seventh preset rotation angle; when the switching signal is a right turn signal, a mapping relationship between the steering amplitude and the eighth preset rotation angle; according to the mapping relationship, the electronic rearview mirror is controlled to switch from a first state to a second state, including: when the turn signal is a left turn signal, controlling the left camera to rotate the seventh preset rotation angle; when the turn signal is a right turn signal, controlling the right camera to rotate the eighth preset rotation angle.

[0128] For example, when the turn signal is a left turn signal, the vehicle makes or prepares to make a left turn, and there will be a blind spot on the left rear side of the vehicle. By adjusting the viewing angle of the left camera, this blind spot can be compensated, helping the driver to observe vehicles and pedestrians on the right rear side, thereby improving driving safety. For example, the left camera can be deflected to the lower left so that obstacles on the left side of the ground can be seen more clearly. Of course, when the turn signal is a left turn signal, the right camera can also be controlled to rotate to see more of the right side. Correspondingly, when the turn signal is a right turn signal, the blind spot can be reduced by adjusting the viewing angle of the right camera. Of course, when the turn signal is a left turn signal, the viewing angle of the left camera can also be adjusted, and the present disclosure does not limit this.

[0129] In some examples, the method further includes determining whether the switching signal is a left turn signal or a right turn signal based on the steering wheel rotation direction or the tire steering direction. For example, the switching signal may be determined to be a right turn signal based on a clockwise rotation of the steering wheel. For example, the switching signal may be determined to be a left turn signal based on a counterclockwise rotation of the steering wheel. For example, the switching signal may be determined to be a left turn signal based on a tire steering to the left. For example, the switching signal may be determined to be a right turn signal based on a tire steering to the right.

[0130] Referring to Figure 1, in some examples, the electronic rearview mirror includes a first camera and a second camera located on the same side of the vehicle. For example, the first camera and the second camera can both be located on the left side of the vehicle. For example, the first camera and the second camera can both be located on the right side of the vehicle. The switching signal includes a lane change signal, and the mapping relationship includes: a mapping relationship between the lane change distance and the working state. Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship, that is, step S140, may include: in response to the lane change distance being greater than the preset lane change distance, changing the first camera from the working state to the non-working state, and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state. During the process of changing lanes of the vehicle, by alternating the operation of the first camera and the second camera, on the one hand, energy consumption can be saved, and on the other hand, a camera with a more suitable field of view can be selected according to different needs during the lane change process, thereby improving driving safety.

[0131] 7A and 7B are schematic diagrams showing the operation of different cameras of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0132] Referring to Figures 7A and 7B , for example, the second camera 202 can be located outboard of the first camera 102, with the first camera 102 positioned between the vehicle 300 and the second camera 202. While the vehicle 300 is traveling straight ahead, the first camera 102 can be enabled. When the vehicle 300 needs to turn, change lanes, or require a wider field of view, the second camera 202 can be enabled and the first camera 102 can be disabled. This allows the driver to obtain a larger field of view through the outboard second camera 202, expanding the driver's field of view and more effectively observing traffic behind them, thereby enabling them to anticipate potential dangers. For example, when changing lanes to the right and the distance between them exceeds a preset distance, the second camera 202 on the right side of the vehicle 300 can be controlled to operate in place of the first camera 102 on the right side of the vehicle 300, saving energy while facilitating the driver's observation of traffic to the right and rear.

[0133] Referring to Figure 1, in some examples, the electronic rearview mirror includes a first camera and a second camera located on the same side of the vehicle, and the switching signal includes a lane change signal. The mapping relationship includes: a mapping relationship between the lane change distance and the working state. According to the mapping relationship, the electronic rearview mirror is controlled to switch from the first state to the second state, that is, step S140, including: in response to the lane change distance being greater than the preset lane change distance, keeping the first camera in the working state, and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state. For example, while the first camera is in the working state, in response to the lane change distance being greater than the preset lane change distance, the second camera can be controlled to work, thereby obtaining a better field of view through the two cameras.

[0134] For example, the first camera may be a telephoto camera, and the second camera may be a wide-angle camera. A telephoto camera is a lens with a narrow viewing angle and typically has a long focal length, allowing it to capture distant objects. A wide-angle camera is a camera with a wide-angle function. With a short focal length and a wide viewing angle, it can capture a larger area within a shorter shooting distance. For example, when a vehicle is traveling straight ahead, the telephoto camera can be used to obtain a longer-range field of view. When the vehicle needs to change lanes, the wide-angle camera can be controlled to obtain a wider field of view.

[0135] It is understandable that the first camera and the second camera can also select different cameras to work or not work in response to different external environments, thereby maximizing the performance of different cameras. This disclosure is not limited to this.

[0136] For example, in a scenario where a first camera and a second camera are located on the same side of a vehicle, the first camera can be positioned outside the second camera, meaning the second camera is positioned between the first camera and the vehicle. The second camera, located closer to the vehicle, can be set as the primary camera, while the first camera can be set as the secondary camera. For example, the primary image in either the first or second image can be captured by the first camera, while the second camera can be used to compensate for the image.

