CN104648254A - Automobile vehicle rearview mirror folding system - Google Patents
Automobile vehicle rearview mirror folding system Download PDFInfo
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- CN104648254A CN104648254A CN201510067595.7A CN201510067595A CN104648254A CN 104648254 A CN104648254 A CN 104648254A CN 201510067595 A CN201510067595 A CN 201510067595A CN 104648254 A CN104648254 A CN 104648254A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/02—Rear-view mirror arrangements
- B60R1/06—Rear-view mirror arrangements mounted on vehicle exterior
- B60R1/062—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position
- B60R1/07—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators
- B60R1/074—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators for retracting the mirror arrangements to a non-use position alongside the vehicle
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- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)
Abstract
The invention provides an automobile vehicle rearview mirror folding system which is used for controlling the folding and unfolding of a rearview mirror outside a vehicle according to the vehicle ambient environment information detected by an environment sensor of the vehicle. The system comprises a target object detecting module, a collision risk detecting module, a rearview mirror state detecting module and a rearview mirror control module. According to the automobile vehicle rearview mirror folding system, the capability of the vehicle of processing sudden accidents and obstacles can be improved due to a corresponding model library and an analysis library which are built in advance; the collision probability of the rearview mirror is reduced, so that the fragment damage to the rearview mirror after being collided is avoided.
Description
Technical field
The present invention relates to automotive field, particularly relate to a kind of vehicle mirrors auto-folder system of scratching back mirror when preventing vehicle driving.
Background technology
Back mirror on existing vehicle, generally all has manually or the function of electric foldable, to avoid vehicle to be arrived by scratching when parking or travel in narrower track, no matter and back mirror is manual or Electronic control all needs chaufeur initiatively to go to select.But, vehicle may have some beyond thought collisions in motion, in this type of collision, chaufeur has little time to make action to the folding of back mirror at all, thus cause back mirror to be knocked, very easily produce again the fragment of splashing after back mirror is knocked, bring injury to chaufeur or periphery personnel.
In addition, also there are some technology for unexpected auto-folder back mirror in prior art, but it is generally carry out Synchronization Analysis after utilizing pick up camera or camera Real-time Collection external information, although this mode can reach corresponding object, but the computing power that this process need is stronger, not only increase cost but also can not processing data in time when high vehicle speeds, practicality is poor.
Summary of the invention
An object of the present invention is to provide a kind of vehicle mirrors auto-folder system, with the fragment initiatively eliminated or reduce the contingent collision of back mirror and produce after colliding.
Another object of the present invention is to provide a kind of safe vehicle mirrors auto-folder system, with when back mirror is folding, chaufeur can also be made to observe the road conditions of rear view of vehicle.
A further object of the present invention is to provide a kind of vehicle mirrors auto-folder system possessing high precision judgement, folds to reduce unnecessary back mirror.
Especially, the invention provides a kind of vehicle mirrors auto-folder system, the ambient condition information for the described vehicle detected according to the environmental sensor of vehicle controls the folding and expansion of the back mirror outside the car of described vehicle, comprising:
Object detection module, for extracting the object in the travel direction front of described vehicle from described ambient condition information;
Risk of collision detection module, for judging whether the back mirror of described vehicle has the risk of colliding with described object;
Back mirror state detection module, for detecting the current state of described back mirror, described current state comprises deployed condition and folded state;
Rear-view mirror control module, for judge at described risk of collision detection module that described back mirror has the risk of colliding with described object and described back mirror state detection module detects that the current state of described back mirror is deployed condition, make described back mirror enter into folded state from deployed condition, and judge to make described back mirror return to deployed condition from folded state after described risk is eliminated at described risk of collision detection module subsequently.
Further, vehicle mirrors auto-folder system of the present invention also comprises:
Camera, for the environmental information of the side and rear that obtain described vehicle; (specification sheets can be explained, this camera can be rearview camera or full-view camera, and in fact this rearview camera or full-view camera can be parts for the environmental sensor of vehicle)
Display control switch, when it is configured to that visor is in described folded state in the rear, the telltale that the side of described vehicle obtained by described camera and the environmental information at rear export described vehicle to shows.
