CN115716447A - Method and device for automatically adjusting rearview mirror and automatically-driven vehicle - Google Patents
Method and device for automatically adjusting rearview mirror and automatically-driven vehicle Download PDFInfo
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Abstract
The disclosure provides a method and a device for automatically adjusting a rearview mirror, electronic equipment, a rearview mirror system, a computer readable storage medium and a computer program product, and relates to the technical field of intelligent transportation, in particular to the technical field of automatic driving. The method comprises the following steps: acquiring the running state and the positioning information of the vehicle, wherein the running state comprises a left-turn indication state, a right-turn indication state or a no-turn indication state; determining a driving intention of the vehicle based on the driving state and the positioning information; in response to the fact that the driving intention is that the driver drives into the target road through the ramp, determining a target rearview mirror needing to be adjusted and a trigger condition for starting adjustment of the target rearview mirror; and controlling a rearview mirror adjusting mechanism of the vehicle to adjust the left and right visual fields of the target rearview mirror in response to the fact that the vehicle runs and meets the triggering condition, so that the extending direction of the target rearview mirror and the target road is in a target included angle. The scheme disclosed by the invention can realize the automatic adjustment of the rearview mirror on the ramp, and improve the safety of man-machine driving.
Description
Technical Field
The present disclosure relates to the field of intelligent transportation technologies, and in particular, to the field of automatic driving technologies, and in particular, to a method and an apparatus for automatically adjusting a rearview mirror, an electronic device, a rearview mirror system, an automatically driven vehicle, a computer-readable storage medium, and a computer program product.
Background
In the technical field of automatic driving, driving automation is graded according to L0-L5, wherein L0-L2 belong to assistant driving, L3-L5 belong to automatic driving, and the higher the grade is, the less ginseng is needed.
Although the automatic driving technology gradually matures, most automatic driving vehicles still need drivers to accompany the vehicles during driving, keep attention at any time and observe surrounding road conditions, namely, people and machines are required to drive together. How to enable a driver of an automatic driving vehicle to know road conditions more clearly through a rearview mirror so as to improve the safety of man-machine driving, which is a technical problem to be solved urgently by technical personnel in the field.
The technical means described in this section are not necessarily the technical means that have been previously conceived or adopted. Unless otherwise indicated, it should not be assumed that any of the technical measures described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, the problems mentioned in this section should not be considered as having been acknowledged in any prior art, unless otherwise indicated.
Disclosure of Invention
The present disclosure provides a method, an apparatus, an electronic device, a rearview mirror system, a computer-readable storage medium and a computer program product for automatically adjusting a rearview mirror.
According to an aspect of the present disclosure, there is provided a method of automatically adjusting a rear view mirror, including:
acquiring a driving state of a vehicle and positioning information of the vehicle on an electronic map, wherein the driving state comprises a left-turn indication state, a right-turn indication state or a no-turn indication state;
determining a driving intention of a vehicle based on the driving state and the positioning information, wherein the driving intention comprises continuing driving on the current road or driving from the current road to the target road through a ramp;
in response to determining that the driving intention is that the current road enters a target road through a ramp, determining a target rearview mirror needing to be adjusted from a left rearview mirror and a right rearview mirror, and determining a trigger condition for starting adjustment of the target rearview mirror; and
and in response to the fact that the vehicle running meets the triggering condition, controlling a rearview mirror adjusting mechanism of the vehicle to adjust the left and right visual fields of the target rearview mirror, so that the extending direction of the target rearview mirror and the target road is in a target included angle.
According to an aspect of the present disclosure, there is provided an apparatus for automatically adjusting a rear view mirror, including:
the system comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is configured to acquire a driving state of a vehicle and positioning information of the vehicle on an electronic map, and the driving state comprises a left-turn indication state, a right-turn indication state or a no-turn indication state;
a first determination unit configured to determine a driving intention of the vehicle based on the driving state and the positioning information, the driving intention including continuing driving on a current road or driving from the current road to a target road through a ramp;
a second determination unit configured to determine a target rearview mirror to be adjusted from a left rearview mirror and a right rearview mirror and determine a trigger condition for starting adjustment of the target rearview mirror in response to determining that the driving intention is to drive from the current road to the target road through a ramp; and
and the control unit is configured to control a rearview mirror adjusting mechanism of the vehicle to adjust the left and right visual fields of the target rearview mirror in response to the fact that the vehicle runs and meets the triggering condition, so that the extending direction of the target rearview mirror and the target road is at a target included angle.