[0137] For example, an electronic rearview mirror may include a first camera and a second camera. The first camera can be set as the primary camera and the second camera as the secondary camera. The first and second cameras can each perform different functions. For example, the first camera can capture the first or second image, while the second camera can be controlled by the passenger to perform entertainment functions. For example, the second camera can perform functions such as image zoom, image scaling, and vehicle recognition.

[0138] Referring to FIG. 1 , in some examples, the electronic rearview mirror includes at least two cameras; obtaining a first image of the electronic rearview mirror in a first state, i.e., step S110, includes: obtaining at least two first sub-images of the at least two cameras in the first state, respectively; and fusing the at least two first sub-images to obtain the first image. Obtaining a second image of the electronic rearview mirror in a second state, i.e., step S150, includes: obtaining at least two second sub-images of the at least two cameras in the second state, respectively; and fusing the at least two second sub-images to obtain the second image. For example, when at least two cameras are operating simultaneously, the images obtained by the at least two cameras can be fused to prevent overlapping of viewpoints between cameras and overlap of sub-images, thereby preventing the display from being affected, thereby ensuring that the display screen can display a complete image.

[0139] FIG8 is a schematic diagram of the field of view of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0140] 8 , in some examples, the electronic rearview mirror includes a first camera 103 and a second camera 203. The electronic rearview mirror is configured to satisfy at least one of the following conditions: the first camera 103 is configured to acquire an input image, the input image including a first image and a second image; the second camera 203 is configured to detect abnormal information. It will be understood that FIG8 only schematically illustrates that multiple cameras may be provided on the same side of the vehicle, and does not limit the relative positional relationship between the cameras. For example, the first camera may be an image sensor. The first camera may be a photosensor or a CCD camera. For example, the second camera may be an infrared camera. It will be understood that the first camera and the second camera may also be other types of cameras or sensors, and the present disclosure does not limit this.

[0141] For example, the first camera is a CCD camera, and the second camera is an infrared camera. The second camera (the infrared camera) can be used only to detect abnormal information and not contribute to the image, saving computing power and other resources. It only comes into play when the infrared camera detects a risk (such as when a large vehicle is reversing). For example, during normal driving, the first camera can be controlled to capture the first or second image, and the first or second image can be displayed on the display screen of the electronic rearview mirror. In this case, the image captured by the infrared camera may not be displayed on the display screen.

[0142] In some examples, the method further includes: issuing an alarm in response to the second camera detecting abnormal information; wherein the alarm includes at least one of a voice message reminder and a screen display reminder. For example, when abnormal information appears outside the image currently displayed on the display screen but within the working range of the infrared camera (for example, a child suddenly intrudes into the working range of the infrared camera), the alarm reminder can be automatically triggered. For example, a voice message reminder can be used to warn the driver. For example, a screen display reminder can be displayed on the display screen to warn the driver.

[0143] In some examples, the screen display reminder includes at least one of the following: adjusting the edge luminance of the input image; adjusting the frequency of edge luminance changes of the input image. For example, adjusting the edge luminance of the input image may be adjusting the luminance of the surrounding area of ​​the input image, thereby alerting the driver without affecting the driver's viewing of the screen. For example, the abnormality information may include the distance between the abnormal factor and the vehicle, thereby achieving different brightness intensities depending on the distance. For example, when the distance is closer, brighter brightness can be displayed. For example, the flashing frequency of the input image can be adjusted. For example, when the distance is closer, the frequency of brightness changes can be faster.

[0144] For example, the abnormality information can also include the relative positional relationship between the abnormal factor and the vehicle, thereby using this relative positional relationship to issue warnings at different locations in the input image. For example, the relative positional relationship between the abnormal factor and the vehicle can be determined based on the positional relationship between the second camera and the first camera. For example, if the second camera detects an abnormal factor in the lower right corner of the first camera, a corresponding on-screen warning can be issued in the lower right corner of the input image.

[0145] For example, multiple second cameras can be placed around a first camera, spaced apart from each other. For example, a second camera can be placed above, below, left, and right of the first camera. For example, when the upper second camera detects abnormal information, a corresponding warning can be issued at the top edge of the input image. For example, a first camera and a second camera can be set up, with the second camera controlled to perform periodic scanning around the first camera.

[0146] For example, a slide rail can be set around the first camera, and the second camera can be set in the slide rail. By controlling the periodic movement of the second camera in the slide rail, the periodic scanning of the second camera can be achieved. For example, the center line of the field of view of the first camera can be set as the reference axis, and the center of the second camera can be set on the reference axis and behind the first camera. For example, the center line of the field of view of the second camera can be set to form an angle with the center line of the field of view of the first camera, so that the second camera can rotate with its center point as the center of the circle, and detect the periphery of the first camera. For example, the relative position relationship between the abnormal factor and the vehicle can be determined during the rotation of the second camera, so as to issue a warning at the corresponding edge of the input screen.

