CN114537275B - Control method and device for vehicle rearview mirror - Google Patents
Control method and device for vehicle rearview mirror Download PDFInfo
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- CN114537275B CN114537275B CN202210230663.7A CN202210230663A CN114537275B CN 114537275 B CN114537275 B CN 114537275B CN 202210230663 A CN202210230663 A CN 202210230663A CN 114537275 B CN114537275 B CN 114537275B
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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
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Abstract
The invention provides a control method and device of a vehicle rearview mirror and a computer readable storage medium. The control method comprises the following steps: acquiring vehicle data; according to the acquired vehicle data, prejudging the steering intention of the vehicle; and deflecting the rear view 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 rear situations of the vehicle more clearly by adjusting the deflection angle of the vehicle rearview mirror, so that the safety of the vehicle in lane change and steering is improved.
Description
Technical Field
The present invention relates to a vehicle control technology, and more particularly, to a control method of a vehicle rearview mirror, a control device of a vehicle rearview mirror, and a computer-readable storage medium.
Background
When driving a vehicle to change the road or turn the road, a 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 condition of changing the road or turning the road. However, as shown in fig. 1, blind areas 11 and 12 are common in the field of view of the conventional exterior mirror and interior mirror. The driver cannot determine whether other vehicles or pedestrians are present in the blind areas 11 and 12 only by the field of view provided by the conventional outside mirror and inside mirror, and often needs to turn around to observe the road condition behind the vehicle side. Such an operation is complicated and is easily ignored by a driver having poor driving habits or experience, and on the other hand, the driver is required to deviate the field of view from the front side so much that the driver cannot consider an emergency situation in front of the vehicle at the same time, so that a huge accident potential exists.
In order to overcome the above-mentioned drawbacks of the prior art, there is a need in the art for a control technique of a vehicle rearview mirror, which is used for helping a driver to observe the lateral and rear situations 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 device of a vehicle rearview mirror, and a computer-readable storage medium.
Specifically, the control method of the vehicle rearview mirror provided in the first aspect of the invention comprises the following steps: prejudging the steering intention of the vehicle; and deflecting the rear view 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 rear situations of the vehicle more clearly by adjusting the deflection angle of the vehicle rearview mirror, so that the safety of the vehicle in lane change and steering is improved.
Further, in some embodiments of the invention, the rearview mirror comprises an interior rearview mirror of the vehicle and/or exterior rearview mirrors on left and right sides of the vehicle. The step of deflecting the rear view mirror of the vehicle in the corresponding direction according to the steering intention includes: deflecting the inside mirror and/or the outside mirror on the left side of the vehicle to the left side in response to a steering intention to the left; and deflecting the inside mirror and/or the outside mirror on the right side of the vehicle to the right side in response to a steering intention to the right.
Further, in some embodiments of the present invention, the step of deflecting the rear view mirror of the vehicle to the corresponding direction according to the steering intention further includes: according to the steering intention, the exterior mirror is deflected to a corresponding direction by a first preset angle, and/or the interior mirror is deflected to a corresponding direction by a second preset angle, wherein the first preset angle and/or the second preset angle is/are determined through pre-calibration.
Further, in some embodiments of the present invention, the step of deflecting the rear view mirror of the vehicle to the corresponding direction according to the steering intention further includes: acquiring human eye information of a driver in response to a judgment result that steering intention exists; according to the human eye information, determining a rearview mirror blind area of the inside rearview mirror and/or the outside rearview mirror; and according to the steering intention and the rearview mirror blind area, deflecting the outside rearview mirror to a first preset angle in a corresponding direction, and/or deflecting the inside rearview mirror to a second preset angle in a corresponding direction.
Further, in some embodiments of the present invention, the first preset angle of deflection of the exterior mirror corresponds to a first mirror dead zone of the vehicle side. The second preset angle of deflection of the rearview mirror in the vehicle corresponds to a second rearview mirror blind area at the rear side of the vehicle. The deflected outside rearview mirror and the deflected inside rearview mirror are intersected or tangent in visual range.
Further, in some embodiments of the 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 predicting 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 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 track information comprises the following steps: calculating the curvature radius of the road according to the track information; responding to the 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 responding to the judgment result that the curvature radius is smaller than or equal to the radius threshold value, and judging that the road belongs to a curve type.
Further, in some embodiments of the invention, the trajectory information comprises a lane line trajectory. The road types also include an intersection type. The step of determining the road type of the road according to the track information further comprises: and responding to the condition that the lane line information of the road is not acquired, and judging that the road belongs to the intersection type.
Further, in some embodiments of the invention, the direction data includes a steering wheel deflection angle. The step of judging the steering intention of the vehicle according to the direction data and/or the road type comprises the following steps: responding to a judging result that the road belongs to the intersection type, 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 steering angle of the steering wheel is greater than the first angle threshold.