According to an aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the preceding aspect.
According to an aspect of the present disclosure, there is provided a system for automatically adjusting a rear view mirror, including: a left rear view mirror and a right rear view mirror; the electronic device of the preceding aspect; a mirror adjustment mechanism configured to perform left-right view adjustment on each of the left mirror and the right mirror; and an angle detection device configured to acquire an angle of each of the left and right mirrors with a body of the vehicle.
According to an aspect of the present disclosure, there is provided an autonomous vehicle comprising a rearview mirror system of the foregoing aspect.
According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer instructions configured to cause a computer to perform the method of the preceding aspect.
According to an aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program realizes the method of the preceding aspect when executed by a processor.
According to one or more embodiments of the present disclosure, the rear view mirror of the automatic driving vehicle can be automatically adjusted to a proper posture when the vehicle drives from the current road to the target road through the ramp, so that a view field convenient for the driver to observe is provided, and the safety of man-machine driving can be improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.
Fig. 1 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, according to some embodiments of the present disclosure;
FIG. 2 illustrates a flow chart of a method of automatically adjusting a rearview mirror according to some embodiments of the present disclosure;
FIG. 3A illustrates a driving scenario diagram of an autonomous vehicle, in accordance with some embodiments of the present disclosure;
FIG. 3B illustrates a driving scenario diagram of an autonomous vehicle, in accordance with some embodiments of the present disclosure;
FIG. 4A illustrates a driving scenario diagram of an autonomous vehicle in accordance with some embodiments of the present disclosure;
FIG. 4B illustrates a driving scenario diagram of an autonomous vehicle, according to some embodiments of the present disclosure;
FIG. 5 illustrates a flow chart of a method of automatically adjusting a rearview mirror according to some embodiments of the present disclosure;
FIG. 6 illustrates a block diagram of an apparatus for automatically adjusting a rearview mirror according to some embodiments of the present disclosure;
FIG. 7 illustrates a block diagram of a rearview mirror system according to some embodiments of the present disclosure; and
FIG. 8 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to define a positional relationship, a temporal relationship, or an importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.
The terminology used in the description of the various examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.
At present, most automatic driving vehicles still need drivers to accompany the vehicles during driving, keep attention at any time and observe surrounding road conditions, namely, the vehicles need to be driven by man and machine together. In the related art, the rear view mirror of an autonomous vehicle is generally kept in a fixed posture during vehicle running, for example, at an angle of 90 ° with respect to the body of the vehicle. When a vehicle enters a target road from a current road through a ramp, for example, the vehicle enters a main road from a side road or enters the side road from a main road, because the view provided by the rearview mirror in a fixed posture is limited, a driver can often repeatedly adjust a sitting posture to observe the rearview mirror in order to know more road conditions of the target road, which not only easily causes fatigue of the driver, but also has certain potential safety hazards.
Based on this, the embodiments of the present disclosure provide a method, an apparatus, an electronic device, a rearview mirror system, a computer-readable storage medium, and a computer program product for automatically adjusting a rearview mirror of an automatically driven vehicle to a proper posture when the vehicle drives from a current road to a target road through a ramp, so as to provide a more convenient view for a driver and improve the safety of man-machine driving.
Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented in accordance with embodiments of the present disclosure. Referring to fig. 1, the system 100 includes a motor vehicle 110, a server 120, and one or more communication networks 130 coupling the motor vehicle 110 to the server 120.
In embodiments of the present disclosure, motor vehicle 110 may include a computing device and/or be configured to perform a method in accordance with embodiments of the present disclosure.
The server 120 may run one or more services or software applications that enable the communication control method of the disclosed vehicle. In some embodiments, the server 120 may also provide other services or software applications, which may include non-virtual environments and virtual environments. In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof, which may be executed by one or more processors. A user of motor vehicle 110 may, in turn, utilize one or more client applications to interact with server 120 to take advantage of the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from system 100. Accordingly, fig. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.
The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture involving virtualization (e.g., one or more flexible pools of logical storage that may be virtualized to maintain virtual storage for the server). In various embodiments, the server 120 may run one or more services or software applications that provide the functionality described below.
The computing units in server 120 may run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, and the like.
In some implementations, server 120 can include one or more applications to analyze and consolidate data feeds and/or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of motor vehicle 110.
