CN114537275A - Control method and device for vehicle rearview mirror - Google Patents
Control method and device for vehicle rearview mirror Download PDFInfo
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- CN114537275A CN114537275A CN202210230663.7A CN202210230663A CN114537275A CN 114537275 A CN114537275 A CN 114537275A CN 202210230663 A CN202210230663 A CN 202210230663A CN 114537275 A CN114537275 A CN 114537275A
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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
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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
- B60R1/04—Rear-view mirror arrangements mounted inside vehicle
Abstract
The invention provides a control method and device for a vehicle rearview mirror and a computer readable storage medium. The control method comprises the following steps: acquiring vehicle data; pre-judging the steering intention of the vehicle according to the acquired vehicle data; and deflecting a rearview mirror of the vehicle in a corresponding direction according to the steering intention. By executing the steps, the control method of the vehicle rearview mirror can help a driver to observe the side and the rear of the vehicle more clearly by adjusting the deflection angle of the vehicle rearview mirror, so that the safety of the vehicle during lane changing and steering is improved.
Description
Technical Field
The present invention relates to vehicle control technologies, and in particular, to a method for controlling a vehicle mirror, a device for controlling a vehicle mirror, and a computer-readable storage medium.
Background
When a driver drives a vehicle to change lanes or turn, the driver needs to observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle so as to judge whether the current road condition meets the lane changing or turning condition. However, as shown in fig. 1, blind areas 11 and 12 are generally present in the field of view of the conventional outside mirror and inside mirror. The driver cannot judge whether other vehicles or pedestrians exist in the blind areas 11 and 12 only by the visual field provided by the existing outside rearview mirror and inside rearview mirror, and often needs to turn around to observe the road conditions behind the vehicle. Such an operation is relatively complicated and is easily ignored by a driver with poor driving habits or experience, and requires the driver to greatly deviate the field of vision from the front, so that the driver cannot simultaneously take into account the emergency in front of the vehicle, thereby causing a great accident risk.
In order to overcome the above-mentioned defects of the prior art, there is a need in the art for a control technique for a vehicle rearview mirror, which is used to help a driver to observe the side and rear of a vehicle more clearly, so as to improve the safety of the vehicle during lane changing and steering.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a control method of a vehicle rearview mirror, a control apparatus of a vehicle rearview mirror, and a computer-readable storage medium.
Specifically, the control method of the vehicle mirror provided according to the first aspect of the invention includes the steps of: pre-judging the steering intention of the vehicle; and deflecting a rearview mirror of the vehicle in a corresponding direction according to the steering intention. By executing the steps, the control method of the vehicle rearview mirror can help a driver to observe the side and the rear of the vehicle more clearly by adjusting the deflection angle of the vehicle rearview mirror, so that the safety of the vehicle during lane changing and steering is improved.
Further, in some embodiments of the present invention, the rear view mirror includes an interior rear view mirror of the vehicle and/or exterior rear view mirrors on both left and right sides of the vehicle. The step of deflecting the rear view mirror of the vehicle to a corresponding direction according to the steering intention includes: in response to a steering intent to the left, steering the interior mirror and/or an exterior mirror to the left of the vehicle to the left; and deflecting the interior mirror and/or the exterior mirror to the right side of the vehicle to the right side in response to the intention to turn to the right.
Further, in some embodiments of the present invention, the step of deflecting the mirror of the vehicle to a corresponding direction according to the turning intention further comprises: according to the steering intention, deflecting the exterior mirror by a first preset angle in a corresponding direction and/or deflecting the interior mirror by a second preset angle in a corresponding direction, wherein the first preset angle and/or the second preset angle are determined through pre-calibration.
Further, in some embodiments of the present invention, the step of deflecting the mirror of the vehicle to a corresponding direction according to the turning intention further comprises: acquiring human eye information of the driver in response to a judgment result that the steering intention exists; determining a rearview mirror blind area of the inside rearview mirror and/or the outside rearview mirror according to the human eye information; and deflecting the outside rearview mirror to a corresponding direction by a first preset angle and/or deflecting the inside rearview mirror to a corresponding direction by a second preset angle according to the steering intention and the blind area of the rearview mirror.
Further, in some embodiments of the present invention, the first preset angle of the outside rear view mirror deflection corresponds to a first rear view mirror blind spot on a side of the vehicle. And the second preset angle for the deflection of the inside rearview mirror corresponds to a second rearview mirror blind area at the side rear of the vehicle. The visual ranges of the deflected exterior mirror and the deflected interior mirror are intersected or tangent.
Further, in some embodiments of the present invention, the vehicle data includes direction data of the vehicle and track information of a road on which the vehicle is located. The step of prejudging the steering intention of the vehicle according to the acquired vehicle data comprises the following steps: determining the road type of the road according to the track information; and judging the steering intention of the vehicle according to the direction data and/or the road type.
Further, in some embodiments of the present invention, the road type includes a straight road type and a curve type. The step of determining the road type of the road according to the trajectory information includes: calculating the curvature radius of the road according to the track information; responding to a judgment result that the curvature radius is larger than a preset radius threshold value, and judging that the road belongs to a straight road type; and determining that the road is of a curve type in response to a determination that the radius of curvature is less than or equal to the radius threshold.
Further, in some embodiments of the invention, the trajectory information comprises lane line trajectories. The road type also includes an intersection type. The step of determining the road type of the road according to the trajectory information further comprises: and responding to the situation that the lane line information of the road is not collected, and judging that the road belongs to the type of the intersection.