[0147] For example, different control modes can be triggered according to different operations of the user (driver, passenger, etc.). For example, in response to the driver's failure to perform an operation within a unit time threshold (for example, the driver fails to notice the alarm information), the vehicle can be emergency braked. For example, in response to the driver's touch operation on the display screen, the current input screen (for example, the first image) in the display screen can be reconstructed to display a screen with a larger field of view (for example, the second image), so that abnormal factors are displayed in the reconstructed screen. For example, the screen can be reconstructed in response to the user's line of sight or gaze focusing on the input screen. For example, the screen can be reconstructed in response to the user's voice notification through a voice notification system. For example, the screen can be reconstructed by focusing the camera. For example, the screen can be reconstructed by virtual screen reconstruction, such as by splicing a CCD camera and an infrared camera.

[0148] For example, the display screen can be controlled to slowly switch between the current screen (e.g., the first screen) and the reconstructed screen showing the abnormal factor (e.g., the second screen). For example, the camera's movement can be controlled without changing its focal length, such as controlling the lens swing of a dome camera.

[0149] For example, abnormal objects in abnormal information can be marked. For example, when an abnormal object appears in the input image captured by the first camera and displayed on the display screen, the abnormal object can be marked, thereby improving visualization and more vividly reminding the user. For example, after the display screen is reconstructed from the current image, the reconstructed abnormal object can be marked. For example, the abnormal object can be selected and tracked.

[0150] In some examples, the first image and the second image are different. For example, during initialization of the display screen, the initial position of the camera can be adjusted by touching the display screen so that the camera remains in a position consistent with the user's driving habits. For example, the first image can be an image captured by the camera at the initial position. For example, based on some of the aforementioned examples, the second image can be an image captured after the camera moves, or an image reconstructed based on the first image. For example, the first image can be captured by resetting the camera in response to a user control command.

[0151] For example, in combination with some of the aforementioned examples, the vehicle switches from the first driving state to the second driving state, which may be a state switch from turning to straight driving, from a slope to a flat road, etc. In this case, the camera may also switch from the current position back to the initial state (e.g., reset).

[0152] For example, in conjunction with some of the aforementioned examples, when the camera in the electronic rearview mirror detects abnormal information, the screen can be reconstructed to display a second image. When the abnormal information disappears or the dangerous situation is resolved, the second image can be restored to the first image. For example, the screen can be reset by touching the screen, or the screen can be automatically reset.

[0153] Figure 9 is a flow chart of a control method for an electronic rearview mirror provided by at least one embodiment of the present disclosure. Figures 10A to 10D are schematic diagrams of state switching of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0154] 9 to 10D , in some examples, the method further includes the following steps S210 to S230 .

[0155] Step S210: Obtaining an image offset when the electronic rearview mirror switches from a first state to a second state.

[0156] Step S220: Determine an overlapping area between the first image and the second image based on the image offset.

[0157] Step S230: Mark the overlapping area on the second image.

[0158] The image offset obtained by the electronic rearview mirror can determine the area where the first image S1 and the second image S2 displayed on the display screen overlap. By marking this overlapping area on the second image S2, the user can be informed of the offset of the second image S2 compared to the first image S1, thereby allowing the user to have a certain degree of judgment and understanding of the degree to which the current image (e.g., the second image S2) deviates from the image at the initial position (e.g., the first image S1).

[0159] With reference to Figures 9 to 10D , for example, in step S210, the image offset can be determined after the electronic rearview mirror switches state. For example, after the camera 105 rotates, the field of view changes accordingly, and the captured image changes compared to before the rotation. Thus, the image offset can be determined based on the rotation angle of the camera 105. For example, when the camera moves or switches, the field of view changes accordingly, and the image offset can be determined based on the movement distance or switching method of the camera. For example, in conjunction with the aforementioned example, the first image and the second image can also be obtained by selecting different images (e.g., the first image and the second image) from the input image captured by the camera when the camera is not moving.

[0160] 9 to 10D , for example, in step S220, the degree of offset of the second image S2 relative to the first image S1 can be determined based on the image offset, thereby obtaining an overlapping area. For example, the overlapping area between the first image S1 and the second image S2 can correspond to the overlapping area of ​​the field of view of the camera 105 before and after the rotation.

[0161] Referring to Figures 9 to 10D , for example, in step S230, by marking the overlapping area, the user can more intuitively see the relationship between the second image S2 and the first image S1, thereby determining the current screen offset. For example, the boundary of the overlapping area can be obtained and marked on the second image S2. For example, a dashed box that coincides with the boundary of the overlapping area can be determined and displayed on the second image S2 at a position corresponding to the overlapping area. Of course, other methods can also be used to mark the overlapping area, such as dividing the overlapping area on the second image with a dashed line, and the present disclosure is not limited to this.