Further, described object detection module comprises:
Slype detecting unit, for extracting the road information in the travel direction front of described vehicle from described ambient condition information, and the slype that described vehicle is about to sail into is as described object;
Moving target thing detecting unit, for extracting the mobiles in the travel direction front of described vehicle as described object from described ambient condition information; With
Fixed object detecting unit, for extracting the fixed object in the travel direction front of described vehicle as described object from described ambient condition information.
Further, described risk of collision detection module is configured to:
When described object is described slype, judge the risk having collision when described slype width is less than preset width threshold value;
When described object is described mobiles, judge to have the risk of collision when the transverse distance of described mobiles and described back mirror is less than predetermined distance threshold;
When described object is described fixed object, the transverse distance of described fixed object and described back mirror be less than predetermined distance threshold and the height of described fixed object higher than the risk judging to have collision during predetermined altitude threshold value.
Further, described moving target thing detecting unit is also configured to the type comparing the object resemblance of described mobiles and pre-stored to judge described mobiles, and using type be only pedestrian, animal or vehicle described mobiles as described object.
Further, vehicle mirrors auto-folder system of the present invention also comprises alarm module, and it is for when visor control module folds described back mirror in the rear, by information displaying folded for described back mirror on the gauge panel of described vehicle.
Further, described back mirror detection module also records each folding information of described back mirror, described back mirror detection module judge described back mirror current be in folded state and this folding be not described rear-view mirror control module when doing, send information to chaufeur and exit native system.
Further, vehicle mirrors auto-folder system of the present invention also comprises emergency braking module, described emergency braking module at the folding described back mirror of needs but described rear-view mirror control module breaks down time, emergency braking is carried out to described vehicle, moves on to limit described vehicle.
Further, vehicle mirrors auto-folder system of the present invention also comprises selftest module, and whether described selftest module can normally work for detecting all modules; As mal then by as described in the gauge panel of vehicle send corresponding information backed off after random native system to chaufeur; As normally then entered the readiness for action that can work.
Further, vehicle mirrors auto-folder system of the present invention also comprises switch module, and described switch module is used for opening or forbidding native system.
Vehicle mirrors auto-folder system of the present invention, owing to establishing corresponding model bank in advance and analyzing storehouse, therefore, it is possible to improve the ability of vehicle process burst accident and cognitive disorders thing, reduce the probability that back mirror collides, therefore avoid the debris damage that back mirror is occurred by collision rift.
Further, the present invention, by the careful division to obstacle, makes different obstacles by different resume module, decreases process load and improve treatment effeciency.Simultaneously for the obstacle not folding wing mirror in height not affecting back mirror, decrease unnecessary folding, improve the safety of vehicle.
The present invention also improves the control of chaufeur to auto-folder system by alarm module, switch module, utilizes display module to improve the safety of back mirror at folded state vehicle.
According to hereafter by reference to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will understand above-mentioned and other objects, advantage and feature of the present invention more.
Accompanying drawing explanation
Hereinafter describe specific embodiments more of the present invention with reference to the accompanying drawings by way of example, and not by way of limitation in detail.Reference numeral identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these accompanying drawings may not be drawn in proportion.In accompanying drawing:
Fig. 1 is the diagram of circuit of vehicle mirrors auto-folder system according to an embodiment of the invention;
Fig. 2 is the implementation diagram of circuit of vehicle mirrors auto-folder system according to an embodiment of the invention.