Further, in some embodiments of the invention, the direction data comprises a yaw angle of the steering wheel. The step of determining the steering intention of the vehicle according to the direction data and/or the road type comprises: responding to a judgment result that the road belongs to the type of the intersection, and judging whether the deflection angle of the steering wheel is larger than a preset first angle threshold value or not; and determining that the vehicle has a steering intention in response to a determination that the yaw angle of the steering wheel is greater than the first angle threshold.
Further, in some embodiments of the present invention, the driving data further includes a lateral distance of the vehicle to a lane line of the lane. The step of determining the steering intention of the vehicle according to the direction data and/or the road type comprises: and judging whether the vehicle has a steering intention according to the transverse distance in response to the judgment result that the road belongs to the straight road type or the curve type.
Further, in some embodiments of the present invention, the step of determining whether the vehicle has an intention to turn according to the lateral distance includes: according to the change trend of the transverse distance, calculating the transverse speed of the vehicle approaching the lane line; predicting the triggering time of the vehicle contacting the lane line according to the transverse speed and the transverse distance; comparing the trigger time with a preset first time threshold; and determining that the vehicle has an intent to steer in response to a comparison of the trigger time being less than or equal to the first time threshold.
Further, in some embodiments of the present invention, the step of determining whether the vehicle has an intention to turn according to the lateral distance further comprises: determining the change trend of the steering wheel deflection angle according to the direction data in response to the judgment result that the road belongs to the straight road type and the vehicle has the steering intention; judging whether the change trend of the deflection angle of the steering wheel is consistent with the change trend of the transverse distance; confirming that the vehicle has an intention to steer in response to a determination that the trend of change in the steering wheel deflection angle is consistent with the trend of change in the lateral distance; and confirming that the vehicle has no intention to turn in response to a determination result that the trend of change in the steering wheel deflection angle is inconsistent with the trend of change in the lateral distance.
Further, in some embodiments of the present invention, the step of determining whether the vehicle has an intention to turn according to the lateral distance further comprises: determining a steering wheel deflection angle according to the direction data in response to a judgment result that the road belongs to a straight road type and the vehicle has a steering intention; comparing the steering wheel deflection angle with a preset second angle threshold; confirming that the vehicle has an intent to steer in response to the comparison that the steering wheel deflection angle is greater than or equal to the second angle threshold; and confirming that the vehicle is free of steering intent in response to a comparison of the steering wheel deflection angle being less than the second angle threshold.
Further, in some embodiments of the present invention, after deflecting a rear view mirror of the vehicle, the control method further includes the steps of: judging whether the deflection angle of the steering wheel is smaller than a preset third angle threshold value or not according to the direction data; and responding to a judgment result that the deflection angle of the steering wheel is smaller than the third angle threshold value, and returning the rearview mirror to the original position.
Further, in some embodiments of the present invention, after deflecting a rear view mirror of the vehicle, the control method further includes the steps of: acquiring a turn signal of the vehicle; and returning the rearview mirror to an original position in response to the turn light signal indicating that the turn light is turned off.
Further, a control device for a vehicle mirror as described above according to a second aspect of the present invention includes a memory and a processor. The processor is connected to the memory and configured to implement the control method for the vehicle rearview mirror provided by the first aspect of the invention. By implementing the control method, the control device can help a driver to observe the side and the rear of the vehicle more clearly by adjusting the deflection angle of the vehicle rearview mirror, thereby improving the safety of the vehicle during lane changing and steering.
Further, the above computer-readable storage medium according to a third aspect of the present invention is provided, having computer instructions stored thereon. The computer instructions, when executed by the processor, implement the control method for the vehicle rearview mirror as described above provided by the first aspect of the invention. By implementing the control method, the computer readable storage medium can help the driver to observe the side and the rear of the vehicle more clearly by adjusting the deflection angle of the vehicle rearview mirror, thereby improving the safety of the vehicle during lane changing and steering.
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The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Fig. 1 is a schematic view showing a view field blind area of a conventional exterior mirror and interior mirror.
FIG. 2 illustrates a flow diagram of a vehicle rearview mirror control method provided in accordance with some embodiments of the present invention.
FIG. 3 illustrates a flow diagram for anticipating vehicle steering intent, provided in accordance with some embodiments of the present invention.
FIG. 4 illustrates a schematic diagram of determining lane-change intent provided in accordance with some embodiments of the invention.
FIG. 5 illustrates a distance threshold versus lateral velocity graph provided in accordance with some embodiments of the present invention.
Fig. 6A and 6B are schematic diagrams illustrating determining a trend according to some embodiments of the present invention.
FIG. 7 illustrates a second angular threshold versus vehicle speed provided in accordance with some embodiments of the present invention.
FIG. 8 illustrates a schematic view of a yaw vehicle rearview mirror provided in accordance with some embodiments of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in connection with the preferred embodiments, there is no intent to limit its features to those embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Additionally, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," "vertical" and the like as used in the following description are to be understood as referring to the segment and the associated drawings in the illustrated orientation. The relative terms are used for convenience of description only and do not imply that the described apparatus should be constructed or operated in a particular orientation and therefore should not be construed as limiting the invention.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, regions, layers and/or sections, these elements, regions, layers and/or sections should not be limited by these terms, but rather are used to distinguish one element, region, layer and/or section from another element, region, layer and/or section. Thus, a first component, region, layer or section discussed below could be termed a second component, region, layer or section without departing from some embodiments of the present invention.
