CN106379242A - Method and device for expanding visual angle of outside rear-view mirror of vehicle - Google Patents
Method and device for expanding visual angle of outside rear-view mirror of vehicle Download PDFInfo
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- CN106379242A CN106379242A CN201610954382.0A CN201610954382A CN106379242A CN 106379242 A CN106379242 A CN 106379242A CN 201610954382 A CN201610954382 A CN 201610954382A CN 106379242 A CN106379242 A CN 106379242A
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Classifications
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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
- B60R1/08—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors
- B60R1/081—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors avoiding blind spots, e.g. by using a side-by-side association of mirrors
Abstract
The invention discloses a device for expanding a visual angle of an outside rear-view mirror of a vehicle. The device comprises an assistant rear-view mirror which is arranged above the outside rear-view mirror of the vehicle, a sensor group which is used for collecting motion signals of the vehicle, and a controller which is used for controlling rotation of the assistant rear-view mirror through a transmission execution mechanism, wherein the controller is used for receiving data collected by the sensor group, judging the running state of the vehicle according to the collected data, and generating a control command to control the transmission execution mechanism to rotate, so that the assistant rear-view mirror is driven to rotate to reduce the dead zone of the visual angle of the vehicle. The invention further provides a method for expanding the visual angle of the outside rear-view mirror of the vehicle. The device and method can be used for adaptively adjusting the angle of the assistant rear-view mirror according to the running state of the vehicle, thereby enlarging the view of a driver and reducing the dead zone.
Description
Technical field
The present invention relates to a kind of automobile-use optical viewing arrangement is and in particular to a kind of extension outside rear-view mirror for vehicle visual angle
Method and device.
Background technology
Vehicle mirrors provide the vehicle-state at rear, side rear in vehicle traveling for driver, including in-car backsight
Mirror, and the exterior mirror on both sides.Generally, room mirror observes the state after car, and the exterior mirror on both sides is used for observing
The state of both sides, is also used for reversing warehouse-in, side parking etc. simultaneously.In the process of moving, if desired lane change, then need advance observations
Front vehicle and side vehicle-state, but almost parallel vehicle by its vehicle body is then rearview mirror, rearview mirror can't see（As figure
3）, the region that this be can't see is referred to as blind area, and blind area easily leads to the generation of traffic accident.Additionally, vehicle is in no signal lamp
When guiding is turned round, driver can't see vehicle condition on road intersection, the vehicle particularly travelling in the same direction（As Fig. 6）, also easily
Lead to accident.In order to reduce blind area, traditional rearview mirror is changed to double curvature rearview mirror or increases the miniature of wide-angle by some vehicles
Rearview mirror, to see the broader position of vehicle body side, reducing rearview mirror visual angle dead band, allowing driver have broader visual angle.Though
So micro-rearview mirror can see do not have thing in blind area, but because it is too little, the scenery that is imaged can be caused little and image fault is serious；
When adjusting rearview mirror primary mirror angle, micro-rearview mirror can be followed and adjust together, lead to its function reduction.After hyperbolicity
Although visor increases visual angle, effect is bad, and blind area is also very big.
Content of the invention
It is an object of the invention to provide a kind of method and device at extension outside rear-view mirror for vehicle visual angle, this apparatus and method
Driver's seat can be expanded according to the angle of the transport condition self-adaptative adjustment auxiliary mirror of vehicle, reduce blind area.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of device at extension outside rear-view mirror for vehicle visual angle, including：
Auxiliary mirror, is placed in above outside rear-view mirror for vehicle；
Sensor group, for the motor message of collection vehicle；
Controller, by the rotation of auxiliary mirror described in transmission actuating mechanism controls, described controller receives sensing
The data of device group collection, and vehicle running state is judged according to the data of collection, generate control instruction and control described transmission execution
Mechanism rotates, thus driving the rotation of auxiliary mirror, to reduce vehicle visual angle blind zone.