Further, in some embodiments of the invention, the travel data further includes a lateral distance of the vehicle from a lane line of the lane in which the vehicle is located. The step of judging the steering intention of the vehicle according to the direction data and/or the road type comprises the following steps: and responding to the judging result that the road belongs to a straight road type or a curve type, and judging whether the vehicle has steering intention according to the transverse distance.
Further, in some embodiments of the present invention, the step of determining whether the vehicle has a steering intention 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 triggering time with a preset first time threshold; and determining that a steering intention exists for the vehicle in response to a comparison result that the trigger time is 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 a steering intention according to the lateral distance further includes: determining a change trend of 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 steering intention; judging whether the change trend of the steering wheel deflection angle is consistent with the change trend of the transverse distance; responding to a judging result that the change trend of the steering wheel deflection angle is consistent with the change trend of the transverse distance, and confirming that the vehicle has steering intention; and confirming that the vehicle has no steering intention in response to a judgment result that the variation trend of the steering wheel deflection angle is inconsistent with the variation trend of the transverse distance.
Further, in some embodiments of the present invention, the step of determining whether the vehicle has a steering intention according to the lateral distance further includes: 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 steering intention; comparing the steering wheel deflection angle with a preset second angle threshold; responsive to a comparison that the steering wheel deflection angle is greater than or equal to the second angle threshold, confirming that the vehicle has a steering intent; and responsive to a comparison that the steering wheel angle of deflection is less than the second angle threshold, confirming that the vehicle is not having steering intent.
Further, in some embodiments of the invention, after deflecting the 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 according to the direction data; and responding to the 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 invention, after deflecting the 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 signal indicating that the turn signal is turned off.
In addition, the control device of the vehicle rearview mirror provided by the second aspect of the invention comprises a memory and a processor. The processor is connected to the memory and configured to implement the control method of the vehicle rearview mirror provided in the first aspect of the invention. By implementing the control method, the control device can help a driver to observe the lateral and rear conditions of the vehicle more clearly by adjusting the deflection angle of the rearview mirror of the vehicle, so that the safety of the vehicle during lane changing and steering is improved.
Further, the above-described computer-readable storage medium according to the third aspect of the present invention has stored thereon computer instructions. The computer instructions, when executed by a processor, implement the control method for a vehicle rearview mirror provided in the first aspect of the invention. By implementing the control method, the computer readable storage medium can help a driver to more clearly observe the side and rear situations of the vehicle by adjusting the deflection angle of the rearview mirror of the vehicle, so that the safety of the vehicle in lane change and steering is improved.
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The above features and advantages of the present invention will be better understood after reading the detailed description of embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily to scale and components having similar related features or characteristics may have the same or similar reference numerals.
Fig. 1 is a schematic view showing a blind area of a view of a conventional exterior mirror and an interior mirror.
Fig. 2 illustrates a flow diagram of a method for controlling a vehicle mirror according to some embodiments of the present invention.
Fig. 3 illustrates a flow diagram for predicting a steering intent of a vehicle provided in accordance with some embodiments of the present invention.
Fig. 4 illustrates a schematic diagram of determining lane change intention provided in accordance with some embodiments of the invention.
Fig. 5 illustrates a schematic diagram of distance threshold versus lateral velocity provided in accordance with some embodiments of the invention.
Fig. 6A and 6B are schematic diagrams illustrating a trend determination according to some embodiments of the 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-rate vehicle mirror provided in accordance with some embodiments of the invention.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present invention with specific examples. While the description of the invention will be presented in connection with a preferred embodiment, it is not intended to limit the inventive features to that embodiment. Rather, the purpose of the invention described in connection with the embodiments is to cover other alternatives or modifications, which may be extended by the claims based on the invention. The following description contains many specific details for the purpose of providing a thorough understanding of the present invention. The invention may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the terms "upper", "lower", "left", "right", "top", "bottom", "horizontal", "vertical" as used in the following description should be understood as referring to the orientation depicted in this paragraph and the associated drawings. This relative terminology is for convenience only and is not intended to be limiting of the invention as it is described in terms of the apparatus being manufactured or operated in a particular orientation.
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 and these terms are merely used to distinguish between different elements, regions, layers and/or sections. Accordingly, a first component, region, layer, and/or section discussed below could be termed a second component, region, layer, and/or section without departing from some embodiments of the present invention.
As described above, when the driver drives the vehicle to change the lane or turn the vehicle, the driver needs to observe whether other vehicles or pedestrians exist at the side and rear of the vehicle to determine whether the current road condition satisfies the lane-changing or turn condition. However, as shown in fig. 1, blind areas 11 and 12 are common in the field of view of the conventional exterior mirror and interior mirror. The driver cannot determine whether other vehicles or pedestrians are present in the blind areas 11 and 12 only by the field of view provided by the conventional outside mirror and inside mirror, and often needs to turn around to observe the road condition behind the vehicle side. Such an operation is complicated and is easily ignored by a driver having poor driving habits or experience, and on the other hand, the driver is required to deviate the field of view from the front side so much that the driver cannot consider an emergency situation in front of the vehicle at the same time, so that a huge accident potential exists.
