WO2022242589A1

WO2022242589A1 - Method and apparatus for controlling rear-view mirror of vehicle, and vehicle and storage medium

Info

Publication number: WO2022242589A1
Application number: PCT/CN2022/093007
Authority: WO
Inventors: 张家文
Original assignee: 广州小鹏汽车科技有限公司
Priority date: 2021-05-21
Filing date: 2022-05-16
Publication date: 2022-11-24
Also published as: CN113291247A

Abstract

A method for controlling a rear-view mirror of a vehicle, the method comprising: acquiring a sound source position of a target object, wherein the sound source position is used for representing the spatial position of a phonatory organ, which produces sound, of the target object; determining a binocular position of the target object according to the sound source position; and adjusting a rear-view mirror of a vehicle to a target position according to the binocular position. By means of the method for controlling a rear-view mirror of a vehicle, a rear-view mirror of a vehicle is adjusted by using sound source positioning, thereby bringing about greater convenience to a user driving the vehicle. Further provided are an apparatus for controlling a rear-view mirror of a vehicle, a vehicle provided with the apparatus for controlling a rear-view mirror of a vehicle, and a storage medium for executing the method for controlling a rear-view mirror of a vehicle.

Description

Control method, device, vehicle and storage medium of vehicle rearview mirror

This application claims priority to Chinese Application No. 202110560019.1 filed May 21, 2021, which is hereby incorporated by reference in its entirety for all purposes.

technical field

The present application relates to the technical field of vehicle control, and more specifically, to a control method and device for a vehicle rearview mirror, a vehicle and a storage medium.

Background technique

The rearview mirror is a tool for the driver to directly obtain external information such as the rear, side and bottom of the car while sitting in the cab seat. For the convenience of the driver's operation, to prevent the occurrence of driving safety accidents, and to ensure personal safety, all countries have stipulated that rearview mirrors must be installed on vehicles, and all rearview mirrors must be able to adjust their direction.

Because the position of the rearview mirror is directly related to whether the driver can observe the road conditions behind the car, it is more difficult for the driver to adjust its position. Therefore, the rearview mirrors of today's vehicles are basically electrically adjusted, and the driver manipulates the rearview mirrors through the electrical control system, but the electric adjustment of the rearview mirrors requires the driver to repeatedly adjust the buttons, which takes a lot of time for the driver and is extremely inconvenient .

Contents of the invention

Embodiments of the present application provide a method and device for controlling a rearview mirror of a vehicle, a vehicle, and a storage medium.

In the first aspect, some embodiments of the present application provide a method for controlling a vehicle rearview mirror. The method includes: acquiring the sound source position of the target object, the sound source position being used to characterize the spatial position of the sound-producing organ of the target object, and Determine the binocular position of the target object according to the position of the sound source, and then adjust the rearview mirror of the vehicle to the target position according to the binocular position.

In the second aspect, some embodiments of the present application also provide a control device for a vehicle rearview mirror, the device includes: an acquisition module, configured to acquire the sound source position of the target object, and the sound source position is used to represent the sound source position of the target object The spatial position of the vocal organ; the determination module is used to determine the binocular position of the target object according to the position of the sound source; the adjustment module is used to adjust the vehicle rearview mirror to the target position according to the binocular position.

In a third aspect, some embodiments of the present application also provide a vehicle, including a microphone array, a processor, and a memory, where computer program instructions are stored in the memory, and when the computer program instructions are called by the processor, the above method for controlling a vehicle rearview mirror is executed.

In a fourth aspect, the embodiment of the present application further provides a computer-readable storage medium, which stores program codes, wherein, when the program codes are run by the processor, the above method for controlling a rearview mirror of a vehicle is executed.

The present application provides a vehicle rearview mirror control method, device, vehicle and storage medium, which acquires the sound source position of the target object, and the sound source position is used to represent the spatial position of the sound-producing organ of the target object, and according to the sound source Position, determine the binocular position of the target object, and further, adjust the vehicle rearview mirror to the target position according to the binocular position. Therefore, the sound source localization is combined with the adjustment of the vehicle rearview mirror, so that the vehicle can automatically adjust the rearview mirror to the optimal position according to the driver's binocular position, thereby effectively improving the adjustment efficiency of the rearview mirror , to bring convenience to the driver's driving.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 shows a schematic diagram of an application scenario of a method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application.

Fig. 2 shows a schematic diagram of distribution of a vehicle microphone array provided by an embodiment of the present application.

Fig. 3 shows a block diagram of the connection between a microphone array and vehicle hardware provided by the embodiment of the present application.