As described above, when a driver changes lanes or turns a vehicle, the driver needs to observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle to determine whether the current road condition meets the lane change or turning condition. However, as shown in fig. 1, blind areas 11 and 12 are generally present in the field of view of the conventional outside mirror and inside mirror. The driver cannot judge whether other vehicles or pedestrians exist in the blind areas 11 and 12 only by the visual field provided by the existing outside rearview mirror and inside rearview mirror, and often needs to turn around to observe the road conditions behind the vehicle. Such an operation is relatively complicated and is easily ignored by a driver with poor driving habits or experience, and requires the driver to greatly deviate the field of vision from the front, so that the driver cannot simultaneously take into account the emergency in front of the vehicle, thereby causing a great accident risk.
In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a method for controlling a vehicle rearview mirror, a device for controlling a vehicle rearview mirror, and a computer-readable storage medium, which help a driver to observe the side and rear of a vehicle more clearly by adjusting the deflection angle of the vehicle rearview mirror, thereby improving the safety of the vehicle during lane changing and steering.
In some non-limiting embodiments, the control method of the vehicle rearview mirror provided by the first aspect of the invention may be implemented by the control device of the vehicle rearview mirror provided by the second aspect of the invention. Specifically, the control device may be configured in the form of a software program and/or a hardware device in a vehicle system of the vehicle, and may be configured with a memory and a processor. The memory includes, but is not limited to, the above-described computer-readable storage medium provided by the third aspect of the invention having computer instructions stored thereon. The processor is connected to the memory and configured to implement the control method of the vehicle rearview mirror provided by the first aspect of the invention to automatically control the vehicle rearview mirror.
The operating principle of the mirror control device will be described below in connection with some embodiments of the mirror control method. It will be appreciated by those skilled in the art that these examples of the mirror control method are only some non-limiting embodiments provided by the present invention, and are intended to clearly demonstrate the main concepts of the present invention and to provide some detailed solutions convenient for the public to implement, and not to limit the overall operation or the overall function of the mirror control device. Similarly, the mirror control device is only a non-limiting embodiment of the present invention, and does not limit the main body of implementation of each step in these mirror control methods.
Referring to fig. 2, fig. 2 illustrates a flow chart of a vehicle rearview mirror control method according to some embodiments of the invention.
As shown in fig. 2, in some embodiments, the rearview mirror control apparatus may acquire vehicle data in real time during the traveling of the vehicle and predict a turning intention of the vehicle based on the acquired vehicle data.
Specifically, the rearview mirror control device can acquire a turn signal of the vehicle in real time during the driving process of the vehicle. The turn lights of the vehicle may be manually controlled by the driver in accordance with the steering demand. If the collected steering lamp signal indicates that the steering lamp is in a starting state, the rearview mirror control device can prejudge the steering intention of the vehicle. On the contrary, if the collected steering lamp signal indicates that the steering lamp is in the off state, the rearview mirror control device can prejudge the steering intention of the vehicle which does not exist
Compared with a steering judgment scheme realized according to steering wheel deflection angles, steering wheel deflection angles and an image recognition technology, the steering intention prejudgment scheme based on the steering lamp state has better foresight, can prejudge the steering intention of the vehicle before the vehicle actually steers and changes lanes, so that the deflection angle of a vehicle rearview mirror is adjusted in advance, a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle, and whether the current road condition meets the lane change or steering condition is judged.
It will be appreciated by those skilled in the art that the above-described arrangement for manually controlling the turn signal by the driver is only one non-limiting embodiment provided by the present invention, and is intended to clearly illustrate the broad concepts of the invention and provide a specific arrangement for facilitating the implementation by the public and is not intended to limit the scope of the invention.
Further, in some preferred embodiments, the turn signal of the vehicle may also be automatically controlled by the vehicle system according to the acquired vehicle data. Therefore, even if the driver turns on the steering lamp in advance due to poor driving habits, inattention or forgetting, the rearview mirror control device can also pre-judge the steering intention of the vehicle according to the acquired vehicle data, so that the deflection angle of the rearview mirror of the vehicle can be adjusted in advance before the vehicle actually turns and changes lanes, the driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle, and judge whether the current road condition meets the conditions of lane changing or steering.
Referring specifically to fig. 3, fig. 3 illustrates a flow chart for predicting a vehicle steering intent according to some embodiments of the present invention.
In the embodiment shown in fig. 3, the vehicle-mounted machine system may obtain the driving data of the vehicle in real time during the driving process of the vehicle. The driving data includes, but is not limited to, direction data of the vehicle for indicating an operation instruction of a driver and/or an intelligent driving system, and trajectory information of the road where the vehicle is located for indicating an extended trajectory of the road where the vehicle is located.
Specifically, the direction data includes, but is not limited to, physical steering wheel deflection data such as a steering wheel angle value, a steering wheel turning ratio, or deflection data of parameters such as a steering radius and a wheel deflection angle. The in-vehicle System can acquire direction data such as a steering wheel angle value, a steering wheel turning ratio, a wheel turning angle, a steering radius, and the like from a steering angle sensor disposed in a steering wheel, a steering angle sensor disposed in a wheel end of a vehicle, and/or an Advanced Driving Assistance System (ADAS) disposed in a vehicle via a vehicle bus.
In addition, for a standardized road with a clear lane line, the track information can be determined according to lane line images collected by sensing devices such as a vehicle traveling recorder, a reverse image and a 360-degree panoramic image. For standard or non-standard roads with unclear lane lines, the track information can also be determined according to road shoulder tracks, road tooth tracks and barrier track acquired by sensing equipment such as vehicle-mounted radars and the like. The vehicle-mounted system can respectively acquire track information such as lane line track, road shoulder track, curb track and isolation fence track from sensing equipment such as a vehicle traveling data recorder, a backing image, a 360-degree panoramic image and a vehicle-mounted radar through a vehicle bus.