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 device of a vehicle rearview mirror, and a computer readable storage medium, which help a driver to observe the lateral and rear situations of a vehicle more clearly by adjusting the deflection angle of the vehicle rearview mirror, thereby improving the safety of the vehicle during lane change and steering.
In some non-limiting embodiments, the control method of the vehicle rearview mirror provided in the first aspect of the invention may be implemented by the control device of the vehicle rearview mirror provided in 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 an on-board 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 present invention, having stored thereon computer instructions. The processor is connected to the memory and configured to implement the control method of a vehicle mirror as provided in the first aspect of the invention, so as to automatically control the vehicle mirror.
The working 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 rearview mirror control methods are merely some non-limiting embodiments provided by the present invention, and are intended to clearly illustrate the main concepts of the present invention and to provide some embodiments for public implementation, not to limit the overall operation or function of the rearview mirror control device. Similarly, the rearview mirror control device is just one non-limiting embodiment provided by the invention, and does not limit the implementation main body of each step in the rearview mirror control method.
Referring to fig. 2, fig. 2 is a flow chart illustrating a method for controlling a vehicle rearview mirror 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 traveling of the vehicle, and predict the steering intention of the vehicle based on the acquired vehicle data.
In particular, the rearview mirror control apparatus can collect a turn signal of a vehicle in real time during running of the vehicle. The turn signal lights of the vehicle may be manually controlled by the driver according to the steering demand. If the collected turn signal light indicates that the turn signal light is in a starting state, the rearview mirror control device can predict the steering intention of the vehicle. On the contrary, if the collected turn signal indicates that the turn signal is in the off state, the rearview mirror control device can predict 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 image recognition technologies, the steering intention judgment scheme based on the steering lamp state has better prospective, and can judge the steering intention of the vehicle before the vehicle actually turns and changes lanes, so that the deflection angles of the rearview mirrors of the vehicle are adjusted in advance, a driver can observe whether other vehicles or pedestrians exist at the sides and the rear of the vehicle, and whether the current road condition meets the conditions of lane change or steering is judged.
It will be appreciated by those skilled in the art that the above-described manual control of the turn signal by the driver is only one non-limiting embodiment provided by the present invention, and is intended to clearly illustrate the general concept of the present invention and to provide a specific solution for public implementation, not to limit the scope of the present invention.
Further, in some preferred embodiments, the turn signal lights of the vehicle may also be automatically controlled by the vehicle system based on the acquired vehicle data. In this way, even if the driver turns on the turn signal lamp in advance due to poor driving habits, inattention or forgetting, the rearview mirror control device can predict the steering intention of the vehicle according to the acquired vehicle data, so as to adjust the deflection angle of the rearview mirror of the vehicle in advance before the vehicle actually turns or changes lanes, so that the driver can observe whether other vehicles or pedestrians are present on the side and the rear of the vehicle, and judge whether the current road condition meets the conditions of lane change or steering.
Referring specifically to fig. 3, fig. 3 is a schematic flow chart illustrating a method for predicting a steering intention of a vehicle according to some embodiments of the present invention.
In the embodiment shown in fig. 3, the vehicle system may acquire the running data of the vehicle in real time during the running of the vehicle. The driving data includes, but is not limited to, direction data of the vehicle and track information of the road, wherein the direction data is used for indicating operation instructions of a driver and/or an intelligent driving system, and the track information is used for indicating an extending track of the road.
Specifically, the direction data includes, but is not limited to, steering wheel angle values, steering wheel rotation ratios, and other physical steering wheel deflection data, or steering radius, wheel deflection angle, and other parameters. The vehicle system can acquire direction data such as a steering wheel angle value, a steering wheel rotation ratio, a wheel deflection angle, a steering radius and the like from a steering angle sensor arranged on a steering wheel, a steering angle sensor arranged on a wheel end of a vehicle and/or an advanced driving support system (Advanced Driving Assistance System, ADAS) arranged on a vehicle via a vehicle bus.
In addition, for a standardized road with clear lane lines, the track information can be determined according to lane line images acquired by sensing equipment such as a vehicle recorder, a reversing image, a 360-degree panoramic image and the like. 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 isolated column tracks acquired by sensing equipment such as vehicle-mounted radars. The vehicle-mounted system can respectively acquire track information such as lane line tracks, road shoulder tracks, road tooth tracks, barrier tracks and the like from sensing equipment such as a vehicle recorder, a reversing image, a 360-degree panoramic image, a vehicle-mounted radar and the like through a vehicle bus.
Further, after acquiring the driving data of the vehicle from the sensors, modules and systems, the vehicle system may preferably preprocess the acquired vehicle data, delete invalid data therein and/or filter noise signals therein. For example, the vehicle-mounted system can filter the original data by adopting a first-order lag filtering method, and the calculation formula is as follows:
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, and Y (n) is the output signal value.