Detailed description of the invention
As shown in Figure 1, vehicle mirrors auto-folder system of the present invention is used for the folding and expansion of the back mirror outside the car of the ambient condition information control vehicle of the vehicle detected according to the environmental sensor of vehicle, and it comprises the object detection module 10 of the object in the travel direction front for extracting vehicle from ambient condition information in general manner; The risk of collision detection module 70 of the risk of colliding with object whether is had with the back mirror for judging vehicle; With the back mirror state detection module 40 of the current state for detecting back mirror, this current state comprises deployed condition and folded state; And for judge at risk of collision detection module 70 that back mirror has the risk of colliding with object and back mirror state detection module 40 detects that the current state of back mirror is deployed condition, make back mirror enter into folded state from deployed condition, and judge to make back mirror return to the rear-view mirror control module 50 of deployed condition from folded state after risk is eliminated at risk of collision detection module 70 subsequently.
In the present embodiment, when vehicle travels on road, object detection module 10 utilizes the information in environmental sensor moment collection vehicle road ahead, when there is obstacle, obstacle information being sent into risk of collision detection module 70 and identifying.Risk of collision detection module 70 is according to Current vehicle speed, travel direction and judge whether this obstacle can collide with back mirror with the track of advancing residing for corresponding back mirror.When confirming there is collision possibility, by rear-view mirror control module 50, corresponding back mirror being folded in time, thus avoiding or reduce the shock that back mirror is subject to.Before native system performs and/or in implementation, need to utilize back mirror state detection module 40 to confirm the state of current back mirror, as back mirror is folded by chaufeur, do not rerun native system, or can send information backed off after random native system to chaufeur.Native system can in vehicle travel process, auto-folder back mirror before back mirror may or be about to collide, chaufeur is helped initiatively to deal with when not reacting or reacting not in time, with the injury reduced or after the fragmentation of elimination back mirror, fragment brings, also road accident can be reduced simultaneously.
Further, rear-view mirror control module 50 can also detect the back mirror current state of vehicle when vehicle has just started or native system starts, to confirm that current back mirror is in deployed condition or is in folded state, and analyze the producing cause of back mirror current state, then according to predetermined processing policy adjustment back mirror, preserve the Detection Information of current back mirror, so that other module is called simultaneously.Further, this rear-view mirror control module 50 can also record each operation information to back mirror, and comprise the sender of the folding instruction of record, what fold instruction sends the time etc., judge whether the state needing to interfere current back mirror for the application, avoid the active operation affecting chaufeur.
Further, in one embodiment of the invention, this vehicle mirrors auto-folder system also comprises camera and display control switch.This camera is for the environmental information of the side and rear that obtain vehicle, this camera can be the rearview camera or full-view camera independently installed for native system, also can be the existing rearview camera of vehicle or full-view camera (i.e. a part for the environmental sensor of vehicle), it can directly call when native system needs Information Monitoring.This display control switch is configured to when back mirror is in folded state, and the telltale that the side of the vehicle obtained by camera and the environmental information at rear export vehicle to shows.This telltale can be the read-out of existing display traffic information on vehicle, as vehicle is not configured with respective display apparatus, then independently can install a dedicated display, or utilizes the equipment such as existing navigating instrument to realize.
Further, in one embodiment of the invention, this object detection module 10 can comprise slype detecting unit 20, moving target thing detecting unit 30 and fixed object detecting unit 90.Wherein this slype detecting unit 20 for extracting the road information in the travel direction front of vehicle from ambient condition information, and the slype that vehicle is about to sail into is as object, existing different kinds of roads information can be collected and store to this vehicle in advance, and the passage of this car of widths affect back mirror is designated as slype.Existing different kinds of roads refer to the road of domestic national highway (national highway), state highway (provincial highway), country highway (county road), back road and accommodation highway five grades, and the information of above-mentioned road comprises width information and geographical location information.Slype refers to and is less than or equal to the passage that this car radial width adds width after the back mirror of left and right, as tunnel.Namely above-mentioned road information is stored on vehicle after collecting in advance before dispatching from the factory, vehicle can carry out width analysis to the road of current driving or passage after setting out on a journey, to confirm whether present road or passage have the slype affecting this car back mirror, thus take folding wing mirror in time or corresponding warning message occurs.This moving target thing detecting unit 30 for extracting the mobiles in the travel direction front of vehicle as object from ambient condition information; This unit can collect the resemblance of various pedestrian, animal or vehicle in advance, and sets up corresponding recognition template; Wherein the external physical characteristic of pedestrian comprises the information such as height, fat or thin and sex; The external physical characteristic of animal comprises appearance information, the size information of different animals, and this animal can only be limited in common livestock type; The external form of this vehicle comprises elevation information, shape information and velocity information etc., to be confirmed to be Oversize vehicle, in-between car or compact car equal-volume information, or identifies it is the type informations such as passenger vehicle, lorry or car.Namely above-mentioned information can be stored on vehicle equally before dispatching from the factory.This fixed object detecting unit 90 for extracting the fixed object in the travel direction front of vehicle as object from ambient condition information.In the prior art, be generally adopt vehicle-mounted real-time identifying system to be identified obstacles such as pedestrians by the mode of shooting, photograph, its scheme needs powerful computing power and longer identifying.The application adopts the mode setting up corresponding template in advance, unlimited identifying is reduced to limited comparison process, substantially increases processing speed.