[0162] In conjunction with the above example, let's take the switching signal as a vehicle slope driving signal as an example for explanation. Referring to Figures 10A and 10B, Figure 10A shows the orientation of the camera when the vehicle is traveling straight ahead. For example, the camera can be in its initial position at this time. For example, if the vehicle is determined to be in an uphill state based on the current slope, the camera 10 can be controlled to rotate upward by a second preset rotation angle (as shown in Figure 10B) to switch the electronic rearview mirror from the first state to the second state, thereby obtaining a larger upward field of view. For example, the camera 10 shown in Figure 10B can be a dome camera, and the gray area can represent the camera lens. Due to the change in the angle of the camera 10, the field of view of the camera 10 changes. The first image S1 captured by the electronic rearview mirror in the first state and the second image S2 captured in the second state can be different, and the images displayed on the electronic rearview mirror display can be different. Therefore, a dotted box can be displayed in the second image S2 so that the driver can have a certain degree of judgment and understanding of the degree of offset of the second image relative to the first image, thereby understanding the degree of camera offset.

[0163] In combination with the above examples, the switching signal is taken as a turn signal as an example for explanation. Referring to Figures 10A and 10C, for example, the vehicle can determine that the switching signal is a right turn signal based on the steering wheel rotation angle to control the camera (or the lens of the camera) to rotate left by a fourth preset rotation signal (for example, to deflect outward). At this time, the rectangular box can represent the second image S2 obtained by the electronic rearview mirror in the second state, the dotted box can represent the first image S1 obtained by the electronic rearview mirror in the first state, and the overlapping part between the dotted box and the rectangular box can represent the overlapping area between the first image S1 and the second image S2. It can be seen that by controlling the camera to rotate to the left, more rear view of the left side can be obtained, thereby reducing the blind spot. Referring to Figures 10A and 10D, by controlling the camera to rotate toward the lower left, more lower left field of view can be obtained.

[0164] 11A and 11B are schematic diagrams of state switching of an electronic rearview mirror provided by at least one embodiment of the present disclosure.

[0165] For example, the camera bracket 10 and the vehicle 300 can be connected by a rotating shaft 310. The present disclosure does not impose any restrictions on this. For example, the camera 105 and the camera bracket 10 in the electronic rearview mirror are located outside the vehicle. When the camera bracket 10 drives the camera 105 to move toward the vehicle 300, not only can the field of view of the camera 105 be adjusted as needed, but the overall movement of the vehicle 300, the camera 105, and the camera bracket 10 can also be made smoother, reducing wind resistance and helping to prevent scratches in narrow lanes. It is understandable that it is possible to add a rotating shaft extending in a direction perpendicular to the ground, and it is also possible to add a rotating shaft extending in a direction parallel to the ground. In this way, the camera can be adjusted in the left and right directions or in the up and down directions according to actual needs.

[0166] In some examples, the electronic rearview mirror includes a camera and a camera bracket; the camera bracket is used to connect to the vehicle. The mapping relationship includes: a mapping relationship between the rotation angle of the camera bracket and the rotation angle of the camera. The rotation angle of the camera bracket is negatively correlated with the rotation angle of the camera. For example, when a vehicle is driving in a narrow lane, by controlling the camera bracket to rotate in a direction close to the vehicle, that is, "bending" the camera bracket and the camera as a whole inward, the width of the whole formed by the vehicle and the electronic rearview mirror is made smaller to prevent scratches. At the same time, the rotation angle of the camera is negatively correlated with the rotation angle of the camera bracket, that is, the camera can be rotated outward, so that when the input picture obtained by the camera is displayed on the display screen, the first image of the electronic rearview mirror in the first state and the second image in the second state remain unchanged.

[0167] FIG12 is a schematic block diagram of an electronic rearview mirror device provided by at least one embodiment of the present disclosure.

[0168] With reference to FIG12 , at least one embodiment of the present disclosure provides an electronic rearview mirror device 600 for use in a vehicle. For example, the electronic rearview mirror device 600 may include an acquisition module 601, an acquisition module 602, a mapping module 603, and a switching module 604. These components are interconnected via a bus system and / or other forms of connection mechanisms (not shown). For example, these modules may be implemented by hardware (e.g., circuit) modules, software modules, or any combination thereof. The following embodiments are the same and will not be described in detail. For example, these units may be implemented by a central processing unit (CPU), a graphics processing unit (GPU), a tensor processing unit (TPU), a field programmable gate array (FPGA), or other forms of processing units with data processing capabilities and / or instruction execution capabilities, as well as corresponding computer instructions. It should be noted that the components and structures of the electronic rearview mirror device 600 shown in FIG12 are merely exemplary and non-restrictive. The electronic rearview mirror device 600 may also have other components and structures as needed.

[0169] 12 , for example, the acquisition module 601 is configured to acquire a first image of the electronic rearview mirror in a first state.