As shown in fig. 3, after preprocessing of each traveling data is completed, the vehicle-mounted system may determine a road type of a road on which the vehicle is located according to the acquired track information, and accurately determine a steering intention of the vehicle in combination with the acquired direction data and/or the determined road type.
Specifically, the road type may be classified into a straight road type, a curve type, and an intersection type. The vehicle-mounted system may first calculate a radius of curvature R of a road where the vehicle is located according to the obtained trajectory information based on a lane line equation y=f (x), that is:
where f (x) indicates the extended trajectory of the road.
If the calculated curvature radius R is larger than a preset first radius threshold R 1 (e.g., 10000 meters), the vehicle system can determine that the road on which the vehicle is located is of the straight road type. Conversely, if the calculated radius of curvature R is less than or equal to the first radius threshold R 1 The vehicle-mounted system can determine that the road on which the vehicle is located is of a curve type.
Further, in order to solve the problem that the recognition accuracy of sensing equipment such as a vehicle event data recorder, a reversing image, a 360-degree panoramic image and the like is low under the condition of overlarge road curvature, the invention can be preferably provided with a second radius threshold R 2 (e.g., 200 meters). If the calculated radius of curvature R is smaller than the second radius threshold R 2 The vehicle machine system can judge that the current road curvature is too large and is not suitable for using the automatic control function of the steering lamp and the rearview mirror, 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 steering lamp and the rearview mirror is avoided.
As will be appreciated by those skilled in the art, R as described above 1 =10000 m, R 2 The case of 200 meters is only provided as a non-limiting example, and is intended to clearly illustrate the main concept of the present invention and to provide a specific solution for public implementation, not to limit the scope of protection of the present invention.
Optionally, in other embodiments, the first radius threshold R 1 And/or the second radius threshold R 2 The system can be calibrated according to actual conditions and/or simulation experiments of each sensing module and each vehicle so as to better meet the actual requirements of automatic control steering lamps and vehicle rearview mirrors.
Then, in response to a judging result that the road belongs to a straight road type or a curve type, the vehicle-mounted system can further acquire the transverse distance d from the vehicle to the lane line of the lane from sensing equipment such as a vehicle 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 lane-change side of the vehicle from the trigger line. The vehicle system may then combine the lateral distance to determine whether the vehicle is intended to turn. Referring to fig. 4, fig. 4 is a schematic diagram illustrating a determination of lane change intention according to some embodiments of the present invention.
As shown in fig. 4, when the vehicle is traveling in a straight or curved road, the vehicle-to-machine system may first set the acquired lateral distance d to a preset contact distance threshold d 0 A comparison is made. If the lateral distance d is greater than the contact distance threshold d 0 The vehicle-mounted system can judge that the vehicle does not have the turning intention of lane change 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 functions of the steering lamp and the rearview mirror is avoided. Conversely, if the lateral distance d is less than or equal to the contact distance threshold d 0 The vehicle-mounted system can judge that the vehicle has the steering intention of changing the lane, so that the steering lamp is automatically started through the action execution module of the steering lamp, and the rearview mirror is controlled to automatically deflect, 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 changing the lane or steering. In some embodiments, the contact distance threshold d 0 The setting of the control system can be close to the lane line as much as possible so as to avoid false triggering of the automatic control functions of the steering lamp and the rearview mirror.
Further, in some preferred embodiments, the contact distance threshold d is 0 Can be dynamically determined based on the lateral speed of the vehicle approaching the lane line. That is, for different lateral speeds, the vehicle system may dynamically determine different trigger lines within a certain interval to determine whether the vehicle has a lane-changing steering intent. Referring to fig. 5, fig. 5 illustrates a schematic diagram of distance threshold versus lateral velocity provided in accordance with some embodiments of the present invention.
As shown in FIG. 5, when the lateral speed v of the vehicle is below 0.1m/s, the vehicle-to-machine system may determine the contact distance threshold D of D1 (e.g., 0.1 meters) 0 Therefore, the rearview mirror can deflect 1 second before lane change, so that a driver can observe whether other vehicles or pedestrians exist on the side and the rear of the vehicle, and judge whether the current road condition meets the lane change or steering conditions. When the vehicle isWhen the transverse speed of the vehicle is above 1m/s, the vehicle-mounted system can determine the contact distance threshold D of D2 (for example, 0.3 m) 0 Therefore, the rearview mirror can deflect 0.3 meter before lane change, 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 lane change or steering conditions. The corresponding contact distance threshold d when the lateral speed of the vehicle is between 0.1m/s and 1m/s 0 The reaction time and the reaction space of the driver can be both considered by linearly increasing the reaction time from D1 to D2.
Those skilled in the art will appreciate that the above-described linearly increasing contact distance threshold d 0 The present invention provides a non-limiting embodiment only, and is intended to clearly illustrate the main concept of the present invention and to provide a specific solution for public implementation, not to limit the scope of the present invention.