In the present embodiment, when only having obstacle to be moving obstacle, just its image can be sent in moving target thing detecting unit 30 and contrast with each template.And after determining that this moving obstacle is pedestrian, animal or vehicle, ability according to the speed of this moving obstacle and direct of travel, judges whether this moving obstacle can collide with the back mirror of vehicle and make respective handling by risk of collision detection module 70.Wherein, the template of pedestrian can be refined to and can distinguish sex, old children, fat or thin stage by this moving target thing detecting unit 30.Can be refined to for animal and can identify concrete animal species, the stage of strength.The stage distinguishing the concrete profile of vehicle and kind can be refined to for vehicle.
In one embodiment of the invention, this risk of collision detection module 70 can be configured to: when object is slype, judges the risk having collision when slype width is less than preset width threshold value; When object is mobiles, judge to have the risk of collision when the transverse distance of mobiles and back mirror is less than predetermined distance threshold; When object is fixed object, the transverse distance of fixed object and back mirror be less than predetermined distance threshold and the height of fixed object higher than the risk judging to have collision during predetermined altitude threshold value.
In one embodiment of the invention, for the state of reminding chaufeur to note current back mirror, alarm module 60 can also be set, this alarm module 60 for when rear-view mirror control module 50 folding wing mirror, by information displaying folded for back mirror on the gauge panel of vehicle.Send prompting by the mark of the flicker or Chang Liang that are arranged on chaufeur front to chaufeur, represent that current back mirror is in folded state.What concrete mark it may also be pointed out that side or the back mirror of both sides is in folded state.In addition, alarming device 60 can also adopt sound class device.
In one embodiment of the invention, for improving the safety of vehicle, the emergency braking module 80 be connected with brake and drive system for vehicle with tow can also be set, this emergency braking module 80 at needs folding wing mirror but rear-view mirror control module 50 breaks down time emergency braking is carried out to vehicle, move on to limit vehicle.Can prevent some unavoidable dangerous situations from occurring by which, help on one's own initiative or remind chaufeur.
For improving the safety of the application, can also arrange selftest module 12, whether this selftest module 12 can normally work for each module detected in vehicle rearview auto-folder system; As mal then sends corresponding information backed off after random native system by the gauge panel of vehicle to chaufeur; As normally then entered the readiness for action that can work.
Control native system for convenience, can arrange a switch module 11, this switch module 11 is for opening or forbidding native system.In the place that some chaufeurs can process or note, the folding of back mirror can be forbidden, to improve the grasp of chaufeur to road conditions.After switch module 11 has been installed, chaufeur can also be improved further to the control of vehicle.
Complete description is done below with the scheme of specific embodiment to the application.