Further scheme is, described sensor group includes angular-rate sensor, three dimension acceleration sensor, is used for adopting
The angular velocity signal of collection vehicle, three-dimensional acceleration signal.
Further scheme is, described transmission executing agency includes stepper motor, and this stepper motor passes through fixed mechanism
It is fixed on outside rear-view mirror for vehicle shell, Stability Analysis of Structures is reliable.
Further scheme is, described controller and sensor group are placed in outside rear-view mirror for vehicle shell and rear view mirror lens
In the cavity being formed, decrease the volume of whole device, it also avoid sensor group and ectocine that controller is subject to is it is ensured that survey
The amount degree of accuracy.
Further scheme is, described controller is also bonded with control, in order to arrange auxiliary mirror and vehicle
The angle of outside rear-view mirror.
The present invention also provides a kind of device using above-mentioned extension outside rear-view mirror for vehicle visual angle to be extended the outer backsight of vehicle
The method at mirror visual angle, comprises the steps：
By the angular velocity signal of sensor group collection vehicle, three-dimensional acceleration signal；
Vehicle running state is judged according to the above-mentioned data of sensor group collection, and according to the corresponding life of this transport condition output
Order, controls transmission executing agency to be rotated, transmission executing agency drives auxiliary mirror rotation, thus it is blind to reduce vehicle visual angle
Area.
Corresponding speed is obtained according to the angular velocity signal of sensor group collection, three-dimensional acceleration signal, thus judges car
Transport condition, specific method of discrimination is：If angular speed is ω, vertical direction acceleration is αz, vertical speed is Vz,
Direction of advance acceleration is αX, direction of advance speed is vxT (), horizontal displacement acceleration is αy, horizontal displacement speed is vy(t)；
Wherein：
In formula, vxT () is t vehicle forward direction speed, vyT () is t vehicle horizontal displacement speed, t0For first
Begin the moment, αXT () is t vehicle forward direction acceleration, αyT () is t vehicle vehicle horizontal displacement acceleration, vx
(t0) it is t0Moment vehicle forward direction speed, vy(t0) it is t0Moment vehicle vehicle horizontal displacement speed；
When angular velocity omega is zero, horizontal displacement speed VyWhen being zero, vehicle is to move ahead or reverse travel state；Direction of advance
Speed vxT the polarity of () represents travel direction：When direction of advance speed vx(t) be on the occasion of when, vehicle be advance transport condition；When
Direction of advance speed vxWhen () is negative value t, vehicle is reverse travel state；
While vehicle maintains direction of advance, if when the change of angular velocity omega is less than setting value（Setting value is according to individual
Custom determines）, and there is horizontal displacement acceleration alphayWith horizontal displacement speed VyFor identical change polarity situation, vehicle is lane change
Transport condition；
When vehicle maintains backward state, and the change of angular velocity omega is more than setting value（Setting value is true according to personal habits
Fixed）；Horizontal displacement acceleration alphayChange be less than setting value（Setting value determines according to personal habits）When, vehicle be move backward into
Storehouse transport condition；
When angular velocity omega is zero, horizontal displacement acceleration alphayChange be less than setting value（Setting value is according to personal habits
Determine）, speed is less than setting value（Setting value determines according to personal habits）When, vehicle puts transport condition in storage for side；
While vehicle maintains direction of advance, angular velocity omega is more than setting value（Setting value determines according to personal habits）,
And there is horizontal displacement acceleration alphayWith direction of advance speed VyFor identical change polarity situation, vehicle is to turn round traveling at crossing
State.