[0170] 12 , for example, the acquisition module 602 is configured to acquire a switching signal indicating that the vehicle switches from a first driving state to a second driving state.

[0171] 12 , for example, the mapping module 603 is configured to obtain a mapping relationship according to a switching signal.

[0172] 12 , for example, the switching module 604 is configured to control the electronic rearview mirror to switch from a first state to a second state according to a mapping relationship.

[0173] 12 , for example, the acquisition module 601 is further configured to acquire a second image of the electronic rearview mirror in a second state.

[0174] Referring to Figure 12, for example, the acquisition module 601, the acquisition module 602, the mapping module 603, and the switching module 604 may include codes and programs stored in a memory; the processor may execute the codes and programs to implement some or all of the functions of the acquisition module 601, the acquisition module 602, the mapping module 603, and the switching module 604 as described above. For example, the acquisition module 601, the acquisition module 602, the mapping module 603, and the switching module 604 may be dedicated hardware devices used to implement some or all of the functions of the acquisition module 601, the acquisition module 602, the mapping module 603, and the switching module 604 as described above. For example, the acquisition module 601, the acquisition module 602, the mapping module 603, and the switching module 604 may be a circuit board or a combination of multiple circuit boards used to implement the functions as described above. In an embodiment of the present application, the circuit board or the combination of multiple circuit boards may include: (1) one or more processors; (2) one or more non-transitory memories connected to the processors; and (3) firmware stored in the memory that is executable by the processor.

[0175] Referring to Figure 12 , it should be noted that acquisition module 601 can be used to implement steps S110 and S150 shown in Figure 1 , acquisition module 602 can be used to implement step S120 shown in Figure 1 , mapping module 603 can be used to implement step S130 shown in Figure 1 , and switching module 604 can be used to implement step S140 shown in Figure 1 . For a detailed description of the functions implemented by acquisition module 601, acquisition module 602, mapping module 603, and switching module 604, reference can be made to the description of steps S110 to S150 in the aforementioned embodiment of the electronic rearview mirror control method, and any repetitions will not be repeated here. Furthermore, electronic rearview mirror device 600 can achieve similar technical effects as the aforementioned electronic rearview mirror control method, and therefore will not be repeated here.

[0176] Referring to FIG. 12 , it should be noted that, in the embodiments of the present disclosure, the electronic rearview mirror device 600 may include more or fewer circuits or units, and the connections between the various circuits or units are not limited and can be determined based on actual needs. The specific configuration of each circuit or unit is not limited and can be composed of analog devices, digital chips, or other applicable configurations based on circuit principles.

[0177] 12 , for example, the collection module 601 , the acquisition module 602 , the mapping module 603 , and the switching module 604 may further implement more or further functions.

[0178] 12 , for example, the switching module 604 may be further configured to control at least one of the first camera and the second camera to move so as to change the distance between the centers of the first camera and the second camera.

[0179] 12 , for example, the switching module 604 may be further configured to: control at least one of the first camera and the second camera to rotate at a first preset rotation angle, where the first preset rotation angle is negatively correlated with the center line distance.

[0180] 12 , for example, the switching module 604 may also be configured to control the movement of at least one of the first camera and the second camera so that the electronic rearview mirror switches from the first state to the second state.

[0181] 12 , for example, the switching module 604 may also be configured to control the first camera and the second camera to move synchronously or separately so that the electronic rearview mirror switches from the first state to the second state.

[0182] 12 , for example, the switching module 604 may further be configured to: control the rotation of at least one camera to change the rotation angle of the at least one camera.

[0183] 12 , for example, the switching module 604 may also be configured to: control the camera to rotate to a second preset rotation angle.

[0184] 12 , for example, the switching module 604 may also be configured to: control the camera to rotate to a third preset rotation angle.

[0185] 12 , for example, the switching module 604 may also be configured to: control the camera to rotate to a fourth preset rotation angle.

[0186] Referring to Figure 12, for example, the switching module 604 can also be configured to: in response to the lane change distance being greater than the preset lane change distance, change the first camera from the working state to the non-working state, and change the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

[0187] Referring to Figure 12, for example, the switching module 604 can also be configured to: in response to the lane change distance being greater than the preset lane change distance, keep the first camera in the working state, and change the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

[0188] 12 , for example, the switching module 604 may also be configured to: when the turn signal is a left turn signal, control the left camera to rotate to a fifth preset rotation angle; and when the turn signal is a right turn signal, control the right camera to rotate to a sixth preset rotation angle.

[0189] 12 , for example, the switching module 604 may also be configured to: when the turn signal is a left turn signal, control the right camera to rotate to the seventh preset rotation angle; and when the turn signal is a right turn signal, control the left camera to rotate to the eighth preset rotation angle.

[0190] 12 , for example, the acquisition module 602 may also be configured to: respectively acquire at least two first sub-images from at least two cameras in the first state; and perform fusion processing on the at least two first sub-images to obtain a first image.