As shown in Figure 2, in step slo, first utilize selftest module 12 pairs of native systems to carry out self-inspection, if there is fault, forward step S11 to, utilize alarm module 60 to carry out reporting to the police to remind chaufeur to note.If there is no fault, forward step S12 to and utilize back mirror state detection module 40 to detect current back mirror whether to be in normal position (deployed condition); If mal, forward step S13 to confirm whether current state is that native system is done, and if not being that native system is done, directly jumps out native system, otherwise forward step S15 to and utilize object detection module 10 to start to detect vehicle front obstacle; If detect that back mirror is in normal position in step s 12, forward step S14 to and enter the standby mode that can perform at any time, by the object detection module 10 in step S15, then utilize environmental sensor to carry out the scanning of peripheral obstacle.Then forward step S16 to when an obstacle is detected, the slype detecting unit 20 corresponding obstacle being sent to step S17 by object detection module 10 carries out the judgement of slype, or the moving target thing detecting unit 30 be sent in step S18 carries out the judgement of pedestrian, animal, vehicle, or be sent to the judgement whether fixed object detecting unit in step S19 90 is short target.If it is determined that be passage in step S17, then forward the judgement whether step S20 is the slype that there is collision rift visor to, if it is forward step S22 to and carry out the folding of back mirror, otherwise to adjust back mirror be normal position or keep back mirror to be in normal position to forward step S23 to.Whether in step S18 after having carried out moving obstacle confirming, then go back to object detection module 10 and collide with back mirror current moving obstacle and judge, if it is forwarding step S22 to, to carry out back mirror folding, otherwise forward step S23 to.If confirm that in step S19 current obstacle is low obstructions, forward step S23 to.
Wherein, the environmental sensor in the application makes Logic judgment by the controller of native system after vehicle-mounted camera or other sensors can be adopted to detect obstacle again.Can in the following way to the judgement of different obstruct thing:
1, in advance according to a large amount of statistics, the width d of slype in Chinese arteries of communication is determined, and by this parameter being write with a brush dipped in Chinese ink in controller when vehicle production line rolls off the production line.If when controller judges that the width L of this car place road is less than d, judge that vehicle enters slype.
2, in advance according to a large amount of statistics, determine the factor such as external form, feature of pedestrian, animal, vehicle, the model of each mobile object is set in the algorithm of environmental sensor, the environmentally logical algorithm of sensor, when detecting that the model of the moving obstacle in surrounding environment is consistent with this model, judge the type of current obstacle representated by corresponding model.When mobile object is advanced towards vehicle and on the left of existence generation or right side or two side collisions possibility, folding corresponding back mirror; When mobile object is identical with vehicle direct of travel, and gait of march v
1be less than car speed v
2, when there is left side or right side or two side collisions and being possible, folding corresponding back mirror; When mobile object is identical with vehicle direct of travel, and gait of march v
1be greater than car speed v
2time, judge the danger do not collided, do not perform folding wing mirror operation.
3, when manufacturing line vehicle rolls off the production line, the height h of this car back mirror is write with a brush dipped in Chinese ink in the logical algorithm of controller.When the height of obstacle is greater than this height h, judge that current obstacle is as risk objects such as " " mobile objects, occur left side or right side or two side collisions may time, folding corresponding back mirror; When the height of object is less than this height h, judge that current obstacle is as " other short targets ", do not perform folding wing mirror operation.
In addition, in the present embodiment, as shown in Figure 2, this logic judging method is the process of a circulation.After back mirror is folded state, enters the judgement that step S13 carries out " whether being that control system performs ", do if be confirmed to be native system, then, after causing the obstacle folding with back mirror to eliminate, back mirror can be launched again.Terminate if not then Logic judgment, to give chaufeur by the control of vehicle, judge whether back mirror should return to normal position by chaufeur.
So far, those skilled in the art will recognize that, although multiple exemplary embodiment of the present invention is illustrate and described herein detailed, but, without departing from the spirit and scope of the present invention, still can directly determine or derive other modification many or amendment of meeting the principle of the invention according to content disclosed by the invention.Therefore, scope of the present invention should be understood and regard as and cover all these other modification or amendments.