Further, after acquiring the driving data of the vehicle from each sensor, module and system, the vehicle-mounted machine system may preferably perform preprocessing on each acquired vehicle data, delete invalid data therein and/or filter noise signals therein. For example, the in-vehicle system may filter the raw data by using a first-order lag filtering method, where the calculation formula is:
Y(n)＝αX(n)+(1-α)Y(n-1)
wherein, the coefficient alpha is between 0 and 1, X (n) is the original signal value, Y (n) is the output signal value.
As shown in fig. 3, after completing the preprocessing of each driving data, the in-vehicle system may determine the road type of the road on which the vehicle is located according to the acquired trajectory information, and accurately determine the steering intention of the vehicle by combining the acquired direction data and/or the determined road type.
Specifically, the road type may be classified into a straight type, a curve type, and an intersection type. The vehicle-mounted machine system may first calculate a curvature radius R of a road on which the vehicle is located according to the acquired track information based on a lane line equation y ═ f (x), that is:
where f (x) indicates an extended trajectory of the road.
If the curvature radius R obtained by calculation is larger than a preset first radius threshold value R1(e.g., 10000 meters), the on-board unit system may determine that the road on which the vehicle is located belongs to the straight road type. Otherwise, if the curvature radius R obtained by calculation is less than or equal to the first radius threshold value R1And the vehicle-mounted machine system can judge that the road where the vehicle is located belongs to the curve type.
Further, in order to overcome the problem of low recognition accuracy of sensing devices such as a driving recorder, a reverse image, a 360-degree panoramic image and the like under an overlarge road curvature, the invention can be preferably configured with a second radius threshold R2(e.g., 200 meters). If the calculated curvature radius R is smaller than the second radius threshold value R2The vehicle-mounted device system can determine that the current road curvature is too large and is not suitable for the automatic control function of the turn light and the rearview mirror, so that the action decision flow and the action execution flow of the turn light and the rearview mirror are skipped, and the false triggering of the turn light and the rearview mirror is avoided.
As will be appreciated by those skilled in the art, R as defined above110000 m, R2The present invention provides only one non-limiting embodiment, which is set forth in the case of 200 meters, and is intended to clearly show the main idea of the present invention,and to provide an embodiment convenient for the public to implement, not to limit the scope of protection of the invention.
Optionally, in other embodiments, the first radius threshold R is1And/or the above-mentioned second radius threshold R2And the calibration can be carried out according to the actual conditions and/or simulation experiments of each sensing module and each vehicle so as to better meet the actual requirements of automatically controlling the steering lamp and the rearview mirror of the vehicle.
And then, responding to the judgment result that the road belongs to the straight road type or the curve type, and further acquiring the transverse distance d from the vehicle to the lane line of the lane by the vehicle-mounted system from sensing equipment such as a vehicle-driving recorder, a reversing image, a 360-degree panoramic image, a vehicle-mounted radar and the like. The lateral distance d indicates the distance of the front wheel on the turning side of the vehicle to the firing line. The vehicle machine system can then determine whether the vehicle has an intent to steer in conjunction with the lateral distance. Referring to fig. 4, fig. 4 is a schematic diagram illustrating lane change intention determination according to some embodiments of the present invention.
As shown in fig. 4, when the vehicle is traveling on a straight road or a curved road, the vehicle-mounted machine system may first compare the acquired lateral distance d with a preset contact distance threshold d0A comparison is made. If the lateral distance d is larger than the contact distance threshold d0The vehicle-mounted machine system can judge that the vehicle does not have the steering intention of lane changing at present, so that the action decision flow and the action execution flow of the steering lamp and the rearview mirror are skipped, and the false triggering of the automatic control function of the steering lamp and the rearview mirror is avoided. Otherwise, if the lateral distance d is less than or equal to the contact distance threshold d0The vehicle-mounted system can judge that the vehicle has the steering intention of lane changing, so that the steering lamp is automatically turned on through the action execution module of the steering lamp, the rearview mirror is controlled to automatically deflect, a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle, and whether the current road condition meets the conditions of lane changing or steering is judged. In some embodiments, the contact distance threshold d is0The setting of the steering lamp can be as close to the lane line as possible, so as to avoid the false triggering of the automatic control function of the steering lamp and the rearview mirror.
Further, in some advantagesIn an alternative embodiment, the contact distance threshold d is0May be dynamically determined based on the lateral velocity of the vehicle approaching the lane line. That is to say, for different lateral speeds, the in-vehicle machine system can dynamically determine different trigger lines within a certain interval to judge whether the vehicle has the steering intention of changing lanes. Referring to fig. 5, fig. 5 is a diagram illustrating a distance threshold versus lateral velocity relationship provided in accordance with some embodiments of the present invention.
As shown in FIG. 5, when the lateral vehicle speed v of the vehicle is below 0.1m/s, the vehicle system may determine a contact distance threshold D of D1 (e.g., 0.1 m)0Therefore, the rearview mirror can be enabled to deflect 1 second before lane changing, so that a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle or not, and judge whether the current road condition meets the lane changing or steering condition or not. When the lateral speed of the vehicle is above 1m/s, the vehicle machine system can determine the contact distance threshold D of D2 (for example, 0.3 m)0Therefore, the rearview mirror can deflect 0.3 m before lane changing, so that a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle or not, and judge whether the current road condition meets the lane changing or steering condition or not. When the transverse speed of the vehicle is between 0.1m/s and 1m/s, the corresponding contact distance threshold value d0Can be increased linearly from D1 to D2 to take the reaction time and the reaction space of the driver into account.