Network 130 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, the one or more networks 130 may be a satellite communication network, a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a blockchain network, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (including, for example, bluetooth, wiFi), and/or any combination of these and other networks.
The system 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 150 may be used to store information such as audio files and video files. The data store 150 may reside in various locations. For example, the data store used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The data store 150 may be of different types. In certain embodiments, the data store used by the server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to the command.
In some embodiments, one or more of the databases 150 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key-value stores, object stores, or conventional stores supported by a file system.
The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with this disclosure.
Some embodiments of the present disclosure provide a method of automatically adjusting a rearview mirror for use in an autonomous vehicle. The specific type of autonomous vehicle is not limited, and may be, for example, an autonomous bus, an autonomous taxi, an autonomous business vehicle, or an autonomous sightseeing vehicle, etc. The autonomous vehicle may be a vehicle that requires short-term or long-term man-machine co-driving in various classification levels of driving automation.
Generally, a vehicle mirror can perform an up-down view adjustment and a left-right view adjustment. In the embodiment of the present disclosure, when the vehicle enters the target road from the current road through the ramp, the left and right views of the rearview mirror on the side close to the target road are properly adjusted, which is more beneficial for the driver to know the road condition of the target road.
As shown in fig. 2, some embodiments of the present disclosure provide a method 200 for automatically adjusting a rearview mirror, which includes the following steps S201 to S204.
In step S201, a driving state of the vehicle and positioning information of the vehicle on the electronic map are obtained, wherein the driving state includes a left turn indication state, a right turn indication state or a no turn indication state.
In step S202, based on the driving state and the positioning information, a driving intention of the vehicle is determined, the driving intention including continuing driving on the current road or driving from the current road to the target road through the ramp.
In step S203, in response to determining that the travel intention is to enter the target road from the current road through the ramp, a target rear view mirror requiring adjustment is determined from the left and right rear view mirrors, and a trigger condition for initiating adjustment of the target rear view mirror is determined.
In step S204, in response to determining that the vehicle runs and meets the trigger condition, the rearview mirror adjustment mechanism of the vehicle is controlled to perform left-right view adjustment on the target rearview mirror so that the target rearview mirror is at the target angle with respect to the extending direction of the target road.
By adopting the technical scheme of the embodiment of the disclosure, when a vehicle enters a target road from a current road through a ramp, for example, the vehicle enters a main road from a side road or enters the side road from the main road, a driver mainly uses a corresponding side rearview mirror (namely the target rearview mirror) for observing the road condition of the target road to automatically adjust to a posture which forms a target included angle with the extending direction of the target road, the posture is suitable for providing a visual field which is more convenient for the driver to observe, and the driver can observe the road condition of the target road from the side rearview mirror without adjusting the sitting posture, so that the safety of man-machine co-driving is improved, and the fatigue burden of the driver is also favorably relieved.
In addition, this embodiment technical scheme, it is less to the hardware change of vehicle, and is less to steering wheel, the dependence of various sensors of vehicle, is favorable to improving the degree of accuracy that the rear-view mirror was adjusted and reduces the input of cost like this.
Referring to fig. 3A, in the embodiment of the present disclosure, an angle γ between the target mirror 40 and the extending direction of the target road 30 may be defined as follows: the outer edge point O of the orthographic projection of the target rearview mirror 40 on the road surface is made into a first line segment which is parallel to the mirror surface and extends towards the vehicle body direction, the outer edge point is made into a second line segment which is parallel to the extending direction of the target road and extends towards the tail direction, and the included angle between the first line segment and the second line segment is the included angle gamma between the target rearview mirror 40 and the extending direction of the target road 30.
The target rearview mirror 40 forms a target included angle gamma with the extending direction of the target road 30 0 It is convenient for the driver to clearly observe the road condition of the target road 30, the "target included angle γ 0 "may be specifically set in conjunction with the seating position of the driver (e.g., a main driving seat or a sub-driving seat of the autonomous vehicle) and the individual driving habits. For example, in some embodiments, the target angle γ 0 In the range of not less than 80 DEG and not more than 100 DEG, for example, gamma 0 Can be 80 degrees, 85 degrees, 90 degrees, 95 degrees, 100 degrees or the like, and when a driver takes the main driving position, the target included angle gamma is 0 Can be relatively large, when a driver takes a secondary driving position, the target included angle gamma is 0 Can be relatively small.