Fig. 4 shows a schematic flowchart of a method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application.

Fig. 5 shows a schematic diagram of an application scenario of another method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application.

Fig. 6 shows a schematic flowchart of another method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application.

FIG. 7 shows a schematic flowchart of step S210 in the method for controlling a vehicle rearview mirror in FIG. 6 .

FIG. 8 shows a schematic two-dimensional plan view of a sound source localization algorithm provided by an embodiment of the present application.

FIG. 9 shows a schematic flowchart of step S240 in the method for controlling a vehicle rearview mirror in FIG. 6 .

Fig. 10 shows a schematic diagram of an application scenario of another method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application.

FIG. 11 shows a schematic flowchart of step S250 in the method for controlling a vehicle rearview mirror in FIG. 6 .

Fig. 12 shows a schematic flowchart of another method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application.

Fig. 13 shows a flow chart of a method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application.

Fig. 14 shows a module block diagram of a vehicle rearview mirror control device provided by an embodiment of the present application.

Fig. 15 is a block diagram of a vehicle provided by an embodiment of the present application.

Fig. 16 is a module block diagram of a computer-readable storage medium provided by an embodiment of the present application.

Detailed ways

Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

As an essential accessory of the vehicle, the rearview mirror plays an important role in the driving safety of the driver. In order to be able to clearly observe the road conditions behind the vehicle, the driver will adjust it according to his actual position in the driver's seat. For example, use the rearview mirror adjustment button to manually adjust the rearview mirror to the vision position that meets his driving needs. The position of the field of view is usually determined by the specific positions of the driver's own eyes during driving.

Since the same vehicle or the same type of vehicle will be driven by several people with different body proportions, for example, different family members drive the same vehicle, and different taxi drivers drive the same type of vehicle, drivers with different body proportions must be adjusted according to their own needs. The position of the mirror. In addition, when the vehicle is running, the driver's driving posture will continue to change, which also makes the adjustment of the rearview mirror troublesome.

In order to solve the above problems, the inventor has proposed a control method for a vehicle rearview mirror provided by the embodiment of the present application after long-term research. The spatial position of the vocal organ, and according to the position of the sound source, determine the binocular position of the target object, and further, adjust the vehicle rearview mirror to the target position according to the binocular position. Therefore, the sound source localization is combined with the adjustment of the vehicle rearview mirror, so that the vehicle can automatically adjust the rearview mirror to the optimal position dynamically according to the driver's binocular position. The application scenarios of the method for controlling a rearview mirror of a vehicle involved in the present application are firstly introduced below.

As shown in Fig. 1, in some embodiments, the control method of the vehicle rearview mirror provided by the embodiment of the present application can be applied in the control system 400 of the vehicle rearview mirror, the control system 400 of the vehicle rearview mirror includes a microphone array and Vehicle rear view mirror 420 . Wherein, the microphone array may include a plurality of microphones 410, and the vehicle rearview mirror may include an exterior rearview mirror or/and an interior central rearview mirror.

Optionally, a plurality of microphones 410 may be respectively installed in different positions in the vehicle compartment for collecting the driver's voice. As shown in FIG. 2 , a microphone array formed by a plurality of microphones 410 is installed at different positions on the roof of the vehicle compartment. It should be noted that the distribution position and quantity of the plurality of microphones 410 can be arranged correspondingly by specific vehicle models.

For example, a car model with two rows of seats can adopt the arrangement of four microphones, which are respectively front left, front right, rear left, and rear right. Models with three rows of seats can be arranged with six microphones, which are front left 401, front right 402, center left 403, center right 404, rear left 405, and rear right 406. For the main driver, only the front left 401, the front right 402, and the middle left 403 microphones can locate the specific position of the driver's voice, and the microphones at the front left 401, the front right 402, and the middle left 403 can Try to install it in a position that does not block the driver to prevent sound reflection, which will affect the accuracy of sound collection.

As an implementation, during the driving process of the driver, multiple microphones 410 can collect the driver's voice, and determine the location of the voice according to the voice, that is, the driver's nose/mouth, and further, according to the nose/mouth The position of the driver's eyes is obtained from the mouth, so that the vehicle rearview mirror is adjusted to a position suitable for the driver to view the road conditions behind the vehicle according to the position of the eyes.