The corresponding command is exported according to transport condition, controls transmission executing agency to be rotated, transmission executing agency drives auxiliary
Help rearview mirror rotation method be：
When vehicle is to move ahead or during reverse travel state（Including lane change transport condition）, controller control transmission executing agency
Rotation, makes auxiliary mirror and outside rear-view mirror for vehicle be in angle theta1；
When vehicle is that reversing is put in storage, side puts transport condition in storage, controller controls the rotation of transmission executing agency, makes side
Auxiliary mirror and homonymy outside rear-view mirror for vehicle are in angle theta1, opposite side auxiliary mirror and homonymy outside rear-view mirror for vehicle are in angle
θ2；
When vehicle is to turn round transport condition at crossing, controller controls the rotation of transmission executing agency, and real-time adjustment assists
Rearview mirror and the angle of outside rear-view mirror for vehicle.In the present invention, in the crossroad of no signal lamp instruction, during vehicle turning, can carry
For the larger visual field, the vehicle-state that on another road, rear side homophase travels can be observed, it is to avoid accident.Now vehicle running orbit edge
Circular arc run, because angle is continually changing, auxiliary mirror observation it is important that on the road of front travel vehicle；Therefore, by three
Dimension acceleration transducer discriminating data vehicle running state, determines the start time turned round, the angle being obtained by angular-rate sensor
Speed calculates the arcuate positions of vehicle turning, real-time adjustment auxiliary mirror and the angle, θ of main rearview mirror, increases viewing area
（The region of the viewing area III increasing is change, the angular speed change running with vehicle）It is ensured that vehicle start from turning round to
Lane change terminates, auxiliary mirror vehicle-state from the road of observation front, is transitioned into observation front vehicle state.
When vehicle is to turn round transport condition at crossing, controller controls the rotation of transmission executing agency, and real-time adjustment assists
Rearview mirror with the method for the angle of outside rear-view mirror for vehicle is：
According to the value of angular-rate sensor, obtain vehicle from t0The accumulation of moment to t is turned round angle
In formula, t0It is in the initial time of the state of turning round for vehicle, Δ T is the sampling interval of angular-rate sensor, ωiFor
I-th angular speed sampled value；
According to vehicle turning angleTry to achieve the real-time angle of auxiliary mirror and outside rear-view mirror for vehicle
In formula, θmaxMaximum angle for auxiliary mirror and outside rear-view mirror for vehicle；θmax、θ1Can be entered according to personal considerations
Row personal settings；
Auxiliary mirror and the real-time angle of outside rear-view mirror for vehicleReduce with the increase of angle of turning round.
Determine angle theta1And angle theta2Method be：
Vehicle, in straight trip and reversing, by remote control, adjusts the angle between auxiliary mirror and outside rear-view mirror for vehicle, when
Reduce backsight blind area to greatest extent, when increasing viewing area, between controller record auxiliary mirror and outside rear-view mirror for vehicle
Angle, this angle is angle theta1；
In reversing during warehouse-in, by remote control, adjust the angle between auxiliary mirror and outside rear-view mirror for vehicle, according to car
The observation angle of tire and vehicle body after, reduces backsight blind area to greatest extent, when increasing viewing area, after controller record auxiliary
Angle between visor and outside rear-view mirror for vehicle, this angle is angle theta2.
In the present invention, vehicle running state both can directly adopt vehicle itself as signals such as direction, speed it is also possible to
Using external sensor collection direction and acceleration information.
In the present invention, the vehicle operation data device filtering after filtering of sensor group collection, vehicle travel process can be filtered
Middle direction slightly adjusts the interference bringing, and improves detection efficiency and accuracy of detection.
The beneficial effects of the present invention is：
Backsight blind area can be reduced, increase visual range, prevention traffic accident guarantees traffic safety；
Controller can be according to the relative angle of vehicle running state adjust automatically auxiliary mirror and main rearview mirror, using non-
Often facilitate；
Determine angular speed and the three-dimensional acceleration of vehicle using angular-rate sensor, three dimension acceleration sensor, improve control
The judgment accuracy of device processed, improves precision；
When vehicle is for turning driving state, driver can be made to carry according to direction and acceleration change real-time adjustment angle
Before see on another road vehicle running state in the same direction, and with radian change, adjust automatically supplemental rear vision minute surface and the master turning round
The angle of minute surface is it is ensured that see side front vehicle situation clearly, it is to avoid accident occurs；
When vehicle is in reversing warehouse-in, side dead ship condition, auxiliary mirror is made to can observe vehicle body and trailing wheel；
Realized it is not necessary to the analog-digital converter of high speed or high-speed digital signal processor part using general-purpose device, inexpensive；
The present invention is simple, and exploitativeness is strong, has a extensive future, has higher Social benefit and economic benefit.