In the disclosed embodiment, the target rearview mirror 40 forms a target included angle γ with the extending direction of the target road 30 0 It can be understood that the target included angle gamma is within a certain error range 0 Without the need for absolute precision of the target angle gamma 0 E.g. target angle γ 0 Is 90 deg., the angle between the target mirror 40 and the extending direction of the target road 30 is within the error range of 90 deg. + -3 deg., and it can be considered as the target angle gamma 0 。
In the disclosed embodiment, the running state of the vehicle includes a left turn instruction state, a right turn instruction state, or a no turn instruction state. In some embodiments, this information may be obtained from a turn signal system of the vehicle. For example, when a left turn light of the vehicle is turned on, the turn light system sends information that the driving state is a left turn indication state to the electronic equipment executing the method; when a right turn lamp of the vehicle is turned on, the turn lamp system sends information that the driving state is a right turn indication state to the electronic equipment executing the method; when the left steering lamp and the right steering lamp of the vehicle are not lightened, the electronic equipment executing the method defaults the driving state to be a no-steering indicating state.
In still other embodiments of the present disclosure, the driving state of the vehicle may be obtained from an Autonomous Driving Controller (ADC) of the vehicle, and the driving state may be transmitted to the electronic device executing the method at a specific time by the ADC based on the positioning information and the driving planned path. For example, when the automatic driving controller determines that a left turn is required ahead based on the positioning information and the planned driving path, the automatic driving controller sends information that the driving state is the left turn indication state to the electronic device executing the method in advance for a certain time (for example, 5 seconds in advance).
In the embodiment of the disclosure, the electronic map can be a high-precision map, and the high-precision map is mainly used for automatic driving and can provide map information with higher precision and richer content compared with a common map. The high-precision map can accurately describe the shape of a road, the characteristics of each lane, lane lines and isolation zones, and even the content, the position and the like of arrows and characters on the road.
In some embodiments of the present disclosure, the foregoing step S202 includes:
in response to determining that the vehicle is in the leftmost lane of the lanes contained in the current road and the driving state is a left-turn indication state, determining that the driving intention of the vehicle is to drive into the target road from the current road to the left through the ramp;
in response to determining that the vehicle is located in a rightmost lane of a plurality of lanes included in the current road and that the driving state is a right turn indication state, determining that the driving intention of the vehicle is to drive from the current road to the target road through a ramp to the right; and
in response to determining that the vehicle is in a center lane of a plurality of lanes included in the current road and that the driving state is a no-steering indication state, determining that the driving intent of the vehicle is to continue driving on the current road.
In some traffic scenarios, although the vehicle is in the leftmost lane or the rightmost lane, the vehicle has no intention to drive to the ramp (the lane is required to be allowed to run straight ahead), and the turn light of the vehicle is not turned on at this time, so that the judgment condition of the driving intention of "driving from the current road to the target road through the ramp" is not satisfied. In some traffic scenarios, although the vehicle is in the middle lane and the turn signal is turned on to change lanes to the corresponding side, since the vehicle is not yet in the leftmost lane or the rightmost lane, the determination condition of the driving intention of "driving from the current road to the target road through the ramp" is not satisfied. This embodiment can make the judgment of the vehicle travel intention more accurate.
In some embodiments, determining the target rearview mirror needing to be adjusted from the left rearview mirror and the right rearview mirror in step S203 includes:
in response to determining that the driving intention of the vehicle is to drive into the target road from the current road to the left through the ramp, determining the left rearview mirror as the target rearview mirror; and
and in response to determining that the driving intention of the vehicle is to drive from the current road to the right through the ramp to enter the target road, determining the right rear-view mirror as the target rear-view mirror.
As shown in fig. 3A and 3B, when the driving intention of the vehicle is to drive into the target road 30 from the current road 10 to the left through the ramp 20, the driver needs to observe the left rear view mirror to observe the road condition of the target road 30, and thus determines the left rear view mirror as the target rear view mirror 40. As shown in fig. 4A and 4B, when the driving intention of the vehicle is to drive from the current road 10 to the right into the target road 30 through the ramp 20, the driver needs to observe the right rear view mirror to observe the road condition of the target road 30, and thus determines the right rear view mirror as the target rear view mirror 40. According to the scheme of the embodiment, left and right visual fields of the rearview mirror on one side, which needs to be observed by a driver, can be adjusted in a targeted manner, and the rearview mirror on the other side can keep the original posture unchanged so that the driver can observe the situation behind the side vehicle when necessary, and therefore, the safe driving is facilitated.