For example, as shown in Figure 3, for a car with three rows of seats, an arrangement of 6 microphones can be used. During the driving process of the vehicle, the 6 microphones are responsible for sound collection, and transmit the collected sound to the amplifier, and the amplifier will collect the collected sound The analog signal is amplified, and the analog-to-digital converter (Analog to Digital Converter, ADC) will be sent to the digital signal processor (Digital Signal Processing, DSP) for processing. Further, due to the DSP and the system chip (System on Chip, SoC) They can communicate with each other through the integrated circuit bus (Inter Integrated Circuit, IIC)/serial peripheral interface SPI (Serial Peripheral Interface, SPI), and the DSP transmits the processed signal to the SoC, and the SoC recognizes the sound signal. Voice recognition , the SoC communicates with the microcontroller through SPI, the microcontroller is connected to the controller area network IC (Controller Area Network, CAN), and sends the CAN information to be executed to the vehicle CAN gateway module, and then through the CAN gateway module to the rearview mirror Make control adjustments. Various embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Please refer to FIG. 4 . FIG. 4 shows a method for controlling a vehicle rearview mirror provided by an embodiment of the present application. The method for controlling a vehicle rearview mirror may include the following steps S110 to S130 .

Step S110: Obtain the sound source location of the target object, which is used to characterize the spatial location of the sound-producing organ of the target object.

In order to facilitate the target object to accurately obtain the road condition information behind the vehicle from the rearview mirror during driving, the position of the vehicle rearview mirror can be adjusted to the best position according to the position of the target object's eyes, and the position of the eyes can be determined by the target object The position of the nose/mouth is deduced. Therefore, the vehicle can collect the sound from the target's nose/mouth through the microphone array, and determine the specific position of the target's nose/mouth according to the sound source localization technology, and then determine the target's eyes Wherein, the target object can be the driver of the vehicle or other occupants. In general, the target object is the driver by default. The vehicle can identify other occupants as the target object according to the location of the sound source. For example, when the When the occupant of the co-pilot seat issues a command to control the central rearview mirror, the vehicle can regard the occupant as a target at this time.

Wherein, the position of the sound source refers to the specific spatial position of the target object’s nose/mouth in the vehicle cabin. the same space coordinate system.

As an implementation, the vehicle can collect multiple channels of sound information from the target object through the microphone array, and use the sound source localization algorithm to calculate the spatial position of the target object's nose/mouth where the sound is emitted based on the multiple channels of sound information. Furthermore, the spatial position of the nose/mouth is used as the sound source position.

Specifically, as shown in FIG. 5, when the microphone 101 and the microphone 102 collect the sound information 105 emitted by the mouth 104 of the target object 103, the microphone array formed by the microphone 101 and the microphone 102 is used to form a spatial Cartesian coordinate system. , to determine the position of the sound source in the space, and can also construct a planar array and a spatial array according to the different installation positions of the microphones to calculate the sound source localization.

Step S120: Determine the binocular position of the target object according to the position of the sound source.

Among them, the binocular position refers to the spatial position of the binocular eyes of the target object in the vehicle compartment. Since the distribution of human facial features on the face is relatively small, the binocular position can be determined after determining the position of the target object's nose/mouth. As an implementation, when the sound source position of the target object is obtained, the binocular position of the target object can be calculated based on the sound source position. For example, the binocular position can be located 8 cm directly above the sound source position, and the horizontal distribution area is long About 4cm.

Step S130: Adjust the rearview mirror of the vehicle to the target position according to the binocular position.

Wherein, the target position refers to the position of the vehicle rearview mirror that is most suitable for the target object to view the road conditions behind the vehicle. The target position can be a pre-stored position, which is adjusted by the target object in advance according to its own body proportions and driving habits. , can also be the default setting by the vehicle manufacturer according to human factors engineering and vehicle manufacturing neighborhood-related technologies during the vehicle production process.

As an implementation manner, when the vehicle determines the binocular position of the target object, its corresponding target position may be determined according to the binocular position, and then the vehicle rearview mirror is adjusted to the target position. Specifically, after the vehicle has determined the binocular position, it can query the target position corresponding to the current binocular position from the vehicle's factory settings. For example, when the binocular position is within the spatial position range A~B, the corresponding vehicle rear The target position of the mirror is M.

For example, as shown in FIG. 5, when the vehicle is running, the microphone array formed by the microphone 101 and the microphone 102 can collect the sound signal 105 emitted by the target object 103 in real time, and use the sound localization algorithm to obtain the position of the mouth 104. The spatial position is used as the sound source position, and the binocular position 106 is calculated based on the sound source position. After the vehicle obtains the binocular position, it determines the target position of the vehicle rearview mirror 107, and further adjusts the vehicle rearview mirror 107 to the target position. Location.