Preferably, in other embodiments, the vehicle system may dynamically determine the contact distance threshold d by predicting the trigger time TTLC of the vehicle contacting the lane line 0 。
Specifically, the vehicle-to-machine system can continuously collect a plurality of transverse distances d between the vehicle and the lane lines at different moments i And thereby determine the trend of the change in the lateral distance d. Then, the vehicle-machine system can calculate the transverse speed v of the vehicle approaching the lane line according to the change trend of the transverse distance d i And according to the transverse velocity v i Corresponding lateral distance d i The trigger time TTLC of the vehicle touching the lane line is predicted. Then, the vehicle-mounted system can compare the predicted trigger time TTLC with a preset first time threshold t 1 A comparison is made. If the trigger time TTLC is greater than the first time threshold t 1 The vehicle-mounted system can judge that the vehicle does not have the turning intention of lane change 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 functions of the steering lamp and the rearview mirror is avoided. Conversely, if the trigger time TTLC is less than or equal to the first time threshold t 1 The vehicle-mounted system can determine that the vehicle currently has a lane-changing steering intention, thereby performing the operation via the turn signal lampThe driving module automatically turns on the steering lamp and controls the rearview mirror to automatically deflect 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 condition of lane change or steering.
The lane change intention of the vehicle is judged by combining the transverse distance d from the vehicle to the lane line of the lane where the vehicle is located and/or the change trend of the lane line, and the lane change intention judging device can automatically make up the turn signal before the driver forgets to turn on the turn signal and/or the vehicle deviates to the adjacent lane, so that other vehicles and pedestrians at the side and the rear of the vehicle are reminded to avoid, and the rearview mirror is controlled to automatically deviate, so that the 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.
Further, in some embodiments, when the vehicle is traveling on a straight road, the vehicle system may further check the steering intention by combining with a trend of change of direction data such as the steering wheel deflection angle θ after judging the steering intention of the vehicle according to the lateral distance d, so as to avoid false triggering of the automatic deflection function of the steering lamp and the rearview mirror.
For example, in response to a determination that the current road is of a straight road type and the vehicle has a steering intention, the vehicle-to-machine 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 determination of a trend of change according to some embodiments of the invention.
As shown in FIG. 6A, if the inspection statistics indicate S + ＝∑signD i ＝0，S - ＝∑sign(- i )＝6，K＝S - =6, p (K) =1, and the vehicle system can determine that there is a growing trend in the steering wheel deflection angle θ.
As shown in FIG. 6B, if the inspection statistics indicate S + ＝∑signD i ＝3，S - ＝∑sign(- i )＝3，K＝S - ＝ + The vehicle system can judge that the steering wheel deflection angle theta has a growing variation trend, but growsThe trend was not significant.
Then, the vehicle-mounted system can judge whether the first change trend of the steering wheel deflection angle theta is consistent with the second change trend of the transverse distance d, namely whether the same steering direction is indicated. If the first variation trend of the steering wheel deflection angle theta is consistent with the second variation trend of the transverse distance d, the vehicle-to-machine system can judge that the driver and/or the intelligent driving system gives an instruction in the same steering direction or does not give an instruction in the opposite steering direction, so that a verification result that the steering intention of the vehicle is really existed is returned. Otherwise, if the first variation trend of the steering wheel deflection angle θ is inconsistent with the second variation trend of the transverse distance d, the vehicle-to-machine system can determine that the driver and/or the intelligent driving system issues an instruction in the opposite steering direction or does not issue an instruction in the same steering direction, so as to return a verification result that the steering intention of the vehicle does not exist.
For another example, in response to a determination that the current road is of a straight road type and that the vehicle has a steering intention, the vehicle-to-machine system may further determine the steering wheel deflection angle θ from the direction data of the vehicle and then match the steering wheel deflection angle θ with a preset second angle threshold θ 2 A comparison is made. If the steering wheel deflection angle theta is greater than or equal to the second angle threshold value theta 2 The vehicle-mounted system can judge that the change trend of the steering wheel deflection angle theta is obvious, namely the driver and/or the intelligent driving system gives instructions of the same steering direction, so that a verification result that the steering intention of the vehicle is really existed is returned. Conversely, if the steering wheel deflection angle θ is less than the second angle threshold θ 2 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 does not give an instruction in the same steering direction, so that a verification result that the steering intention of the vehicle does not exist is returned.
Still further, in some embodiments of the present invention, the second angle threshold θ 2 May 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, the vehicle system may further acquire vehicle speed information of the vehicle from an anti-lock brake system (Antilock Brake System, ABS) or an electronic stability system (Electronic Stability Program, ESP) of the vehicle during the straight-road running of the vehicle, and dynamically determine the corresponding second angle threshold θ according to the correspondence shown in fig. 7 2 . In some embodiments, the correspondence may preferably be determined by an inverse proportional function y=f (x -1 ) Characterised by the fact that the greater the vehicle speed, the second angular threshold value theta 2 The smaller. Dynamically determining the second angle threshold θ by configuring the correspondence shown in FIG. 7 2 The invention can dynamically reduce the second angle threshold value theta when the vehicle runs at high speed 2 Therefore, whether the vehicle has steering intention or not is checked more sensitively, and the rearview mirror is controlled to deflect automatically in time, so that a driver can observe whether other vehicles or pedestrians exist at the side and the rear of the vehicle or not, and whether the current road condition meets the condition of lane change or steering or not is judged.