In some embodiments, in step S203, the trigger condition for the target mirror actuation adjustment is determined, including: acquiring the running speed of a vehicle; and determining a trigger time for initiating adjustment of the target rearview mirror based on the positioning information and the driving speed.
As shown in fig. 3A, when the adjustment is actuated to the target rear view mirror 40, the vehicle may be located at the entrance of the ramp 20 (as at S1 in the drawing), or may be located on the current road 10 and set a distance from the entrance of the ramp 20, for example, 3 meters from the entrance of the ramp 20. This embodiment combines the vehicle's positioning information and travel speed to determine the trigger time to initiate adjustment of the target rearview mirror 40. For example, when the vehicle is located closer to the entrance of the ramp 20 and/or the vehicle is traveling faster, the trigger time may come relatively earlier.
In some embodiments, in step S203, determining a trigger condition for the target mirror actuation adjustment includes: and determining a trigger place for starting adjustment of the target rearview mirror based on the positioning information, wherein the trigger place is positioned at the entrance of the ramp or is away from the entrance of the ramp by a set distance.
For example, when the vehicle is positioned to reach the entrance of the ramp 20 (as at S1 in the figure) or a set distance (e.g., 3 meters) from the entrance of the ramp 20, the adjustment is initiated to the target rearview mirror 40.
The embodiments can accurately calculate the triggering condition for starting adjustment of the target rearview mirror, so that the rearview mirror of the vehicle can provide a visual field convenient for a driver to observe no matter the rearview mirror is on the current road or on a ramp.
In some embodiments of the present disclosure, controlling a mirror adjustment mechanism of a vehicle to make left and right field adjustments to a target mirror includes:
determining left and right angle adjustment quantity which enables the extending direction of the target rearview mirror and the target road to be in a target included angle; and
a mirror adjusting mechanism for controlling the vehicle adjusts the left and right visual fields of the target mirror based on the left and right angle adjustment amounts.
As shown in fig. 3A, "left-right angle adjustment amount" can be understood as: the target rearview mirror is adjusted from the current posture (as the dotted line rearview mirror with the angle theta between the target rearview mirror and the vehicle body is illustrated in the figure) to be at the target angle gamma between the target rearview mirror and the extending direction of the target road 30 0 (e.g., the target mirror 40 filled with black solid in the figure), the target mirror 40 is rotated by the desired angle δ about a vertical axis (perpendicular to the plane of the paper in the figure, and thus not shown).
Some embodiments of the present disclosure provide more detailed methods of determining the amount of left and right angle adjustment. As shown in fig. 3A, 3B, 4A, and 4B, in some embodiments, determining a left-right angle adjustment includes:
in response to determining that the target rear view mirror 40 is a left rear view mirror and the head of the vehicle is offset to the right relative to the ramp 20 (as shown in fig. 3A), or that the target rear view mirror 40 is a right rear view mirror and the head of the vehicle is offset to the left relative to the ramp 20 (as shown in fig. 4A); based on the functional relation δ = k (α - β - θ + γ) 0 -90 °), determining a left-right angle adjustment; and
in response to determining that the target rearview mirror 40 is a left rearview mirror and the head of the vehicle is offset left relative to the ramp 20 (as shown in fig. 3B), or that the target rearview mirror 40 is a right rearview mirror and the head of the vehicle is offset right relative to the ramp 20 (as shown in fig. 4B); based on the functional relation δ = k (α + β - θ + γ) 0 -90 °), determining the left and right angle adjustment;
wherein, delta is the left-right angle adjustment quantity; k is a correction coefficient which can be a change value, and the initial value of the k is related to real vehicle calibration; alpha is an included angle between the ramp 20 and the target road 03 in the electronic map, and the included angle is generally an acute angle and can be obtained by means of the electronic map; beta is an included angle between a longitudinal axis SS of the vehicle and the extending direction of the ramp 20, the included angle is generally an acute angle and can be obtained by means of an electronic map, panoramic image equipment of the vehicle and the like; gamma ray 0 The target included angle can be set to be 90 degrees by adopting a default value or other angle values according to driving habits; θ is the current angle of the target rearview mirror 40 from the body of the vehicle, which may be an acute angle, a right angle or an obtuse angle, and may be changed in real time after the vehicle enters the ramp 20, and may be obtained by means of an angle detection device.