Brief description
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the structural representation of the device that the present invention extends outside rear-view mirror for vehicle visual angle；
Fig. 2 is the structured flowchart of signal acquisition module and control module；
When Fig. 3 is vehicle straight trip, it is not provided with outside rear-view mirror for vehicle and the visual angle blind zone relation schematic diagram of auxiliary mirror；Figure
4 when being vehicle straight trip, auxiliary mirror and outside rear-view mirror for vehicle angle theta1With reduction visual angle blind zone schematic diagram；
Fig. 5 be vehicle backing warehouse-in or side stop when, setting can auxiliary mirror outside rear-view mirror for vehicle blind with visual angle
Cell relation schematic diagram；
Fig. 6 is Ackermann steer angle, is not provided with outside rear-view mirror for vehicle and the visual angle blind zone relation schematic diagram of auxiliary mirror；
Fig. 7 is Ackermann steer angle, setting can auxiliary mirror outside rear-view mirror for vehicle and visual angle blind zone relation schematic diagram.
Wherein：1st, outside rear-view mirror for vehicle support, 2, sensor group, 3, controller, 4, outside rear-view mirror for vehicle shell, 5, stepping
Motor, 6, auxiliary mirror, 7, rear view mirror lens, 8, fixed mechanism, 11, rear wheel.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.
Referring to Fig. 1-Fig. 2, a kind of device at extension outside rear-view mirror for vehicle visual angle, including being placed in above outside rear-view mirror for vehicle
Auxiliary mirror 6, the outside rear-view mirror for vehicle shell 4 of outside rear-view mirror for vehicle is connected with car body by outside rear-view mirror for vehicle support 1；Auxiliary
Rearview mirror 6 is helped to pass through to be driven executing agency（Stepper motor 5）With controller 3（Microprocessor）Connect, controller 3 is used for receiving biography
The data of sensor group 2 collection, controller 3 is driven executing agency according to the Data Control of sensor group 2（Stepper motor 5）Rotation,
Thus controlling the anglec of rotation of auxiliary mirror 6, reduce vehicle visual angle blind zone.In the present embodiment, in order to ensure whole device
Stability, and reduce volume, controller 3 and sensor group are arranged on outside rear-view mirror for vehicle shell 4 and rear view mirror lens 7 shape
In the cavity becoming.
In order to accurately judge the transport condition of vehicle, improve certainty of measurement, can add using by angular-rate sensor, three-dimensional
The sensor group 2 of velocity sensor composition is acquired to the angular velocity signal of vehicle, three-dimensional acceleration signal.Whole in order to improve
The stability of individual device, can will be driven executing agency（Stepper motor 5）It is fixed on outside outside rear-view mirror for vehicle by fixed mechanism 8
On shell 4.
For the ease of determining the angle of auxiliary mirror 6 and outside rear-view mirror for vehicle, it is additionally provided with the control being connected with controller
Key.