[0191] 12 , for example, the acquisition module 602 may also be configured to: respectively acquire at least two second sub-images of at least two cameras in the second state; and perform fusion processing on the at least two second sub-images to obtain a second image.

[0192] For example, the electronic rearview mirror device may further include an alarm module, which may be configured to issue an alarm in response to abnormal information detected by the second camera; wherein the alarm includes at least one of a voice message reminder and a screen display reminder.

[0193] For example, the electronic rearview mirror device may further include a marking module, which may be configured to: obtain the image offset when the electronic rearview mirror switches from a first state to a second state; determine the overlapping area between the first image and the second image based on the image offset; and mark the overlapping area on the second image.

[0194] At least one embodiment of the present disclosure provides an electronic rearview mirror device, comprising: a first camera and a second camera located on the same side of a vehicle, at least one of the first camera and the second camera being configured to acquire an input image; and a display device configured to display the input image. For example, the first camera and the second camera may be set on the left side of the vehicle. For example, the first camera and the second camera may be set on the right side of the vehicle. For example, the first camera may be set to one or more. For example, the second camera may be set to one or more. For example, the first camera and the second camera may be cameras of the same type (for example, both CCD cameras), or cameras of different types (for example, the first camera is a CCD camera, and the second camera is an infrared camera). For example, the first camera and the second camera may increase the field of view, or may be set to different types to reduce blind spots. For details, please refer to some of the aforementioned examples, which will not be repeated here.

[0195] In some examples, the rearview mirror device further includes a connecting unit that is retractably connected between the first camera and the second camera. The connecting unit allows adjustment of the distance between the centers of the first camera and the second camera to obtain different fields of view as needed.

[0196] In some examples, the first camera is configured to acquire an input image, and the second camera is configured to detect abnormal information. For example, the first camera can be an image sensor. The first camera can be a photosensor or a CCD camera. For example, the second camera can be an infrared camera. It is understood that the first camera and the second camera can also be other types of cameras or sensors, and this disclosure is not limited to this. For details, please refer to the description in some of the aforementioned examples, which will not be repeated here.

[0197] At least one embodiment of the present disclosure provides a vehicle device, comprising: a vehicle and an electronic rearview mirror device of any of the aforementioned examples. The electronic rearview mirror device is connected to the vehicle. The electronic rearview mirror device also includes a camera bracket, and at least one of a first camera and a second camera is mounted on the camera bracket; at least one of the first camera, the second camera and the camera bracket is configured to be movable relative to the vehicle. For example, when the vehicle device is traveling in a narrow lane, by controlling the camera bracket to move toward the vehicle, the width of the vehicle device can be made smaller to prevent scratches. At the same time, by controlling the camera to rotate outward, the first image of the electronic rearview mirror in the first state and the second image in the second state can be kept unchanged when the display screen displays the input picture obtained by the camera.

[0198] FIG13 is a schematic block diagram of an electronic device provided by at least one embodiment of the present disclosure.

[0199] 13 , at least one embodiment of the present disclosure provides an electronic device 700. For example, the electronic device 700 includes a memory 701 and a processor 702. It should be noted that the components of the electronic device 700 shown in FIG13 are merely exemplary and non-limiting. The electronic device 700 may also include other components as required by actual applications.

[0200] Referring to FIG. 13 , for example, a memory 701 non-transitorily stores computer-executable instructions, and a processor 702 is configured to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor 702, the electronic rearview mirror control method according to any of the above-described examples is implemented. The specific implementation and related explanations of each step of the electronic rearview mirror control method can be found in the above-described embodiment of the image processing method, and any repetitive details are omitted here.

[0201] FIG14 is a schematic diagram of a non-transitory computer-readable storage medium provided by at least one embodiment of the present disclosure.

[0202] 14 , at least one embodiment of the present disclosure provides a non-transitory computer-readable storage medium 800 , wherein the non-transitory computer-readable storage medium 800 stores computer-executable instructions 801 , which, when executed by a processor, implement a method for controlling an electronic rearview mirror according to any one of the above items.

[0203] Referring to FIG. 14 , for example, the memory may include any combination of one or more computer program products, which may include various forms of computer-readable storage media 800, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, a flash memory, etc. One or more computer-readable instructions may be stored on the computer-readable storage medium 800, and the processor may execute the computer-readable instructions to implement various functions of the electronic device. Various applications and various data may also be stored in the storage medium 800.

[0204] Referring to Figure 14, for example, a processor can control other components in an electronic device to perform desired functions. The processor can be a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The central processing unit (CPU) can be of X86 or ARM architecture, etc.

[0205] 14 , for example, a non-transitory computer-readable storage medium 800 stores computer-executable instructions 801 , which, when executed by a processor, can implement any of the above-described image processing methods.

[0206] 14 , for example, the storage medium 800 may be applied to the above-mentioned electronic device. For example, the storage medium 800 may include a memory in the electronic device.

[0207] 14 , for example, the description of the storage medium 800 may refer to the description of the memory in the embodiment of the electronic device, and the repeated parts will be omitted.