It should be noted that, in the embodiment of the present disclosure, the rearview mirror adjusting mechanism may adjust the left and right visual fields of the target rearview mirror based on the left and right angle adjustment amount, and may also adjust the left and right visual fields of the target rearview mirror based on an equivalent substitution parameter of the left and right angle adjustment amount (for example, a target included angle between the target rearview mirror and a vehicle body of the vehicle), which is not limited in the present disclosure.
Fig. 5 is a flowchart illustrating a method 500 for automatically adjusting a rearview mirror according to some embodiments of the present disclosure, wherein steps S501 to S505 refer to the description in the foregoing embodiments.
Referring to fig. 5, in some embodiments, method 500 further comprises:
step S506: after a rearview mirror adjusting mechanism of a vehicle is controlled to adjust the left and right visual fields of a target rearview mirror, determining a detection included angle (namely gamma obtained by detection) of the extension direction of the target rearview mirror and a target road based on an included angle between a ramp and the target road in an electronic map, an included angle between a longitudinal axis of the vehicle and the extension direction of the ramp and a current included angle between the target rearview mirror and a vehicle body of the vehicle; and
step S507: and in response to the fact that the detected included angle between the target rearview mirror and the extending direction of the target road is determined to be beyond the error range, correcting the correction coefficient k, and returning to the step 504.
After the rearview mirror adjusting mechanism is started to adjust the left and right visual fields of the target rearview mirror, the adjusting result can be evaluated based on the information, if the evaluating result is not ideal (namely the detection included angle gamma deviates from the target included angle gamma) 0 Too much, outside the allowable error range), the correction coefficient k in the above function relation can be appropriately corrected. The evaluation of the adjustment result may be performed in real time or at a certain frequency, for example, every 0.5 seconds. The design of the embodiment can improve the accuracy of adjusting the rearview mirror, so that the visual field of the target rearview mirror is more ideal.
Referring to fig. 5, in some embodiments, method 500 further comprises:
in step S508, in response to determining that the vehicle has exited the ramp and/or the driving state is a no-steering indication state, the mirror adjusting mechanism of the vehicle is controlled to adjust the current angle between the target mirror and the body of the vehicle to the initial angle (refer to the mirror attitude of the vehicle at S2 in the figure).
As shown in FIG. 3A, the initial included angle θ 0 Can be defined as: before the vehicle enters the ramp 20 and still travels on the current road 10, the angle between the target rearview mirror 40 and the body of the vehicle, i.e., the angle between the target rearview mirror 40 and the body of the vehicle before the target rearview mirror 40 is adjusted. The initial included angle theta 0 It may be a default angle (e.g., 90 °), or it may be adjusted to a proper angle by the driver before driving the vehicle according to driving habits.
In this embodiment, the target rearview mirror 40 automatically resets to a posture convenient for the driver to observe the rear road condition after the vehicle enters the target road 30, thereby further providing safety for man-machine driving.
As shown in fig. 6, an embodiment of the present disclosure also provides an apparatus 600 for automatically adjusting a rearview mirror, including:
an acquisition unit 601 configured to acquire a driving state of a vehicle and positioning information of the vehicle on an electronic map, wherein the driving state includes a left turn indication state, a right turn indication state or a no turn indication state;
a first determination unit 602 configured to determine a driving intention of the vehicle based on the driving state and the positioning information, the driving intention including continuing driving on the current road or driving from the current road to the target road through a ramp;
a second determining unit 603 configured to determine a target mirror requiring adjustment from among the left mirror and the right mirror and determine a trigger condition for starting adjustment of the target mirror in response to determining that the travel intention is to enter the target road from the current road through the ramp; and
a control unit 604 configured to control a rearview mirror adjustment mechanism of the vehicle to perform left and right view adjustment on the target rearview mirror so that the target rearview mirror is at a target angle with respect to the extending direction of the target road in response to determining that the vehicle runs and satisfies the trigger condition.
By adopting the device provided by the embodiment of the disclosure, the rearview mirror of the automatic driving vehicle can be automatically adjusted to a proper posture when the vehicle drives from the current road to the target road through the ramp, so that a visual field which is more convenient for observation is provided for a driver, and the safety of man-machine driving is improved.
According to an embodiment of the present disclosure, there is also provided an electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the foregoing embodiments.