As will be appreciated by those skilled in the art, the linearly increasing contact distance threshold d is described above0Rather than limiting the scope of the invention, it is intended that the present invention provide a non-limiting example of a way in which the main concepts of the invention may be clearly presented and that a particular arrangement be conveniently implemented by the public.
Preferably, in other embodiments, the in-vehicle system may further dynamically determine the contact distance threshold d by predicting a time-to-trigger TTLC when the vehicle contacts the lane line0。
Particularly, the vehicle-mounted machine system can continuously acquire a plurality of transverse distances d between the vehicle and the lane line at different momentsiAnd thereby determines the trend of the change in the lateral distance d. Then the vehicle machine system can be based onThe variation trend of the transverse distance d calculates the transverse speed v of the vehicle approaching the lane lineiAnd according to the transverse velocity viAnd corresponding lateral distance diAnd predicting the triggering time TTLC of the vehicle contacting the lane line. Then, the in-vehicle system may compare the predicted time to trigger TTLC with a preset first time threshold t1A comparison is made. If the time-to-trigger TTLC is greater than the first time threshold t1The vehicle-mounted machine system can judge that the vehicle does not have the steering intention of lane changing at present, so that the action decision flow and the action execution flow of the steering lamp and the rearview mirror are skipped, and the false triggering of the automatic control function of the steering lamp and the rearview mirror is avoided. Otherwise, if the triggering time TTLC is less than or equal to the first time threshold t1The vehicle-mounted device system can judge that the vehicle has the steering intention of lane changing at present, so that the steering lamp is automatically turned on through the action execution module of the steering lamp, the rearview mirror is controlled to automatically deflect, a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle, and whether the current road condition meets the conditions of lane changing or steering is judged.
The invention can automatically supplement the turn lights before the driver forgets to turn the turn lights and/or the vehicle deviates to the adjacent lane, thereby reminding other vehicles and pedestrians at the side and the rear to avoid, and controlling the rearview mirror to automatically deflect so that the driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle, and judge whether the current road condition meets the conditions of lane changing or steering.
Furthermore, in some embodiments, when the vehicle is running on a straight road, the in-vehicle system may further check the steering intention of the vehicle according to the change trend of the direction data such as the steering wheel deflection angle θ after determining the steering intention according to the lateral distance d, so as to avoid false triggering of the turn signal and the automatic steering function of the rearview mirror.
For example, in response to a determination result that the current road is of a straight road type and the vehicle has an intention to turn, the in-vehicle system may determine a trend of change in the steering wheel deflection angle θ from the direction data of the vehicle using a rapid trend determination method such as a Cox-Stuart test method. Referring to fig. 6A and 6B, fig. 6A and 6B are schematic diagrams illustrating a method for determining a trend according to some embodiments of the present invention.
As shown in FIG. 6A, if the test statistic indicates S+＝∑signDi＝0，S-＝∑sign(-i)＝6，K＝S-The car machine system can judge that the steering wheel deflection angle theta has a growing change trend when the steering wheel deflection angle theta is 6 and P (K) is 1.
If the test statistic indicates S, as shown in FIG. 6B+＝∑signDi＝3，S-＝∑sign(-i)＝3，K＝S-＝+And 3, P (K) is 0.5, the car machine system can judge that the steering wheel deflection angle theta has a changing trend of increasing, but the increasing trend is not obvious.
Then, the vehicle system may determine whether the first trend of the steering wheel deflection angle θ and the second trend of the lateral distance d are consistent, i.e., whether the first trend and the second trend indicate the same steering direction. If the first change trend of the steering wheel deflection angle theta is consistent with the second change trend of the transverse distance d, the vehicle-mounted machine system can judge that the driver and/or the intelligent driving system reach the instruction in the same steering direction or does not send the instruction in the opposite steering direction, and therefore the verification result that the vehicle really has the steering intention is returned. On the contrary, if the first variation trend of the steering wheel deflection angle theta is inconsistent with the second variation trend of the transverse distance d, the vehicle-mounted machine system can judge that the driver and/or the intelligent driving system has/has reached the instruction of the opposite steering direction or has not given the instruction of the same steering direction, so that the verification result that the vehicle has no steering intention is returned.
For another example, in response to a determination that the current road is of a straight road type and the vehicle has an intention to turn, the in-vehicle system may further determine a steering wheel steering angle θ according to the direction data of the vehicle, and then compare the steering wheel steering angle θ with a preset second angle threshold θ2A comparison is made. If the steering wheel deflection angle theta is greater than or equal to the second angle threshold theta2Then the car machine system can judge the steering wheel deflection angle thetaThe trend of the change is significant, namely, the driver and/or the intelligent driving system command the same steering direction, so that a verification result that the vehicle really has the steering intention is returned. Otherwise, if the steering wheel deflection angle theta is smaller than the second angle threshold value theta2And the vehicle-mounted system can judge that the change trend of the steering wheel deflection angle theta is not obvious, namely the driver and/or the intelligent driving system do not give instructions in the same steering direction, so that a verification result that the vehicle does not have steering intention is returned.
Further, in some embodiments of the present invention, the second angle threshold θ is2May be dynamically determined based on the actual speed of the vehicle. Referring further to FIG. 7, FIG. 7 illustrates a second angular threshold versus vehicle speed provided in accordance with some embodiments of the present invention.