Claims (10)
1. a vehicle mirrors auto-folder system, the ambient condition information for the described vehicle detected according to the environmental sensor of vehicle controls the folding and expansion of the back mirror outside the car of described vehicle, comprising:
Object detection module, for extracting the object in the travel direction front of described vehicle from described ambient condition information;
Risk of collision detection module, for judging whether the back mirror of described vehicle has the risk of colliding with described object;
Back mirror state detection module, for detecting the current state of described back mirror, described current state comprises deployed condition and folded state;
Rear-view mirror control module, for judge at described risk of collision detection module that described back mirror has the risk of colliding with described object and described back mirror state detection module detects that the current state of described back mirror is deployed condition, make described back mirror enter into folded state from deployed condition, and judge to make described back mirror return to deployed condition from folded state after described risk is eliminated at described risk of collision detection module subsequently.
2. vehicle mirrors auto-folder system according to claim 1, is characterized in that, also comprise:
Camera, for the environmental information of the side and rear that obtain described vehicle; (specification sheets can be explained, this camera can be rearview camera or full-view camera, and in fact this rearview camera or full-view camera can be parts for the environmental sensor of vehicle)
Display control switch, when it is configured to that visor is in described folded state in the rear, the telltale that the side of described vehicle obtained by described camera and the environmental information at rear export described vehicle to shows.
3. vehicle mirrors auto-folder system according to claim 1 and 2, it is characterized in that, object detection module comprises:
Slype detecting unit, for extracting the road information in the travel direction front of described vehicle from described ambient condition information, and the slype that described vehicle is about to sail into is as described object;
Moving target thing detecting unit, for extracting the mobiles in the travel direction front of described vehicle as described object from described ambient condition information; With
Fixed object detecting unit, for extracting the fixed object in the travel direction front of described vehicle as described object from described ambient condition information.
4. vehicle mirrors auto-folder system according to claim 3, is characterized in that, described risk of collision detection module is configured to:
When described object is described slype, judge the risk having collision when described slype width is less than preset width threshold value;
When described object is described mobiles, judge to have the risk of collision when the transverse distance of described mobiles and described back mirror is less than predetermined distance threshold;
When described object is described fixed object, the transverse distance of described fixed object and described back mirror be less than predetermined distance threshold and the height of described fixed object higher than the risk judging to have collision during predetermined altitude threshold value.
5. vehicle mirrors auto-folder system according to claim 2, it is characterized in that, described moving target thing detecting unit is also configured to the type comparing the object resemblance of described mobiles and pre-stored to judge described mobiles, and using type be only pedestrian, animal or vehicle described mobiles as described object.
6. vehicle mirrors auto-folder system according to claim 1, it is characterized in that, also comprise alarm module, it is for when visor control module folds described back mirror in the rear, by information displaying folded for described back mirror on the gauge panel of described vehicle.
7. vehicle mirrors auto-folder system according to claim 1, it is characterized in that, described back mirror detection module also records each folding information of described back mirror, described back mirror detection module judge described back mirror current be in folded state and this folding be not described rear-view mirror control module when doing, send information to chaufeur and exit native system.
8. vehicle mirrors auto-folder system according to claim 1, it is characterized in that, also comprise emergency braking module, described emergency braking module at the folding described back mirror of needs but described rear-view mirror control module breaks down time, emergency braking is carried out to described vehicle, moves on to limit described vehicle.
9. vehicle mirrors auto-folder system according to claim 1, is characterized in that, also comprise selftest module, and whether described selftest module can normally work for detecting all modules; As mal then by as described in the gauge panel of vehicle send corresponding information backed off after random native system to chaufeur; As normally then entered the readiness for action that can work.
10. vehicle mirrors auto-folder system according to claim 1, is characterized in that, also comprise switch module, and described switch module is used for opening or forbidding native system.
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| CN201510067595.7A CN104648254B (en) | 2015-02-09 | 2015-02-09 | A kind of vehicle mirrors auto-folder system |
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| CN106168496A (en) * | 2015-05-19 | 2016-11-30 | 福特全球技术公司 | The lateral telescope of detection extension |
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