In the embodiment of the present application, the sound source position of the target object is obtained, and the sound source position is used to characterize the spatial position of the sound-producing organ of the target object, and the binocular position of the target object is determined according to the sound source position, and further, according to Binocular position, adjust the vehicle rearview mirror to the target position. Thus, the sound source localization is combined with the adjustment of the vehicle rearview mirror, so that the vehicle can automatically adjust the rearview mirror to the best position according to the driver's binocular position, thereby effectively improving the adjustment of the rearview mirror. efficiency.

As shown in FIG. 6 , FIG. 6 schematically shows another method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application. The method for controlling a rearview mirror for a vehicle may include the following steps S210 to S250 .

Step S210: Obtain sound information from the target object through the microphone array.

The posture of the target object driving the vehicle usually changes continuously during the driving process. Therefore, the position adjusted by the target object to the vehicle rearview mirror before driving may not meet the optimal position corresponding to the current posture in real time. For this reason, the vehicle can collect the driver's voice information to locate the sound source, so as to adjust the vehicle rearview mirror in real time. Wherein, the sound information refers to the sound made by the target object's nose/mouth. It is worth noting that the sound information may include a control command issued by the target object for controlling the adjustment of the rearview mirror of the vehicle.

In some embodiments, the vehicle may use a microphone array to collect sound information from the target object in real time. Specifically, referring to FIG. 7 , step S220 may include: step S211 and step S212.

Step S211: Determine the target microphone in the microphone array according to the location of the target object in the vehicle.

Usually the microphone array of the vehicle can include a plurality of microphones, and the plurality of microphones can be arranged in different positions of the vehicle, for example, each corner on the top of the compartment. In order to improve the sound information that the microphone array can accurately collect the target object, the The location of the target object specifies a target microphone to collect sound information, wherein the target microphone refers to a microphone in the microphone array specially used to collect sound information of the target object.

As an implementation, according to different vehicle types, the microphone close to the target object can be selected as the target microphone, as shown in FIG. target microphone.

Step S212: Obtain sound information from the target object through the target microphone.

As an implementation, when the vehicle determines the target microphone, it can monitor whether the target object makes a sound in real time according to the target microphone. After the sound information is acquired, the sound information may be preprocessed so as to remove noise and improve the accuracy of the sound information.

Step S220: Determine the location of the sound source according to the sound information.

As an implementation manner, after acquiring the sound information, the vehicle can determine the location of the sound source by analyzing the sound information. Specifically, the sound source position can be calculated using the sound source localization algorithm, that is, the spatial geometric relationship can be constructed through the sound source localization algorithm, and based on the established sound source model, the position of the sound source can be estimated for the multi-channel sound information to reach the centimeter level Sound source localization ability, thereby improving the accuracy of sound source localization.

For example, the vehicle can use the voice position recognition method of time delay estimation and spatial positioning to determine the position of the sound source. For the time delay estimation of the voice signal, the time delay can be estimated by selecting the highest peak of the cross-correlation curve of two pieces of sound information. In the embodiment of the present application, the sound source localization algorithm can be described with a two-dimensional plane parameter distance. Specifically, as shown in FIG. 8, the coordinates of the known microphones: the first microphone 201, the second microphone 202, and the third microphone 203 are (0, 0), (-d, 0), (d, 0), t ₁ is the time difference of the sound information from the second microphone 202 to the first microphone 201, and t ₂ is the sound information from the first microphone 201 to the second microphone 201 The time difference of the propagation of the three microphones 203, where d, t ₁ , t ₂ , and the sound information propagation speed v are all known parameters, the coordinate l(x, y) of the sound source position can be solved by the time delay estimation calculation equation, and the calculation The equation is as follows:

According to the above equation (1) and equation (2), the coordinate l(x, y) of the sound source position can be obtained by combining the equations. It should be noted that the above example uses a two-dimensional plane parameter distance to illustrate the sound source localization algorithm. In an actual application scenario, multiple microphones can be arranged at different heights that are convenient for collecting the sound information of the target object. Therefore, it is possible to A three-dimensional spatial coordinate system is constructed for multi-channel sound source localization calculation, which is not limited here.

Step S230: Determine the binocular position of the target object according to the position of the sound source.

As an implementation manner, after the vehicle calculates the coordinates of the sound source position through the sound information, a displacement calculation may be performed on the coordinates of the sound source position to obtain the binocular position of the target object. For example, the coordinates of the sound source position can be shifted upwards by 8 cm as the coordinates of the binocular position.

Step S240: Determine the target position corresponding to the binocular position according to the binocular position.