Referring to Fig. 1-Fig. 7, a kind of device using above-mentioned extension outside rear-view mirror for vehicle visual angle is extended the outer backsight of vehicle
The method at mirror visual angle, comprises the steps：
1）, by the angular velocity signal of sensor group collection vehicle, three-dimensional acceleration signal；
2）, according to sensor group collection above-mentioned data judge vehicle running state；
If angular speed is ω, vertical direction acceleration is αz, direction of advance acceleration is αX, direction of advance speed is vx
(t)；Horizontal displacement acceleration is αy, horizontal displacement speed be vy(t)；
When angular velocity omega is zero, horizontal displacement acceleration alphayWhen being zero, vehicle is to move ahead or reverse travel state, advance side
To speed vxT the polarity of () represents travel direction；I.e. when direction of advance speed vx(t) be on the occasion of when, vehicle be advance travel shape
State, when direction of advance speed vxWhen () is negative value t, vehicle is reverse travel state；Set when the change of angular velocity omega is less than
Value（Setting value determines according to personal habits）, horizontal displacement acceleration alphayWhen change is less than setting value, vehicle travels for lane change
State；
When the change of angular velocity omega is more than setting value；Horizontal displacement acceleration alphayChange be less than setting value when, vehicle
For reversing warehouse-in transport condition；
When angular velocity omega is zero, horizontal displacement acceleration alphayChange be less than setting value, speed be less than setting value when, car
For side put in storage transport condition；
Angular velocity omega is more than setting value, horizontal displacement acceleration alphayWith direction of advance acceleration alphaXDuring more than setting value, vehicle
It is to turn round transport condition at crossing；
3）, export the corresponding command according to transport condition, control transmission executing agency to be rotated, transmission executing agency drives
Auxiliary mirror rotates, thus reducing vehicle visual angle blind zone；
When vehicle is to move ahead or during reverse travel state（Including lane change transport condition）, controller control transmission executing agency
Rotation, makes both sides auxiliary mirror and outside rear-view mirror for vehicle all in angle theta1；
When vehicle is that reversing is put in storage, side puts transport condition in storage, controller controls the rotation of transmission executing agency, makes side
Auxiliary mirror and homonymy outside rear-view mirror for vehicle are in angle theta1, opposite side auxiliary mirror and homonymy outside rear-view mirror for vehicle are in angle
θ2；
When vehicle is to turn round transport condition at crossing, controller controls the rotation of transmission executing agency, and real-time adjustment assists
Rearview mirror and the angle of outside rear-view mirror for vehicle, specially：
Obtain vehicle turning angle
In formula, t0It is in the initial time of the state of turning round for vehicle, Δ T is the sampling interval of angular-rate sensor, ωiFor
I-th angular speed sampled value；
According to vehicle turning angleTry to achieve the real-time angle of auxiliary mirror and outside rear-view mirror for vehicle
In formula, θmaxMaximum angle for auxiliary mirror and outside rear-view mirror for vehicle；θmax、θ1Can be entered according to personal considerations
Row personal settings；
Both sides auxiliary mirror and the real-time angle of outside rear-view mirror for vehicleReduce with the increase of angle of turning round.
Determine angle theta1And angle theta2Method be：
Vehicle, in straight trip and reversing, in order to eliminate backsight blind area, according to personal observation comfortableness, by operating key, is adjusted
Angle between whole auxiliary mirror and outside rear-view mirror for vehicle, when reducing backsight blind area to greatest extent, when increasing viewing area,
Angle between controller record auxiliary mirror and outside rear-view mirror for vehicle, this angle is angle theta1；
In reversing during warehouse-in, stop it is desirable to auxiliary mirror can observe trailing wheel in reversing warehouse-in, side for convenience
Tire, according to personal observation comfortableness, by operating key, adjusts the angle between auxiliary mirror and outside rear-view mirror for vehicle, according to
Vehicle rear tire and the observation angle of vehicle body, reduce backsight blind area to greatest extent, and when increasing viewing area, controller record assists
Angle between rearview mirror and outside rear-view mirror for vehicle, this angle is angle theta2.
In the present embodiment, described controller is including low-power consumption MSP430 microprocessor, the high-precision simulation of internal inclusion
Digital quantizer, obtains the operation values of arithmetic element by this analog-digital converter.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted,
And all these modifications and variations all should belong to the protection domain of claims of the present invention.