It will be appreciated by those skilled in the art that the above-described solution for verifying the steering intent of a vehicle in combination with the steering wheel angle of deflection θ is provided by the present invention only to provide an embodiment suitable for the straight road type, intended to clearly illustrate the main concept of the present invention, and to provide a specific solution for public implementation, not to limit the scope of protection of the present invention.
Alternatively, in other embodiments, the vehicle system may determine whether the vehicle has a steering intention directly according to the lateral distance d of the vehicle from the lane line of the lane and/or the change trend thereof, based on the road type of the curve type, instead of considering the steering wheel deflection angle θ, when the vehicle is driving in the curve. Please refer to the above embodiments for various embodiments of the solution, and detailed descriptions thereof are omitted herein. By excluding the calibration flow of the steering wheel deflection angle theta and the variation trend thereof, the invention can effectively avoid the problem that the vehicle-to-machine system cannot recognize the reverse lane change intention of the vehicle in a curve, thereby further improving the reliability thereof.
Optionally, in other embodiments, responsive to the sensing device not capturing a lane on the roadwayAnd as a result of the information such as the line image, the vehicle machine system can judge that the road where the vehicle is currently located belongs to the intersection type. At this time, the vehicle-to-machine system may omit the determination of the above-mentioned lateral distance d and/or the trend of change thereof, and determine whether the steering angle θ of the steering wheel is greater than a preset first angle threshold θ 1 To determine whether the vehicle has a steering intention. Specifically, if the steering angle θ of the steering wheel is greater than the preset first angle threshold θ 1 The vehicle-mounted system can judge that the vehicle has steering intention, so that the steering lamp is automatically started through the action execution module of the steering lamp, and the rearview mirror is controlled to automatically deflect, so that a driver can observe whether other vehicles or pedestrians are on the side and the rear of the vehicle, and judge whether the current road condition meets the condition of lane change or steering. Conversely, if the steering angle θ is less than or equal to the first angle threshold θ 1 The vehicle system can judge that the automatic control function of the steering lamp is not suitable for use at present, so that the action decision flow and the action execution flow of the steering lamp are skipped, and the false triggering of the automatic control functions of the steering lamp and the rearview mirror is avoided.
In summary, the invention can judge the road type of the road where the vehicle is located according to the collected track information, and then select different judging strategies according to different road types, thereby correspondingly combining the direction data of the vehicle and/or the track information of the road where the vehicle is located to judge the steering intention of the vehicle. Therefore, the invention can automatically turn on the steering lamp under various driving scenes such as lane changing, turning and/or turning around of the vehicle, and automatically adjust the rearview mirror of the vehicle, 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 lane changing or steering condition.
It will be appreciated by those skilled in the art that the above-described solution for controlling a vehicle turn signal and a rearview mirror in combination is only a non-limiting embodiment provided by the present invention, and is intended to clearly illustrate the main concept of the present invention and to provide a specific solution for public implementation, not for the scope of the present invention.
Alternatively, in other embodiments, the above-mentioned related process of predicting the steering intention of the vehicle may be independently performed by the control device of the vehicle rearview mirror, so as to separate from the signal of the vehicle turn signal and independently achieve the effect of automatically adjusting the vehicle rearview mirror.
Referring to fig. 2 and 8 in combination, fig. 8 is a schematic view of a yaw mirror for a vehicle according to some embodiments of the invention.
As shown in fig. 2 and 8, after determining that the vehicle has a steering intention, the mirror control device may deflect the mirror of the vehicle in a corresponding direction according to the steering intention.
In particular, the vehicle rearview mirror, which relates to the automatic rearview mirror control function, may include an inside rearview mirror of a vehicle, and/or an outside rearview mirror on both left and right sides of the vehicle. In some embodiments, if the determination result indicates that there is a steering intention of the vehicle to turn left, change lanes or turn around, the rearview mirror control device may control the outside rearview mirror on the left side of the vehicle to deflect the first angle to the left side via the electric adjustment mechanism of the rearview mirror, so that the deflected outside rearview mirror visible range 81 covers the first rearview mirror blind zone 11 on the left side of the original vehicle. The mirror control device may control the mirror inside of the vehicle to deflect the mirror inside to the left by the second angle so that the deflected mirror inside visible range 82 covers the second mirror blind area 12 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 on a corresponding vehicle model. The second angle may be a second preset angle determined through a pre-calibration experiment for the corresponding vehicle model. As shown in fig. 8, after being deflected by the first preset angle and the second preset angle, the outside mirror viewing range 81 of the outside mirror and the inside mirror viewing range 82 of the inside mirror will intersect or be tangential, thereby completely eliminating the mirror dead zones 11, 12 on the left side and the rear left side of the vehicle.