Existing technologies related to computer vision such as face recognition can also play a role in identifying/locating the position of human eyes, but such solutions are easily affected by the external environment, such as the intensity of light will affect the accuracy of recognition. In addition, additional The camera device used for identification is arranged. Therefore, in the embodiment provided by this application, sound source localization is used to determine the binocular position, which can improve the accuracy of obtaining the binocular position and avoid increasing the production cost of the vehicle due to the addition of additional equipment.

In addition, due to physiological factors such as the proportion of human body height and the position of the driver's seat, the best angle for each driver to view the rearview mirror will be different. Usually, the spatial position of each pair of eyes, the rearview mirror will have a The best position for viewing the rear road conditions corresponding to the spatial position, that is, the target position. In some embodiments, the vehicle may determine the target position corresponding to the binocular position according to the binocular position. Specifically, referring to FIG. 9 , step S240 may include: step S241 and step S242.

In some embodiments, the vehicle can store the position where the target object adjusts the vehicle rearview mirror as the target position, so that when the target object needs to adjust the vehicle rearview mirror next time, the target position can be directly obtained, and the rearview mirror of the vehicle can be obtained directly. The mirror can be adjusted quickly.

Step S241: Determine the user identity of the target object.

As an implementation, when the vehicle acquires the voice information of the target user, it can perform speech recognition/voiceprint recognition on the voice information, and then can determine the user identity of the target object. For example, after the target microphone collects the sound information from the target object, the vehicle uses the voiceprint recognition algorithm to analyze the sound information to determine the user identity of the target object.

Step S242: Determine the target position corresponding to the binocular position of the target object according to the user identity.

As an implementation, when the vehicle determines the user identity of the target object according to the collected sound information, the user identity can be used to obtain the historical adjustment position corresponding to the binocular position of the target object. The historical adjustment position refers to the historical record In the vehicle rearview mirror adjusted position, further, the default adjustment position corresponding to the binocular position can be obtained according to the binocular position of the target object. Length, cabin height) and the default position of the rearview mirror adjustment obtained by the test experiment of the binocular position. Further, it can be judged whether the historical adjustment position matches the default adjustment position. If the historical adjustment position matches the default adjustment position, then the historical adjustment position The adjusted position is determined as the target position.

Optionally, the vehicle can query the record of the vehicle rearview mirror adjusted by the target object from the data table recorded with the vehicle rearview mirror adjustment record, so as to obtain the corresponding historical adjustment position, as shown in Table 1, Table 1 is the vehicle rearview The data table of the mirror adjustment record, including the user's identity (Identity Document, ID) and the historical adjustment position corresponding to the ID.

Optionally, as shown in Table 2, Table 2 includes a binocular position range and a default adjustment position corresponding to the binocular position range. When the binocular position of the target object falls within the range A _i -B _i , it can be determined that the default adjustment position corresponding to the binocular position is D _i .

Optionally, after judging whether the historical adjustment position matches the default adjustment position, if the historical adjustment position does not match the default adjustment position, the historical adjustment position can be corrected. For example, the value of the historical adjustment position corresponding to the user identity is replaced with the value of the default adjustment position corresponding to the current binocular position.

In some other embodiments, when the vehicle determines the binocular position of the target object according to the position of the sound source, the default adjustment position corresponding to the binocular position may be obtained, and the corresponding default adjustment position is directly determined as the target position.

Step S250: Adjust the rearview mirror of the vehicle to a target position.

In some embodiments, after the vehicle determines the target position through the binocular position, the vehicle rearview mirror can be adjusted according to the target position. As shown in FIG. 10 , the vehicle rearview mirror can include the driving side rearview mirror outside the car 204 , the passenger side rearview mirror 205 and the interior central rearview mirror 206 . Specifically, referring to FIG. 11, step S250 may include:

Step S251: Obtain the current position of the rearview mirror of the vehicle.

As an implementation manner, when the vehicle determines the target position, the current position α of the rearview mirror of the vehicle may be acquired. For example, the current position α 1 of the driver side rearview mirror 204 , the current position α ₂ of the passenger side rearview mirror 205 , and the current position α ₃ of the interior center rearview mirror 206 are _acquired .

Step S252: Determine whether the current location is at the target location.

In order to reduce the adjustment steps of the vehicle rearview mirror and avoid repeated adjustments, when the current position of the vehicle rearview mirror is at the target position, no adjustment is required. As an implementation, the vehicle can compare the acquired current position α of the vehicle rearview mirror with the target position β to determine whether the current position is at the target position. It should be noted that the target position can be a position range, for example, the target position Position β ∈ (p,q). Specifically, the vehicle can determine whether the acquired current position α of the rearview mirror of the vehicle falls within the target position β to determine whether the current position is at the target position.