As shown in fig. 7, the embodiment of the present disclosure further provides a rearview mirror system 700, which includes a left rearview mirror 701a, a right rearview mirror 701b, an electronic device 702 adopting the design solution of the foregoing embodiment, a rearview mirror adjusting mechanism 703 and an angle detecting device 704, wherein the rearview mirror adjusting mechanism 703 is configured to perform left-right view adjustment on each of the left rearview mirror 701a and the right rearview mirror 701b, and the angle detecting device 704 is configured to acquire an included angle between each of the left rearview mirror 701a and the right rearview mirror 701b and a vehicle body of the vehicle. In some embodiments, the mirror adjustment mechanism 703 also provides the function of adjusting the up-and-down view of the mirror. The mirror adjusting mechanism 703 may include a motor, a gear transmission or a belt transmission in transmission connection with the motor, and the disclosure is not limited thereto.
The disclosed embodiment also provides an autonomous vehicle including the aforementioned rearview mirror system 700. The rearview mirror of the automatic driving vehicle can automatically adjust to a proper posture when the vehicle drives from the current road to the target road through the ramp, so that a visual field convenient for observation is provided for a driver, and the safety of man-machine driving is improved.
Referring to fig. 8, a block diagram of a structure of an electronic device 800, which may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 8, the electronic device 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data required for the operation of the electronic apparatus 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
A number of components in the electronic device 800 are connected to the I/O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 may be any type of device capable of inputting information to the electronic device 800, and the input unit 806 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote controller. Output unit 807 can be any type of device capable of presenting information and can include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. The storage unit 808 may include, but is not limited to, a magnetic disk or an optical disk. The communication unit 809 allows the electronic device 800 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth (TM) devices, 802.11 devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.
The disclosed embodiments also provide a computer-readable storage medium storing computer instructions configured to cause a computer to perform the steps of any of the foregoing embodiments of the method.
Furthermore, the embodiments of the present disclosure also provide a computer program product, which includes a computer program, wherein the computer program, when executed by a processor, implements the steps of the method of any of the foregoing embodiments.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be performed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical aspects of the present disclosure can be achieved.
While embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely illustrative embodiments or examples and that the scope of the invention is not to be limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.
Claims (16)
1. A method of automatically adjusting a rearview mirror, comprising:
acquiring a driving state of a vehicle and positioning information of the vehicle on an electronic map, wherein the driving state comprises a left-turning indication state, a right-turning indication state or a non-turning indication state;
determining a driving intention of the vehicle based on the driving state and the positioning information, wherein the driving intention comprises continuing driving on the current road or driving from the current road to the target road through a ramp;
in response to the fact that the driving intention is that the current road drives into the target road through a ramp, determining a target rearview mirror needing to be adjusted from a left rearview mirror and a right rearview mirror, and determining a trigger condition for starting adjustment of the target rearview mirror; and
and in response to the fact that the vehicle running meets the triggering condition, controlling a rearview mirror adjusting mechanism of the vehicle to adjust the left and right visual fields of the target rearview mirror, so that the extending direction of the target rearview mirror and the target road is in a target included angle.
2. The method of claim 1, wherein controlling a rearview mirror adjustment mechanism of a vehicle to make left and right field adjustments to the target rearview mirror comprises:
determining a left-right angle adjusting quantity which enables the extending direction of the target rearview mirror and the target road to be in a target included angle; and
and a rearview mirror adjusting mechanism for controlling the vehicle to adjust the left and right visual fields of the target rearview mirror based on the left and right angle adjusting amount.
3. The method of claim 2, wherein determining the left-right angle adjustment comprises:
in response to determining that the target rearview mirror is a left rearview mirror and the head of the vehicle is offset to the right relative to the ramp or that the target rearview mirror is a right rearview mirror and the head of the vehicle is offset to the left relative to the ramp; based on the functional relation delta = k (alpha-beta-theta + gamma) 0 -90 °), determining the left and right angle adjustment; and
in response to determining that the target rearview mirror is a left rearview mirror and the head of the vehicle is offset left relative to the ramp, or the target rearview mirror is a right rearview mirror and the head of the vehicle is offset right relative to the ramp; based on the functional relation delta = k (alpha + beta-theta + gamma) 0 -90 °), determining the left and right angle adjustment;
wherein, delta is the left-right angle regulating quantity, k is the correction coefficient, alpha is the included angle between the ramp and the target road in the electronic map, beta is the included angle between the longitudinal axis of the vehicle and the extending direction of the ramp, and gamma is the included angle between the longitudinal axis of the vehicle and the extending direction of the ramp 0 Is the target angle, and θ is the current angle of the target mirror to the body of the vehicle.