As shown in fig. 7, in some embodiments, when the vehicle is running on a straight road, the on-board unit may further obtain vehicle speed information from an anti-lock Brake System (ABS) or an Electronic Stability Program (ESP) System of the vehicle, and dynamically determine a corresponding second angle threshold θ according to the corresponding relationship shown in fig. 72. In some embodiments, the correspondence may preferably be by an inverse scaling function y ═ f (x)-1) Is characterized in that the greater the vehicle speed, the greater the second angle threshold theta2The smaller. Dynamically determining the second angle threshold θ by configuring the correspondence shown in fig. 72The invention can dynamically reduce the second angle threshold theta when the vehicle runs at high speed2Therefore, whether the vehicle has the steering intention or not is checked more sensitively, and the rearview mirror is controlled to automatically deflect more timely, so that a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle or not, and judge whether the current road condition meets the conditions of lane changing or steering or not.
It will be appreciated by those skilled in the art that the above-described arrangement for verifying the steering intent of a vehicle in conjunction with the steering wheel deflection angle θ provides an embodiment suitable for use in a straight-track type, and is intended to clearly illustrate the broad concepts of the present invention and provide a specific arrangement for facilitating its implementation by the public and is not intended to limit the scope of the invention.
Optionally, in other embodiments, when the vehicle is traveling in a curve, the in-vehicle system may also determine whether the vehicle has an intention to turn based on the lateral distance d from the vehicle to the lane line of the lane and/or the change trend thereof, without considering the steering wheel steering angle θ, instead of the road type of the curve. For various implementation manners of the solution, please refer to the above embodiments, which are not described herein. By excluding the calibration process of the steering wheel deflection angle theta and the variation trend thereof, the method can effectively avoid the problem that the vehicle-mounted machine system cannot identify the reverse lane-changing intention of the vehicle in the curve, thereby further improving the reliability of the vehicle-mounted machine system.
Optionally, in other embodiments, in response to a result that the sensing device does not acquire information such as lane line images on the road, the vehicle-mounted machine system may determine that the road on which the vehicle is currently located belongs to the intersection type. At this time, the vehicle-mounted machine system may omit the determination of the lateral distance d and/or the variation trend thereof, and determine whether the deflection angle θ of the steering wheel is greater than a preset first angle threshold θ1To determine whether the vehicle has an intent to steer. Specifically, if the deflection angle θ of the steering wheel is larger than a preset first angle threshold θ1The vehicle-mounted system can judge that the vehicle has the steering intention, so that the steering lamp is automatically turned on through the action execution module of the steering lamp, the rearview mirror is controlled to automatically deflect, a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle, and whether the current road condition meets the conditions of lane changing or steering is judged. Otherwise, if the deflection angle theta of the steering wheel is less than or equal to the first angle threshold theta1The vehicle-mounted device system can judge that the vehicle-mounted device system is not suitable for using the automatic control function of the turn light at present, so that the action decision flow and the action execution flow of the turn light are skipped, and the false triggering of the automatic control function of the turn light and the rearview mirror is avoided.
In summary, the invention can determine the road type of the road on which the vehicle is located according to the collected track information, and then select different determination strategies according to different road types, so as to correspondingly determine the steering intention of the vehicle by combining the direction data of the vehicle and/or the track information of the road on which the vehicle is located. Therefore, the invention can automatically turn on the turn signal lamp in various driving scenes such as lane changing, turning and/or turning around of the vehicle, and automatically adjust the vehicle rearview mirror, so that a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle, and judge whether the current road condition meets the conditions of lane changing or turning.
It will be appreciated by those skilled in the art that the above-described arrangement for jointly controlling a turn signal and a rear view mirror of a vehicle is provided as a non-limiting embodiment of the present invention, and is intended to clearly illustrate the broad concepts of the present invention and to provide a detailed arrangement for facilitating the implementation by the public and not for the purpose of limiting the scope of the present invention.
Alternatively, in other embodiments, the above-mentioned related process for predicting the vehicle steering intention may be performed independently by the control device of the vehicle rearview mirror, so as to achieve the effect of automatically adjusting the vehicle rearview mirror independently from the signal of the vehicle steering lamp.
Referring to fig. 2 and 8 in combination, fig. 8 illustrates a schematic view of a wing mirror for a vehicle according to some embodiments of the present invention.
As shown in fig. 2 and 8, after determining that there is an intention to turn the vehicle, the mirror control device may turn the mirror of the vehicle in a corresponding direction according to the intention to turn.
In particular, the vehicle rear view mirror related to the automatic rear view mirror control function may include an interior rear view mirror of the vehicle, and/or exterior rear view mirrors on both left and right sides of the vehicle. In some embodiments, if the determination result indicates that the vehicle has an intention to turn left, change lane or turn around, the rearview mirror control device may control the rearview mirror on the left side of the vehicle to turn left by a first angle via the electric adjustment mechanism of the rearview mirror, so that the deflected rearview mirror visible range 81 covers the first blind zone 11 on the left side of the vehicle. The mirror control device may control the vehicle interior mirror to be deflected to the left by the second angle so that the deflected interior mirror visible range 82 covers the second mirror blind area 12 originally in the left rear of the vehicle.
Further, in some embodiments, the first angle may be a first preset angle determined through a pre-calibration experiment for the corresponding vehicle type. The second angle may be a second preset angle determined through a pre-calibration experiment for the corresponding vehicle type. As shown in fig. 8, after the first preset angle and the second preset angle are respectively deflected, the outside mirror visible range 81 of the outside mirror and the inside mirror visible range 82 of the inside mirror intersect or are tangent, thereby completely eliminating the mirror blind areas 11, 12 on the left side and the left rear side of the vehicle.
Further, for a vehicle equipped with a Driver Monitoring System (DMS), the mirror control device may first acquire eye information of the Driver, analyze the acquired eye information, and determine the first mirror blind zone 11 of the exterior mirror and/or the second mirror blind zone 12 of the interior mirror according to the eye position of the Driver.