Step S253: If the current position is not at the target position, adjust the position of the rearview mirror of the vehicle to the target position.

As an implementation manner, when it is determined that the current position α of the vehicle rearview mirror is not equal to the target position β, the current position α of the vehicle rearview mirror may be adjusted to the target position β. In particular, adjustments can be made for different vehicle mirrors.

In the embodiment of the present application, the sound information emitted by the target object is obtained through the microphone array, the sound source position is determined according to the sound information, and the binocular position of the target object is determined according to the sound source position. Further, the binocular position is determined according to the binocular position. The target position corresponding to the target position, thereby adjusting the rearview mirror of the vehicle to the target position. Thus, the vehicle can dynamically adjust the rearview mirror of the vehicle to the best field of view according to the positions of the eyes during the driving process of the target object, thereby improving driving safety.

As shown in Fig. 12, Fig. 12 schematically shows another method for controlling a rearview mirror of a vehicle provided by an embodiment of the present application. The method for controlling a rearview mirror for a vehicle may include the following steps S310 to S340.

Step S310: When it is detected that the target object is in the driver's seat, determine whether to acquire a control instruction.

In order to reduce the operation steps of adjusting the vehicle rearview mirror, the vehicle can store the target position corresponding to the target object, so that the vehicle rearview mirror can be adjusted directly from the target object when the vehicle rearview mirror needs to be adjusted next time. In the record, the adjusted target position for the target user is found, and the vehicle rearview mirror is directly adjusted to the last adjusted target position, thereby simplifying the adjustment steps and improving the adjustment efficiency of the vehicle rearview mirror.

Among them, the control instruction is used to instruct the vehicle to adjust the rearview mirror of the vehicle, which can be generated by the voice issued by the target object. For example, if the target object sends out the voice command "adjust the rearview mirror", the vehicle can use the voice recognition algorithm, such as , machine learning/deep learning (Wav2letter++) to recognize voice commands, when the target object is determined to issue a voice command to control the vehicle rearview mirror, the vehicle generates a control command.

As an implementation manner, the vehicle may determine whether to obtain a control instruction when it detects that the target object is sitting on the driver's seat. Specifically, it is possible to determine whether the driver enters the compartment by installing a pressure sensor in the driver's seat of the vehicle. When the pressure sensor on the driver's seat detects pressure, it can be determined that the target object is in the driver's seat, and then it is judged whether a control command has been obtained.

Step S320: If the control instruction is acquired, then acquire the sound source position of the target object according to the control instruction.

As an implementation, when the vehicle detects the control command, it can obtain the voice password for generating the control command, and perform sound source localization on the voice password to obtain the sound source location. The specific method of sound source localization can refer to the above-mentioned embodiment. description of. In addition, after the target object gets on the car, he usually wakes up the vehicle with a voice command to adjust the rearview mirror, but sometimes he forgets to issue the voice command.

As another implementation, if the control command is not obtained, it is possible to monitor in real time whether the target object issues a voice password or sound, and then use the sound information obtained at any time to adjust the rear view position after locating the binocular position of the target object. mirror position.

In some embodiments, the vehicle can determine the position of the sound source according to the control command, and then obtain the positions of the eyes to control the rearview mirror. The specific steps may include step S330 and step S340.

Step S330: Determine the binocular position of the target object according to the position of the sound source.

Step S340: Adjust the rearview mirror of the vehicle to the target position according to the binocular position.

In this embodiment, for the specific implementation of step S330 and step S340, reference may be made to the explanations of step S120 and step S130 provided in the above embodiment respectively, and details will not be repeated here.

In other embodiments, the vehicle can determine the user identity of the target object according to the control instruction, and directly control the rearview mirror according to the user identity. Specifically, after the vehicle obtains the control instruction, the target user can be identified according to the voice information of the control password corresponding to the control instruction, for example, the user identity of the target object can be determined by using a voice recognition algorithm.

Further, when the vehicle determines the user identity of the target object, it can obtain the historical record of the vehicle rearview mirror adjusted by the target object according to the user identity, and find the adjusted target position for the target user from the historical record, and place the rearview mirror of the vehicle The sight glass is directly adjusted to the target position adjusted last time.

For example, as shown in FIG. 13 , FIG. 13 shows a method for adjusting a rearview mirror of a vehicle provided by an embodiment of the present application. The method adjusts the rearview mirror of a vehicle according to whether a control command is acquired. Specifically, when the vehicle detects that the target object is on the driver's seat, it may determine whether to obtain the control instruction.