Further, for a vehicle equipped with a driver monitoring system (Driver Monitoring System, DMS), the mirror control device may first acquire human eye information of the driver, and analyze the acquired human eye information to determine the first mirror blind area 11 of the exterior mirror and/or the second mirror blind area 12 of the interior mirror based on the human eye position of the driver.
Specifically, in acquiring human eye information of a driver, the driver monitoring system may first acquire a human face image of the driver via a driver monitoring camera, and determine a three-dimensional coordinate yaw, pitch, roll value of the face of the driver according to a human face algorithm (e.g., a Landmark algorithm). The driver monitoring system may then determine the direction angle α of the driver's line of sight based on a human eye positioning algorithm (e.g., the eye size algorithm). Then, the rearview mirror control device can acquire the sight line direction angle alpha from the driver monitoring system and can obtain the sight line direction angle alpha according to the pre-calibrated corresponding relation { yaw } i ,pitch i ,roll i ,α i ,θ 1i ,θ 2i Determining a corresponding first angle value theta of deflection of the outside rearview mirror during lane change or steering 1i And a second angle value theta for deflection of the inside mirror 2i 。
In determining the first deflection angle theta 1i Second deflection angle θ 2i Then, the rearview mirror control device can deflect the left outside rearview mirror to the left by a first angle theta according to the direction indicated by the steering intention (i.e. to the left), the first rearview mirror blind zone 11 and the second rearview mirror blind zone 12 1i To cover the first mirror blind zone 11 on the left side of the original vehicle and deflect the inside mirror to the left side by a second angle theta 2i To cover the second mirror blind area 12 in the left rear of the original vehicle, thereby eliminating the mirror blind areas 11, 12 in the left and left rear of the vehicle.
Accordingly, in other embodiments, if the determination result indicates that there is a steering intention of the vehicle to turn right, change lane, or turn around, the rearview mirror control device may also control the exterior rearview mirror on the right side of the vehicle to deflect the first angle to the right side so that the deflected exterior rearview mirror visible range covers the first rearview mirror blind zone 11 on the right side of the original vehicle. The mirror control device may control the mirror inside the vehicle to deflect the mirror inside the vehicle to the right by the second angle so that the deflected mirror inside visible range covers the second mirror dead zone 12 in the right rear of the vehicle. In this way, 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 will also intersect or be tangential, thereby eliminating the mirror blind areas 11, 12 on the right side and the rear right side of the vehicle.
Based on the above description, by implementing the control method for the vehicle rearview mirror provided by the invention, a driver can clearly and accurately judge whether other vehicles or pedestrians exist in the original rearview mirror dead zones 11 and 12 only by observing the rearview mirror in the corresponding direction, so that the safety of the vehicles in lane change and steering is improved.
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 signal lamp is in the starting state, the rearview mirror control device can judge that the vehicle has not completed turning, turning around or changing the road, so that the deflection state of the rearview mirror is maintained, and a driver can clearly and comprehensively observe the road condition at the turning side. On the contrary, if the vehicle turn signal is restored to the off state, the rear view mirror control device may determine that the vehicle has completed turning, turning around or changing the road, so that the deflected rear view mirror is restored to the original position via the electric adjusting mechanism, so that the driver can clearly observe the road conditions of the rear and left and right sides.
In addition, 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 data 3 (e.g., 30 °, 20 °, 10 °, 5 °, 0 °). If the steering wheel deflection angle theta is greater than or equal to the third angle threshold value theta 3 The rear view mirror control device can determine that the vehicle has not completed turning, turning around or changing the road, thereby maintaining the deflected state of the rear view mirror so that the driver can clearly and comprehensively observe the road condition on the turning side. Conversely, if the steering wheel has a deflection angle θ smaller than the third angle threshold θ 3 The mirror control device may determine that the vehicle has completed turning, turning around, or changing lanes, thereby deflecting via the electric adjustment mechanismThe rearview mirror returns to the original position so that the driver can clearly observe the road conditions at the rear and the 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 and appreciated by those 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, 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 will be appreciated that the control means may also be implemented in software, hardware. For a hardware implementation, the control device may be implemented within 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 for performing the functions described above, or a selected combination thereof. For software implementation, the control device may be implemented with separate software modules, such as program modules (procedures) and function modules (functions), running on a common chip, each module performing 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 (14)
1. A control method of a vehicle rearview mirror, characterized by comprising the steps of:
acquiring a deflection angle of a steering wheel of a vehicle and a lane line track of a road to judge the road type of the road;
responding to the lane line track of the road which is not collected, judging that the road belongs to the intersection type, and judging whether the deflection angle of the steering wheel of the vehicle is larger than a preset first angle threshold value or not;
determining that a first steering intention exists in a vehicle positioned at the intersection in response to a determination result that the steering angle of the steering wheel is greater than the first angle threshold;
responding to a judging result that the lane line track indicates that the road belongs to a straight road type, and judging whether a vehicle positioned in the straight road has a second steering intention according to the transverse distance between the vehicle and a lane line of the lane;
determining a change trend of a steering wheel deflection angle in response to a judgment result that the second steering intention exists in the vehicle positioned on the straight road, and judging whether the change trend of the steering wheel deflection angle is consistent with the change trend of the transverse distance;
verifying that the second steering intention exists in the vehicle positioned on the straight road in response to a judgment result that the change trend of the steering wheel deflection angle is consistent with the change trend of the transverse distance; and
And according to the first steering intention or the verified second steering intention, deflecting the rearview mirror of the vehicle to the corresponding direction.