[0208] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0209] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0210] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

[0211] There are a few points to note:

[0212] (1) The drawings of the embodiments of the present disclosure only involve structures related to the embodiments of the present disclosure, and other structures can refer to general designs.

[0213] (2) In the absence of conflict, features in the same embodiment and different embodiments of the present disclosure may be combined with each other.

[0214] The foregoing description is merely an exemplary embodiment of the present disclosure and is not intended to limit the scope of protection of the present disclosure. The scope of protection of the present disclosure is determined by the appended claims.

Claims

1. A control method for an electronic rearview mirror, for a vehicle, comprising: Obtaining a first image of the electronic rearview mirror in a first state; Obtaining a switching signal for the vehicle to switch from a first driving state to a second driving state; Obtaining a mapping relationship according to the switching signal; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; Obtaining a second image of the electronic rearview mirror in the second state.

2. The control method of the electronic rearview mirror according to claim 1, wherein, The electronic rearview mirror includes at least one camera.

3. The control method of the electronic rearview mirror according to claim 2, wherein, The at least one camera includes a first camera and a second camera located on the same side of the vehicle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling at least one of the first camera and the second camera to move to change the distance between the center lines of the first camera and the second camera.

4. The control method of the electronic rearview mirror according to claim 3, wherein, The electronic rearview mirror includes a connecting unit; The connecting unit is telescopically connected between the first camera and the second camera to change the distance between the center lines.

5. The control method of the electronic rearview mirror according to claim 3 or 4, wherein, The switching signal includes at least one of a steering signal, a vehicle slope driving signal, a vehicle speed signal, and a lane change signal, and the mapping relationship includes at least one of a mapping relationship between a steering amplitude and the distance between the center lines, a mapping relationship between a current slope and the distance between the center lines, a mapping relationship between a current speed and the distance between the center lines, and a mapping relationship between a lane change distance and the distance between the center lines.

6. The control method of the electronic rearview mirror according to claim 5, wherein, The steering amplitude includes a steering wheel rotation angle or a tire steering angle, and the steering wheel rotation angle or the tire steering angle is positively correlated with the distance between the center lines.

7. The control method of the electronic rearview mirror according to claim 5 or 6, wherein, Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling at least one of the first camera and the second camera to rotate a first preset rotation angle, and the first preset rotation angle is negatively correlated with the distance between the center lines.

8. The control method of the electronic rearview mirror according to claim 2, wherein, The at least one camera includes a first camera and a second camera; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling at least one of the first camera and the second camera to move so that the electronic rearview mirror switches from the first state to the second state.

9. The control method of the electronic rearview mirror according to claim 8, wherein, Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the first camera and the second camera to move synchronously or separately so that the electronic rearview mirror switches from the first state to the second state.

10. The control method of the electronic rearview mirror according to claim 2 or 3, wherein, Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the at least one camera to rotate to change the rotation angle of the at least one camera.

11. The control method of the electronic rearview mirror according to claim 10, wherein, The switching signal includes a vehicle slope driving signal; The mapping relationship includes: a mapping relationship between the current slope of the vehicle and a second preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the camera to rotate the second preset rotation angle.

12. The control method of the electronic rearview mirror according to claim 10 or 11, wherein, The switching signal includes a vehicle speed signal; The mapping relationship includes: the mapping relationship between the current speed of the vehicle and the third preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the camera to rotate by the third preset rotation angle.

13. The control method of the electronic rearview mirror according to any one of claims 10-12, wherein, The switching signal includes a steering signal; The mapping relationship includes: the mapping relationship between the steering amplitude of the vehicle and the fourth preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: Controlling the camera to rotate by the fourth preset rotation angle.

14. The control method of the electronic rearview mirror according to claim 1 or 2, wherein, The electronic rearview mirror includes a first camera and a second camera on the same side of the vehicle; The switching signal includes a lane change signal; The mapping relationship includes: the mapping relationship between the lane change distance and the working state; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: In response to the lane change distance being greater than the preset lane change distance, changing the first camera from the working state to the non-working state, and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

15. The control method of the electronic rearview mirror according to claim 1 or 2, wherein, The electronic rearview mirror includes a first camera and a second camera on the same side of the vehicle; The switching signal includes a lane change signal; The mapping relationship includes: the mapping relationship between the lane change distance and the working state; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: In response to the lane change distance being greater than the preset lane change distance, keeping the first camera in the working state, and changing the second camera from the non-working state to the working state, so that the electronic rearview mirror switches from the first state to the second state.

16. The control method of an electronic rearview mirror according to any one of claims 1, 2, 14, and 15, wherein, The electronic rearview mirror includes a left camera on the left side of the vehicle and a right camera on the right side of the vehicle, The switching signal includes a lane change signal; The mapping relationship includes: When the switching signal is a left turn signal, the mapping relationship between the steering amplitude and the fifth preset rotation angle; when the switching signal is a right turn signal, the mapping relationship between the steering amplitude and the sixth preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: When the steering signal is a left turn signal, controlling the left camera to rotate by the fifth preset rotation angle; When the steering signal is a right turn signal, controlling the right camera to rotate by the sixth preset rotation angle.