Further, if it is determined that the control command is obtained, the sound source position of the target object can be obtained according to the control command. Specifically, the control password of the target object can be obtained, and the sound source location can be obtained according to the control password. Position, determine the binocular position of the target object, and adjust the vehicle rearview mirror to the target position according to the binocular position.

Optionally, if it is determined that the control command has not been obtained, the vehicle can monitor in real time through the microphone array whether the sound information of the target object is obtained, and when the sound information of the target object is obtained, the sound source location can be obtained according to the sound information The position of the sound source, and then the binocular position of the target object can be determined according to the position of the sound source, and the rearview mirror of the vehicle can be adjusted to the target position according to the binocular position. In addition, it can be judged that the control password has been obtained by performing speech analysis on the sound information, and if the control password is obtained, the rearview mirror of the vehicle is directly adjusted according to the control password.

In the embodiment of the present application, when it is detected that the target object is in the driver's seat, it is judged whether to obtain the control command. If the control command is obtained, the sound source position of the target object is obtained according to the control command, and the sound source position of the target object is determined according to the sound source position. The binocular position, further, adjust the vehicle rearview mirror to the target position according to the binocular position. Thus, the vehicle can either directly adjust the position of the vehicle rearview mirror after obtaining the control command issued by the target object, or it can locate the sound source and adjust the vehicle rearview mirror according to the sound information obtained by real-time monitoring. Therefore, the operation steps for adjusting the rearview mirror of the vehicle are reduced.

Please refer to FIG. 14 , which shows a structural block diagram of a vehicle rearview mirror control device 500 provided by an embodiment of the present application. The control device 500 of the vehicle rearview mirror includes: an acquisition module 510, which is used to acquire the sound source position of the target object, and the sound source position is used to characterize the spatial position of the sound-generating organ of the target object; The source position is to determine the binocular position of the target object; the adjustment module 530 is used to adjust the vehicle rearview mirror to the target position according to the binocular position.

In some embodiments, the vehicle rearview mirror control device 500 further includes: a judging module, configured to judge whether to obtain a control instruction when it is detected that the target object is in the driver's seat;

The obtaining module 510 may further include: if the control instruction is obtained, obtaining the sound source position of the target object according to the control instruction.

In some embodiments, the acquiring module 510 may include: an acquiring unit, configured to acquire sound information emitted by the target object through a microphone array; a sound source determining unit, configured to determine the position of the sound source according to the sound information.

In some embodiments, the obtaining unit may include: a determining subunit, configured to determine the target microphone in the microphone array according to the location of the target object in the vehicle; an obtaining subunit, configured to obtain the target microphone through the target microphone. voice message.

In some embodiments, the adjustment module 530 includes: a position determination unit, configured to determine a target position corresponding to the binocular position according to the binocular position; and an adjustment unit, configured to adjust the vehicle rearview mirror to the target position.

In some embodiments, the position determination unit may be specifically configured to: determine the user identity of the target object; and determine the target position corresponding to the binocular position of the target object according to the user identity.

In some embodiments, the adjustment unit may be specifically used to: acquire the current position of the vehicle rearview mirror; determine whether the current position is at the target position; if the current position is not at the target position, adjust the position of the vehicle rearview mirror to the target position.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the devices and modules described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other forms of coupling.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.

The solution provided by the present application acquires the sound source position of the target object, and the sound source position is used to characterize the spatial position of the sound-producing organ of the target object, and determines the binocular position of the target object according to the sound source position, and further, according to Binocular position, adjust the vehicle rearview mirror to the target position. Thus, the sound source localization is combined with the adjustment of the vehicle rearview mirror, so that the vehicle can automatically adjust the rearview mirror to the best position according to the driver's binocular position, thereby effectively improving the adjustment of the rearview mirror. efficiency.

As shown in Figure 15, the embodiment of the present application also provides a vehicle 600, the vehicle 600 includes a processor 610, a memory 620, and a microphone array 630, wherein the memory 620 stores computer program instructions, and the computer program instructions are called by the processor 610 When the above-mentioned method for controlling a rearview mirror of a vehicle is executed in real time, the microphone array 630 may include at least two microphones, and the microphones may be used to collect sound.

Processor 610 may include one or more processing cores. The processor 610 uses various interfaces and lines to connect various parts of the entire battery management system, by running or executing instructions, programs, code sets or instruction sets stored in the memory 620, and calling data stored in the memory 620, Execute various functions and process data of the battery management system. Optionally, the processor 610 may adopt at least one of Digital Signal Processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). implemented in the form of hardware. The processor 610 may integrate one or a combination of a central processing unit 610 (Central Processing Unit, CPU), an image processor 610 (Graphics Processing Unit, GPU), a modem, and the like. Among them, the CPU mainly handles the operating system, user interface and application programs, etc.; the GPU is used to render and draw the displayed content; the modem is used to handle wireless communication. It can be understood that the above modem may also not be integrated into the processor 610, but implemented by a communication chip alone.