4. The method of claim 3, further comprising:
after a rearview mirror adjusting mechanism of a vehicle is controlled to adjust the left and right visual fields of the target rearview mirror, determining a detection included angle of the target rearview mirror and the extension direction of the target road based on an included angle between a ramp and the target road in an electronic map, an included angle between a longitudinal axis of the vehicle and the extension direction of the ramp and a current included angle between the target rearview mirror and a vehicle body of the vehicle; and
and in response to the fact that the detected included angle exceeds the error range, correcting the correction coefficient k, and returning to the step of determining the left-right angle adjustment amount.
5. The method of claim 1, wherein the range of the target included angle is: 80 DEG or more and 100 DEG or less.
6. The method of claim 1, wherein determining a trigger condition for the target rearview mirror actuation adjustment comprises:
acquiring the running speed of a vehicle; and
determining a trigger time for initiating an adjustment to the target rearview mirror based on the positioning information and the travel speed.
7. The method of claim 1, wherein determining the trigger condition for the target rearview mirror actuation adjustment comprises:
and determining a trigger point for starting and adjusting the target rearview mirror based on the positioning information, wherein the trigger point is positioned at the entrance of the ramp or is a set distance away from the entrance of the ramp.
8. The method of claim 1, wherein determining a travel intent of a vehicle based on the travel state and the positioning information comprises:
in response to determining that the vehicle is in a leftmost lane of a plurality of lanes included in a current road and the driving state is a left turn indication state, determining that the driving intention is to drive from the current road to a target road to the left through a ramp;
in response to determining that the vehicle is in a rightmost lane of a plurality of lanes included in a current road and the driving state is a right-turn indication state, determining that the driving intention is to drive from the current road to a target road to the right through a ramp; and
in response to determining that the vehicle is in a center lane of a plurality of lanes included in a current road and that the driving status is a no-turn indication status, determining that the driving intent is to continue driving on the current road.
9. The method of claim 8, wherein determining a target rearview mirror from the left and right rearview mirrors that requires adjustment comprises:
in response to determining that the driving intent is to drive into a target road from a current road to the left via a ramp, determining a left rearview mirror as the target rearview mirror; and
and in response to determining that the driving intention is to drive from the current road to the target road to the right through the ramp, determining that the right rear-view mirror is the target rear-view mirror.
10. The method of any of claims 1 to 9, further comprising:
and in response to the fact that the vehicle is determined to be out of the ramp and/or the driving state is a no-steering indicating state, controlling the rearview mirror adjusting mechanism to adjust the current included angle of the target rearview mirror and the vehicle body of the vehicle to an initial included angle.
11. An apparatus for automatically adjusting a rearview mirror, comprising:
the system comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is configured to acquire a driving state of a vehicle and positioning information of the vehicle on an electronic map, and the driving state comprises a left-turn indication state, a right-turn indication state or a no-turn indication state;
a first determination unit configured to determine a driving intention of the vehicle based on the driving state and the positioning information, the driving intention including continuing driving on a current road or driving from the current road to a target road through a ramp;
a second determination unit configured to determine a target rearview mirror to be adjusted from a left rearview mirror and a right rearview mirror and determine a trigger condition for starting adjustment of the target rearview mirror in response to determining that the driving intention is to drive from the current road to the target road through a ramp; and
and the control unit is configured to control a rearview mirror adjusting mechanism of the vehicle to adjust the left and right visual fields of the target rearview mirror in response to the fact that the vehicle runs and meets the triggering condition, so that the extending direction of the target rearview mirror and the target road is at a target included angle.
12. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 10.
13. A rearview mirror system comprising:
a left rear view mirror and a right rear view mirror;
the electronic device of claim 12;
a mirror adjustment mechanism configured to perform a left-right view adjustment on each of the left mirror and the right mirror; and
an angle detection device configured to acquire an angle of each of the left and right rearview mirrors with a body of a vehicle.
14. An autonomous vehicle comprising: the rearview mirror system of claim 13.
15. A computer readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to cause a computer to perform the method according to any one of claims 1 to 10.
16. A computer program product comprising a computer program, wherein the computer program realizes the method of any one of claims 1 to 10 when executed by a processor.
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| CN202211526825.8A CN115716447A (en) | 2022-11-30 | 2022-11-30 | Method and device for automatically adjusting rearview mirror and automatically-driven vehicle |
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