2. The control method according to claim 1, wherein the rear view mirror includes an inside rear view mirror of the vehicle and/or an outside rear view mirror on both left and right sides of the vehicle, and the step of deflecting the rear view mirror of the vehicle in the corresponding direction according to the first steering intention or the verified second steering intention includes:
deflecting the inside mirror and/or the outside mirror on the left side of the vehicle to the left side in response to a steering intention to the left; and
in response to the steering intention to the right, the inside mirror and/or the outside mirror on the right side of the vehicle are deflected to the right.
3. The control method according to claim 2, wherein the step of deflecting the rear view mirror of the vehicle in the corresponding direction according to the first steering intention or the verified second steering intention further comprises:
and according to the first steering intention or the verified second steering intention, the outside rearview mirror is deflected to a first preset angle in a corresponding direction, and/or the inside rearview mirror is deflected to a second preset angle in a corresponding direction, wherein the first preset angle and/or the second preset angle are/is determined through pre-calibration.
4. The control method according to claim 2, wherein the step of deflecting the rear view mirror of the vehicle in the corresponding direction according to the first steering intention or the verified second steering intention further comprises:
acquiring human eye information of a driver in response to a judgment result that the first steering intention exists or the verified second steering intention exists;
according to the human eye information, determining a rearview mirror blind area of the inside rearview mirror and/or the outside rearview mirror; and
and according to the steering intention and the rearview mirror blind area, deflecting the outside rearview mirror to a first preset angle in a corresponding direction, and/or deflecting the inside rearview mirror to a second preset angle in a corresponding direction.
5. The control method according to claim 3 or 4, wherein the first preset angle of deflection of the outside mirror corresponds to a first mirror dead zone on the side of the vehicle, the second preset angle of deflection of the inside mirror corresponds to a second mirror dead zone on the side of the vehicle, and the visible ranges of the outside mirror after deflection and the inside mirror after deflection intersect or are tangential.
6. The control method according to claim 1, wherein the road type further includes a curve type, the control method further comprising the steps of:
Calculating the curvature radius of the road according to the lane line track;
responding to the 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
and responding to the judgment result that the curvature radius is smaller than or equal to the radius threshold value, and judging that the road belongs to a curve type.
7. The control method according to claim 6, characterized by further comprising the step of:
acquiring the transverse distance from the vehicle to the lane line of the lane where the vehicle is located; and
and responding to the judging result that the road belongs to the curve type, and judging whether the vehicle has steering intention according to the transverse distance.
8. The control method according to claim 7, wherein the step of determining whether the vehicle located in the straight road has the second steering intention based on the lateral distance of the vehicle from the lane line of the lane where the vehicle is located 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 triggering time with a preset first time threshold; and
And responding to the comparison result that the triggering time is smaller than or equal to the first time threshold value, and judging that the vehicle has steering intention.
9. The control method according to claim 8, characterized by further comprising the step of:
and responding to a judging result that the change trend of the steering wheel deflection angle is inconsistent with the change trend of the transverse distance, and verifying that the vehicle positioned on the straight road does not have the second steering intention.
10. The control method according to claim 8 or 9, characterized by further comprising the step of:
responding to the judgment result that the vehicle positioned on the straight road has the second steering intention;
comparing the steering wheel deflection angle with a preset second angle threshold;
verifying that the vehicle located on the straight road has the second steering intent in response to a comparison that the steering wheel deflection angle is greater than or equal to the second angle threshold; and
and in response to a comparison that the steering wheel deflection angle is less than the second angle threshold, verifying that the vehicle located in the straight road does not have the second steering intent.
11. The control method according to claim 1, characterized in that after deflecting the 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; and
and responding to the 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.
12. The control method according to claim 1 or 11, characterized in that after deflecting the rear view mirror of the vehicle, the control method further comprises the steps of:
acquiring a turn signal of the vehicle; and
and responding to the turn signal to indicate that the turn lamp is turned off, and returning the rearview mirror to the original position.
13. A control device for a vehicle mirror, 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 12.
14. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, implement the control method of a vehicle mirror according to any one of claims 1 to 12.
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