The memory 620 may include a random access memory 620 (Random Access Memory, RAM), and may also include a read-only memory 620 (Read-Only Memory). Memory 620 may be used to store instructions, programs, codes, sets of codes, or sets of instructions. The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc. ), instructions for implementing various method embodiments described below, and the like. The storage data area can also store data (such as phone book, audio and video data, and chat record data) created during the use of the electronic device map.

As shown in FIG. 16 , the embodiment of the present application also provides a computer-readable storage medium 700, in which computer program instructions 710 are stored, and the computer program instructions 710 can be invoked by a processor to execute the above-mentioned embodiments. method described in .

The computer readable storage medium may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium (non-transitory computer-readable storage medium). The computer-readable storage medium 700 has a storage space for program codes for executing any method steps in the above methods. These program codes can be read from or written into one or more computer program products. The program code can eg be compressed in a suitable form.

The above are only the preferred embodiments of the application, and do not limit the application in any form. Although the application has been disclosed as above with the preferred embodiments, it is not intended to limit the application. Anyone skilled in the art, Without departing from the scope of the technical solution of the present application, when the technical content disclosed above can be used to make some changes or be modified into equivalent embodiments with equivalent changes, but if it does not deviate from the technical solution of the application, the technical essence of the application will Any brief modifications, equivalent changes and modifications made in the above embodiments still fall within the scope of the technical solutions of the present application.

Claims

A control method for a vehicle rearview mirror, characterized in that the method comprises:

Acquiring the sound source position of the target object, the sound source position being used to characterize the spatial position of the sound-producing organ of the target object;

determining the binocular position of the target object according to the sound source position; and

According to the binocular position, adjust the rearview mirror of the vehicle to the target position.
The method according to claim 1, wherein, before the acquisition of the sound source position of the target object, the method further comprises:

When it is detected that the target object is in the driver's seat, judging whether to obtain a control instruction; and

The acquisition of the sound source position of the target object includes:

If the control instruction is obtained, the sound source position of the target object is obtained according to the control instruction.
The method according to claim 1, wherein said acquiring the sound source position of the target object comprises:

Obtaining sound information emitted by the target object through a microphone array; and

According to the sound information, the position of the sound source is determined.
The method according to claim 3, wherein the acquiring sound information from the target object through the microphone array comprises:

determining a target microphone in the microphone array according to the location in the vehicle of the target object; and

The sound information emitted by the target object is acquired through the target microphone.
The method according to claim 1, wherein the adjusting the vehicle rearview mirror to the target position according to the binocular position comprises:

According to the binocular position, determine the target position corresponding to the binocular position; and

Adjust the vehicle rearview mirror to the target position.
The method according to claim 5, wherein the determining the target position corresponding to the binocular position according to the binocular position comprises:

determining the user identity of the target audience;

According to the user identity, obtain the historical adjustment position corresponding to the binocular position of the target object;

Acquiring a default adjustment position corresponding to the binocular position according to the binocular position;

judging whether the historical adjustment position matches the default adjustment position;

If the historical adjustment position matches the default adjustment position, then determining the historical adjustment position as the target position; and

If the historical adjustment position does not match the default adjustment position, the historical adjustment position is corrected.
The method according to claim 5, wherein the adjusting the rearview mirror of the vehicle to the target position comprises:

Acquiring the current position of the rearview mirror of the vehicle;

judging whether the current location is within the target location; and

If the current position is not at the target position, adjusting the position of the vehicle rearview mirror to the target position.
A control device for a vehicle rearview mirror, characterized in that the device comprises:

An acquisition module, configured to acquire the sound source position of the target object, and the sound source position is used to characterize the spatial position of the sound-producing organ of the target object;

A determination module, configured to determine the binocular position of the target object according to the sound source position; and

The adjustment module is used to adjust the rearview mirror of the vehicle to the target position according to the binocular position.
A vehicle, characterized in that it comprises:

microphone array;

memory;

one or more processors coupled to the memory;

one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more application programs are configured to perform The method according to any one of claims 1-7.
A computer-readable storage medium, characterized in that program codes are stored in the computer-readable storage medium, and the program codes can be invoked by a processor to execute the method according to any one of claims 1-7.