17. The control method of the electronic rearview mirror according to any one of claims 1, 2, 14, and 15, wherein, The electronic rearview mirror includes a left camera on the left side of the vehicle and a right camera on the right side of the vehicle, The switching signal includes a steering signal; The mapping relationship includes: when the switching signal is a left turn signal, the mapping relationship between the steering amplitude and the seventh preset rotation angle; when the switching signal is a right turn signal, the mapping relationship between the steering amplitude and the eighth preset rotation angle; Controlling the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship includes: When the turn signal is a left turn signal, control the left camera to rotate by the seventh preset rotation angle; When the turn signal is a right turn signal, control the right camera to rotate by the eighth preset rotation angle.

18. The control method of the electronic rearview mirror according to claim 17, further comprising: Determine that the switching signal is the left turn signal or the right turn signal based on the steering wheel rotation direction or the tire steering direction.

19. The control method of the electronic rearview mirror according to claim 1 or 2, wherein, The electronic rearview mirror includes at least two cameras; Obtain a first image of the electronic rearview mirror in the first state, including: Respectively obtain at least two first sub-images of the at least two cameras in the first state; Perform a fusion process on the at least two first sub-images to obtain the first image; Obtain a second image of the electronic rearview mirror in the second state, including: Respectively obtain at least two second sub-images of the at least two cameras in the second state; Perform a fusion process on the at least two second sub-images to obtain the second image.

20. The control method of the electronic rearview mirror according to claim 1 or 2, wherein, The electronic rearview mirror includes a first camera and a second camera; The electronic rearview mirror is configured to meet at least one of the following conditions: The first camera is configured to obtain an input image, and the input image includes the first image and the second image; The second camera is configured to detect abnormal information.

21. The control method of the electronic rearview mirror according to claim 20, further comprising: In response to the second camera detecting the abnormal information, issue an alarm reminder; Wherein, the alarm reminder includes at least one of a voice information reminder and a screen display reminder.

22. The control method of the electronic rearview mirror according to claim 21, wherein, The screen display reminder includes at least one of the following: Adjust the edge emission brightness of the input image; Adjust the edge brightness change frequency of the input image.

23. The control method of the electronic rearview mirror according to any one of claims 1-22, wherein, The first image is different from the second image.

24. The control method of the electronic rearview mirror according to claim 23, further comprising: Obtain the screen offset amount of the electronic rearview mirror when switching from the first state to the second state; Based on the screen offset amount, determine the overlapping area between the first image and the second image; Mark the overlapping area on the second image.

25. The control method of the electronic rearview mirror according to any one of claims 1-24, wherein, The electronic rearview mirror includes a camera and a camera bracket; The camera bracket is used to connect to the vehicle; The mapping relationship includes: The mapping relationship between the rotation angle of the camera bracket and the rotation angle of the camera; Wherein, the rotation angle of the camera bracket is negatively correlated with the rotation angle of the camera.

26. An electronic rearview mirror device for a vehicle, comprising: An acquisition module configured to obtain a first image of the electronic rearview mirror in the first state; An acquisition module configured to obtain a switching signal for the vehicle to switch from a first driving state to a second driving state; A mapping module configured to obtain a mapping relationship according to the switching signal; A switching module configured to control the electronic rearview mirror to switch from the first state to the second state according to the mapping relationship; The acquisition module is further configured to obtain a second image of the electronic rearview mirror in the second state.

27. An electronic rearview mirror device, comprising: A first camera and a second camera located on the same side of the vehicle, at least one of the first camera and the second camera being configured to acquire an input image; A display device configured to display the input image.

28. The electronic rearview mirror device according to claim 27, further comprising a connection unit; The connection unit is telescopically connected between the first camera and the second camera.

29. The electronic rearview mirror device according to claim 27 or 28, wherein the first camera is configured to acquire an input image, and the second camera is configured to detect abnormal information.

30. A vehicle device, comprising: A vehicle; The electronic rearview mirror device according to any one of claims 27-29, connected to the vehicle; Wherein, the electronic rearview mirror device further comprises a camera bracket, and at least one of the first camera and the second camera is mounted on the camera bracket; At least one of the first camera, the second camera and the camera bracket is configured to be movable relative to the vehicle.

31. An electronic device, comprising: A memory non-transiently storing computer-executable instructions; A processor configured to run the computer-executable instructions, Wherein, when the computer-executable instructions are run by the processor, the control method of the electronic rearview mirror according to any one of claims 1-25 is implemented.

32. A non-transitory computer-readable storage medium, wherein, The non-transient computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the control method of the electronic rearview mirror according to any one of claims 1-25 is implemented.

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