Specifically, in the process of acquiring the human eye information of the driver, the driver monitoring system may first acquire a human face image of the driver via the driver monitoring camera, and determine three-dimensional coordinates yaw, pitch, and roll values of the face of the driver according to a human face algorithm (for example, a Landmark algorithm). The driver monitoring system may then determine the directional angle alpha of the driver's gaze based on an eye-positioning algorithm (e.g., eyesize algorithm). Then, the rearview mirror control device can acquire the sight line direction angle alpha from the driver monitoring system and according to the corresponding relation { yaw } calibrated in advancei,pitchi,rolli,αi,θ1i,θ2iDetermining a first deflection angle value theta of the rearview mirror corresponding to lane change or steering1iAnd a second angle value theta of deflection of the interior rear view mirror2i。
At the determination of the first deflection angle theta1iAnd a second deflection angle theta2iThereafter, the mirror control device may deflect the left mirror toward the left side by the first angle θ according to the direction indicated by the steering intention (i.e., to the left), and the first mirror blind zone 11 and the second mirror blind zone 121iTo cover the original vehicleA first rear-view mirror blind zone 11 at the left side and deflects the interior rear-view mirror to the left side by a second angle theta2iTo cover the original second blind zone 12 of the rear-view mirror at the left rear of the vehicle, thereby eliminating the blind zones 11, 12 of the rear-view mirror at the left and rear of the vehicle.
Accordingly, in other embodiments, if the determination result indicates that the vehicle has a steering intention of turning to the right, changing lanes or turning around, the rearview mirror control device may also control the outside rearview mirror on the right side of the vehicle to deflect to the right by a first angle, so that the visible range of the deflected outside rearview mirror covers the first blind zone 11 on the right side of the vehicle. The mirror control device may control the vehicle interior mirror to be deflected to the right by a second angle so that the deflected mirror visible range covers the second mirror blind area 12 originally located on the rear right side of the vehicle. Thus, after the first preset angle and the second preset angle are respectively deflected, the outer mirror visible range of the outer mirror and the inner mirror visible range of the inner mirror are also intersected or tangent, so that the rear mirror blind areas 11 and 12 on the right side and the right rear of the vehicle are eliminated.
Based on the above description, by implementing the control method of the vehicle rearview mirror provided by the invention, the driver only needs to observe the rearview mirror in the corresponding direction, and can clearly and accurately judge whether other vehicles or pedestrians exist in the original blind areas 11 and 12 of the rearview mirror, thereby improving the safety of the vehicle during lane changing and steering.
Furthermore, as shown in FIG. 2, in some embodiments of the present invention, the rearview mirror control device may also continue to monitor the turn signal of the vehicle after deflecting the rearview mirror of the vehicle. If the vehicle turn light is in the starting state, the rearview mirror control device can judge that the vehicle has not finished turning, turning around or changing lanes, so that the deflection state of the rearview mirror is maintained, and a driver can clearly and comprehensively observe the road condition of the turning side. On the contrary, if the turn signal of the vehicle is restored to the off state, the rearview mirror control device can judge that the vehicle has completed turning, turning around or changing lanes, so that the deflected rearview mirror is restored to the original position through the electric adjusting mechanism, and the driver can clearly observe the road conditions at the rear and the left and right sides.
Furthermore, in some embodiments of the present invention, after the mirror of the vehicle is deflected, the mirror control device may further monitor the direction data of the vehicle, and determine whether the deflection angle θ of the steering wheel is smaller than a preset third angle threshold θ according to the direction data3(e.g., 30 °, 20 °, 10 °, 5 °, 0 °). If the deflection angle theta of the steering wheel is larger than or equal to the third angle threshold theta3The mirror control device may determine that the vehicle has not finished turning, turning around, or changing lanes, thereby maintaining the deflection state of the mirror so that the driver can clearly and comprehensively observe the road condition on the turning side. On the contrary, if the deflection angle theta of the steering wheel is smaller than the third angle threshold theta3The mirror control apparatus can determine that the vehicle has completed turning, turning around, or lane changing, thereby returning the deflected mirror to the original position via the electric adjusting mechanism so that the driver can clearly observe the road conditions at the rear and left and right sides.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Although the control means described in the above embodiments may be implemented by a combination of software and hardware. It is to be understood that the control means may also be implemented in software, hardware. For a hardware implementation, the control device may be implemented on one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic devices designed to perform the functions described herein, or a selected combination thereof. For software implementation, the control means may be implemented by separate software modules, such as program modules (procedures) and function modules (functions), running on a common chip, each of which performs one or more of the functions and operations described herein.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, 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, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (17)
1. A control method of a vehicle rearview mirror, characterized by comprising the steps of:
acquiring vehicle data;
pre-judging the steering intention of the vehicle according to the acquired vehicle data; and
deflecting a rearview mirror of the vehicle in a corresponding direction according to the steering intention.
2. The control method according to claim 1, wherein the rear view mirror includes an interior rear view mirror of the vehicle and/or exterior rear view mirrors on left and right sides of the vehicle, and the step of deflecting the rear view mirror of the vehicle to a corresponding direction according to the steering intention includes:
deflecting the interior mirror and/or the exterior mirror on the left side of the vehicle to the left side in response to the steering intention to the left; and
deflecting the interior mirror and/or the exterior mirror to the right of the vehicle to the right in response to an intention to turn to the right.
3. The control method according to claim 2, wherein the step of deflecting the mirror of the vehicle to a corresponding direction according to the steering intention further comprises:
according to the steering intention, deflecting the exterior mirror by a first preset angle in a corresponding direction and/or deflecting the interior mirror by a second preset angle in a corresponding direction, wherein the first preset angle and/or the second preset angle are determined through pre-calibration.