Claims (10)
1. a kind of device at extension outside rear-view mirror for vehicle visual angle is it is characterised in that this device includes：
Auxiliary mirror, is placed in above outside rear-view mirror for vehicle；
Sensor group, for the motor message of collection vehicle；
Controller, by the rotation of auxiliary mirror described in transmission actuating mechanism controls, described controller receives sensor group
The data of collection, and vehicle running state is judged according to the data of collection, generate control instruction and control described transmission executing agency
Rotation, thus driving the rotation of auxiliary mirror, to reduce vehicle visual angle blind zone.
2. device according to claim 1 it is characterised in that：Described sensor group includes angular-rate sensor, three-dimensional adds
Velocity sensor, the angular velocity signal for collection vehicle and three-dimensional acceleration signal.
3. device according to claim 1 it is characterised in that：Described transmission executing agency includes stepper motor, this stepping
Motor is fixed on outside rear-view mirror for vehicle shell by fixed mechanism.
4. device according to claim 1 it is characterised in that：Described controller and sensor group are placed in outside rear-view mirror for vehicle
In the cavity that shell is formed with rear view mirror lens.
5. the device according to claim 1 or 4 it is characterised in that：Described controller passes through remote pilot.
6. a kind of method at extension outside rear-view mirror for vehicle visual angle is it is characterised in that comprise the steps：
By angular velocity signal and the three-dimensional acceleration signal of sensor group collection vehicle；
Vehicle running state is judged according to the above-mentioned data of sensor group collection, and the corresponding command is exported according to this transport condition,
Transmission executing agency is controlled to be rotated, transmission executing agency drives auxiliary mirror rotation, thus reducing vehicle visual angle blind zone.
7. according to claim 6 extension outside rear-view mirror for vehicle visual angle method it is characterised in that：Adopted according to sensor group
The angular velocity signal of collection, three-dimensional acceleration signal obtain corresponding speed, thus judge vehicle running state, specific differentiation side
Method is：If angular speed is ω, vertical direction acceleration is αz, vertical speed is Vz, direction of advance acceleration is αX, advance
Direction speed is VX, horizontal displacement acceleration is αy, horizontal displacement speed is Vy；
When angular velocity omega is zero, horizontal displacement speed VyWhen being zero, vehicle is to move ahead or reverse travel state；Direction of advance speed
VXPolarity represent travel direction：When direction of advance speed VXBe on the occasion of when, vehicle be advance transport condition；When direction of advance speed
Degree VXDuring for negative value, vehicle is reverse travel state；
While vehicle maintains direction of advance, if when the change of angular velocity omega is less than setting value, and there is horizontal displacement and add
Speed alphayWith horizontal displacement speed VyFor identical change polarity situation, vehicle is lane change transport condition；
When vehicle maintains backward state, and the change of angular velocity omega is more than setting value；Horizontal displacement acceleration alphayChange be less than
During setting value, vehicle is reversing warehouse-in transport condition；
When angular velocity omega is zero, horizontal displacement acceleration alphayChange be less than setting value, speed be less than setting value when, vehicle is
Side puts transport condition in storage；
While vehicle maintains direction of advance, angular velocity omega is more than setting value, and there is horizontal displacement acceleration alphayWith speed Vy
For identical change polarity situation, vehicle is to turn round transport condition at crossing.
8. according to claim 6 extension outside rear-view mirror for vehicle visual angle method it is characterised in that：Defeated according to transport condition
Go out the corresponding command, control transmission executing agency to be rotated, the method for transmission executing agency drive auxiliary mirror rotation is：
When vehicle is to move ahead or during reverse travel state, controller controls the rotation of transmission executing agency, makes the auxiliary of the left and right sides
Rearview mirror is all fixed as θ with the angle of outside rear-view mirror for vehicle1；
When vehicle is reversing warehouse-in transport condition, according to the angle of reversing warehouse-inChange, controller controls transmission execution machine
Structure rotates, and makes side auxiliary mirror and homonymy outside rear-view mirror for vehicle be in angleOpposite side auxiliary mirror and homonymy car
Outside rear-view mirror is in fixed angle θ2；
When vehicle for side warehouse-in transport condition when, controller control transmission executing agency rotation, make side auxiliary mirror with
Homonymy outside rear-view mirror for vehicle is in fixed angle θ1, opposite side auxiliary mirror and homonymy outside rear-view mirror for vehicle are in fixed angle θ2；
When vehicle is to turn round transport condition at crossing, controller controls the rotation of transmission executing agency, real-time adjustment supplemental rear vision
Mirror is with the angle of outside rear-view mirror for vehicle
9. according to claim 8 extension outside rear-view mirror for vehicle visual angle method it is characterised in that：When vehicle is at crossing
Turn round transport condition when, controller controls the rotation of transmission executing agency, real-time adjustment auxiliary mirror and outside rear-view mirror for vehicle
The method of angle is：
According to the change of angular velocity omega (t), obtain vehicle from t0The accumulation of moment to t is turned round angle
In formula, t0It is in the initial time of the state of turning round, the angle of initial time for vehicleΔ T senses for angular speed
The sampling interval of device, ωiFor i-th angular speed sampled value；
According to vehicle turning angleTry to achieve the real-time angle of both sides auxiliary mirror and outside rear-view mirror for vehicle
In formula, θmaxMaximum angle for auxiliary mirror and outside rear-view mirror for vehicle；
Both sides auxiliary mirror and the real-time angle of outside rear-view mirror for vehicleReduce with the increase of angle of turning round.
10. according to claim 8 extension outside rear-view mirror for vehicle visual angle method it is characterised in that：Determine angle theta1And folder
Angle θ2Method be：
Vehicle, in straight trip and reversing, by remote control, adjusts the angle between both sides auxiliary mirror and outside rear-view mirror for vehicle, when
Reduce backsight blind area to greatest extent, when increasing viewing area, record the angle between auxiliary mirror and outside rear-view mirror for vehicle,
This angle is angle theta1；
In reversing warehouse-in or side coil warehouse-in, by remote control, adjust the angle between auxiliary mirror and outside rear-view mirror for vehicle,
According to the observation angle of vehicle rear tire and vehicle body, reduce backsight blind area to greatest extent, when increasing viewing area, after record auxiliary
Angle between visor and outside rear-view mirror for vehicle, this angle is angle theta2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610954382.0A CN106379242B (en) | 2016-10-27 | 2016-10-27 | A kind of method and device extending outside rear-view mirror for vehicle visual angle |
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| CN201610954382.0A CN106379242B (en) | 2016-10-27 | 2016-10-27 | A kind of method and device extending outside rear-view mirror for vehicle visual angle |
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| CN106379242B CN106379242B (en) | 2019-01-15 |
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Cited By (3)
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| CN107150631A (en) * | 2017-06-02 | 2017-09-12 | 奇瑞汽车股份有限公司 | The method and apparatus for controlling rearview mirror |
| CN112193159A (en) * | 2020-10-22 | 2021-01-08 | 长春众鼎科技有限公司 | Electronic rearview mirror capable of automatically adjusting visual angle and implementation method |
| CN112498243A (en) * | 2020-11-12 | 2021-03-16 | 浙江合众新能源汽车有限公司 | Self-adaptive adjusting method and device for exterior rearview mirror |
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| CN112193159A (en) * | 2020-10-22 | 2021-01-08 | 长春众鼎科技有限公司 | Electronic rearview mirror capable of automatically adjusting visual angle and implementation method |
| CN112498243A (en) * | 2020-11-12 | 2021-03-16 | 浙江合众新能源汽车有限公司 | Self-adaptive adjusting method and device for exterior rearview mirror |
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