4. The control method according to claim 2, wherein the step of deflecting the mirror of the vehicle to a corresponding direction according to the steering intention further comprises:
acquiring human eye information of the driver in response to a judgment result that the steering intention exists;
determining a rearview mirror blind area of the inside rearview mirror and/or the outside rearview mirror according to the human eye information; and
and deflecting the outside rearview mirror to a corresponding direction by a first preset angle and/or deflecting the inside rearview mirror to a corresponding direction by a second preset angle according to the steering intention and the blind area of the rearview mirror.
5. The control method according to claim 3 or 4, wherein a first predetermined angle at which the outside rear view mirror is deflected corresponds to a first mirror blind zone on a side of the vehicle, a second predetermined angle at which the inside rear view mirror is deflected corresponds to a second mirror blind zone on a rear side of the vehicle, and the visible ranges of the outside rear view mirror after deflection and the inside rear view mirror after deflection intersect or are tangent to each other.
6. The control method according to claim 1, wherein the vehicle data includes direction data of the vehicle and track information of a road on which the vehicle is located, and the step of predicting the steering intention of the vehicle based on the acquired vehicle data includes:
determining the road type of the road according to the track information; and
and judging the steering intention of the vehicle according to the direction data and/or the road type.
7. The control method according to claim 6, wherein the road type includes a straight road type and a curve type, and the step of determining the road type of the road from the trajectory information includes:
calculating the curvature radius of the road according to the track information;
responding to a judgment result that the curvature radius is larger than a preset radius threshold value, and judging that the road belongs to a straight road type; and
determining that the road is of a curve type in response to a determination that the radius of curvature is less than or equal to the radius threshold.
8. The control method according to claim 7, wherein the trajectory information includes a lane line trajectory, the road type further includes an intersection type, and the step of determining the road type of the road based on the trajectory information further includes:
and responding to the situation that the lane line information of the road is not collected, and judging that the road belongs to the type of the intersection.
9. The control method according to claim 8, wherein the direction data includes a steering angle of a steering wheel, and the step of determining the steering intention of the vehicle based on the direction data and/or the road type includes:
responding to a judgment result that the road belongs to the type of the intersection, and judging whether the deflection angle of the steering wheel is larger than a preset first angle threshold value or not; and
and determining that the vehicle has the steering intention in response to a determination that the steering wheel deflection angle is greater than the first angle threshold.
10. The control method according to claim 7, wherein the driving data further includes a lateral distance of the vehicle to a lane line of a lane in which the vehicle is located, and the step of determining the steering intention of the vehicle based on the direction data and/or the road type includes:
and judging whether the vehicle has a steering intention according to the transverse distance in response to the judgment result that the road belongs to the straight road type or the curve type.
11. The control method according to claim 10, wherein the step of determining whether there is an intention to steer the vehicle based on the lateral distance includes:
according to the change trend of the transverse distance, calculating the transverse speed of the vehicle approaching the lane line;
predicting the triggering time of the vehicle contacting the lane line according to the transverse speed and the transverse distance;
comparing the trigger time with a preset first time threshold; and
determining that the vehicle has an intent to steer in response to a comparison of the trigger time being less than or equal to the first time threshold.
12. The control method according to claim 11, wherein the step of determining whether there is an intention to steer the vehicle based on the lateral distance further comprises:
determining the change trend of the steering wheel deflection angle according to the direction data in response to the judgment result that the road belongs to the straight road type and the vehicle has the steering intention;
judging whether the change trend of the deflection angle of the steering wheel is consistent with the change trend of the transverse distance;
confirming that the vehicle has an intention to steer in response to a determination that the trend of change in the steering wheel deflection angle is consistent with the trend of change in the lateral distance; and
confirming that the vehicle has no intention to turn in response to a determination that the trend of change in the steering wheel deflection angle is inconsistent with the trend of change in the lateral distance.
13. The control method according to claim 11 or 12, wherein the step of determining whether there is an intention to steer the vehicle based on the lateral distance further comprises:
determining a steering wheel deflection angle according to the direction data in response to a judgment result that the road belongs to a straight road type and the vehicle has a steering intention;
comparing the steering wheel deflection angle with a preset second angle threshold;
confirming that the vehicle has an intent to steer in response to the comparison that the steering wheel deflection angle is greater than or equal to the second angle threshold; and
confirming that the vehicle is free of steering intent in response to a comparison of the steering wheel deflection angle being less than the second angle threshold.
14. The control method according to claim 1, characterized in that after deflecting a rear view mirror of the vehicle, the control method further comprises the steps of:
judging whether the deflection angle of the steering wheel is smaller than a preset third angle threshold value or not according to the direction data; and
and responding to a judgment result that the deflection angle of the steering wheel is smaller than the third angle threshold value, and returning the rearview mirror to the original position.
15. The control method according to claim 1 or 14, characterized in that after deflecting a rear view mirror of the vehicle, the control method further comprises the steps of:
acquiring a turn signal of the vehicle; and
returning the rearview mirror to an original position in response to the turn light signal indicating that the turn light is turned off.
16. A control device for a vehicle rearview mirror, characterized by comprising:
a memory; and
a processor connected to the memory and configured to implement the control method of the vehicle mirror according to any one of claims 1 to 15.
17. A computer-readable storage medium having stored thereon computer instructions, wherein the computer instructions, when executed by a processor, implement a method of controlling a vehicle rearview mirror as defined in any one of claims 1-15.
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Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: United New Energy Automobile Co.,Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: Hezhong New Energy Vehicle Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |