WO2023001145A1

WO2023001145A1 - Rearview mirror adjustment method and apparatus, device and storage medium

Info

Publication number: WO2023001145A1
Application number: PCT/CN2022/106472
Authority: WO
Inventors: 张栋; 丁逢; 姜长坤; 陈鹤文; 毕圆浩
Original assignee: 中国第一汽车股份有限公司
Priority date: 2021-07-22
Filing date: 2022-07-19
Publication date: 2023-01-26
Also published as: CN113370901A

Abstract

A rearview mirror adjustment method and apparatus, a device and a storage medium, the rearview mirror adjustment method comprising: according to face information of a driver, determining whether the driver enters for the first time; acquiring eye coordinate information of the driver (S110); querying a database according to the eye coordinate information of the driver to obtain rearview mirror position information corresponding to the eye coordinate information of the driver (S120); and according to the rearview mirror position information, adjusting a rearview mirror to a position corresponding to the rearview mirror position information (S130).

Description

Method, device, equipment and storage medium for adjusting rearview mirror

This application claims the priority of the Chinese patent application with application number 202110829338.8 submitted to the China Patent Office on July 22, 2021, the entire content of which is incorporated herein by reference.

technical field

The embodiments of the present application relate to the technical field of vehicles, for example, to a rearview mirror adjustment method, device, device, and storage medium.

Background technique

In the related art, the rearview mirror is usually adjusted by electric means, but it often happens that the driver's left and right rearview mirrors cannot be adjusted to the best line of sight position, basically cannot be adjusted in place at one time, and the adjustment method is time-consuming and laborious. And family car generally all has multiple drivers, just needs to readjust rearview mirror position if changing driver, brings a lot of inconveniences to driving.

Contents of the invention

Embodiments of the present application provide a rearview mirror adjustment method, device, equipment, and storage medium, so as to realize more convenient adjustment of the rearview mirror, improve driving safety, and keep the exterior rearview mirror in the driver's best viewing position all the time. Area.

In a first aspect, an embodiment of the present application provides a method for adjusting a rearview mirror, including:

In the case of determining the driver's first entry based on the driver's facial information, obtain the driver's eye coordinate information;

Querying the database according to the driver's eye coordinate information to obtain the rearview mirror position information corresponding to the driver's eye coordinate information;

Adjust the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information.

In the second aspect, the embodiment of the present application also provides a rearview mirror adjustment device, which includes:

The obtaining module is configured to obtain the driver's eye coordinate information under the condition that the driver enters for the first time according to the driver's facial information;

The query module is configured to query the database according to the driver's eye coordinate information to obtain the rearview mirror position information corresponding to the driver's eye coordinate information;

The adjustment module is configured to adjust the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information.

In the third aspect, the embodiment of the present application also provides a computer device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the program, it implements the The rearview mirror adjusting method described in any one of the embodiments.

In the fourth aspect, the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the rearview mirror as described in any one of the embodiments of the present application is realized. Adjustment method.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application. Those of ordinary skill in the art can also obtain other related drawings based on these drawings without any creative effort.

Fig. 1 is the flowchart of a kind of rearview mirror adjusting method in the embodiment of the present application;

Figure 1a is a schematic diagram of rearview mirror adjustment in the embodiment of the present application;

Figure 1b is a schematic diagram of the installation position of the facial recognition device in the embodiment of the present application;

Figure 1c is a schematic diagram of rearview mirror adjustment in the embodiment of the present application;

Figure 1d is a schematic diagram of the space vector perpendicular to the eyeball in the embodiment of the present application;

Figure 1e is a schematic diagram of the rearview mirror in the embodiment of the present application;

Figure 1f is a schematic diagram of lens adjustment in the embodiment of the present application;

Fig. 2 is a schematic structural view of a rearview mirror adjusting device in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of an electronic device in an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a computer-readable storage medium containing a computer program in an embodiment of the present application.

detailed description

The application will be described below in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments described here are only for explaining the present application. In addition, it should be noted that, for the convenience of description, only some structures related to the present application are shown in the drawings but not all structures. In addition, the embodiments in the present application and the features in the embodiments can be combined with each other under the condition of no conflict.

Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flow diagrams depict operations (or steps) as sequential processing, many of the operations may be performed in parallel, concurrently, or simultaneously. Additionally, the order of multiple operations can be rearranged. The process may be terminated when its operations are complete, but may also have additional steps not included in the figure. The processing may correspond to a method, function, procedure, subroutine, subroutine, or the like. In addition, the embodiments in the present application and the features in the embodiments can be combined with each other under the condition of no conflict.

The term "comprising" and its variants used in this application are open-ended, ie "including but not limited to". The term "based on" is "based at least in part on". The term "one embodiment" means "at least one embodiment."

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it need not be defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

Fig. 1 is a flow chart of a rearview mirror adjustment method provided by the embodiment of the present application. This embodiment is applicable to the situation of rearview mirror adjustment, and the method can be performed by the rearview mirror adjustment device in the embodiment of the present application. The device can be implemented in the form of software and/or hardware, as shown in Figure 1, the rearview mirror adjustment method includes the following steps:

S110, if it is determined according to the facial information of the driver that the driver enters for the first time, acquire the driver's eye coordinate information.

In this embodiment, the way to determine the driver's first entry based on the driver's facial information may be: obtain the driver's facial information based on the facial recognition device, query the driver's facial information list corresponding to the current vehicle according to the driver's facial information, and based on If there is a query result of the current driver's facial information in the list, it is determined that the driver is not entering the vehicle for the first time, and based on the query result of the current driver's facial information not existing in the list, it is determined that the driver is entering the vehicle for the first time.

Optionally, the manner of obtaining the driver's eye coordinate information may be: determining the driver's eye coordinates according to the driver's facial information.

S120. Query a database according to the driver's eye coordinate information to obtain rearview mirror position information corresponding to the driver's eye coordinate information.

In this embodiment, the rearview mirror may be an exterior rearview mirror. The database stores a list of correspondences between the driver's eye coordinate information and the rearview mirror position information. For example, the driver's eye coordinate information A corresponds to the rearview mirror position information a, and the driver's eye coordinate information B corresponds to the rearview mirror position information. location information b.

Exemplarily, the database is queried according to the coordinate information of the driver's eyes to obtain the position information of the rearview mirror corresponding to the coordinate information of the driver's eyes. The spatial range, set the spatial dot matrix within this space range, the dot matrix corresponds to the driver's eye coordinates, each point will preset a recommended position for rearview mirror up and down adjustment and left and right adjustment in advance, and the dot matrix and the corresponding recommended The position is set as a database. When the driver sits in the driving seat for the first time, the facial recognition device will record the driver's facial information, and then obtain the The position information of the rearview mirror corresponding to the eye coordinate information.

S130. Adjust the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information.

Exemplarily, in the case where it is determined according to the facial information of the driver that the driver enters for the first time, the coordinate information of the driver's eyes is acquired. The database is queried according to the coordinate information of the driver's eyes to obtain the position information of the rearview mirror corresponding to the coordinate information of the driver's eyes. Adjust the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information. For example, when the driver sits in the driving seat for the first time, the facial recognition device will record the driver's facial information, and then adjust the exterior rearview mirror to Recommended position, at this time, the central control screen or the instrument screen will remind the driver, or the driver will be reminded through the voice in the car, if you are not satisfied with the recommended position of the exterior rearview mirror, you can manually adjust it, after adjustment, the controller will set the most The best position and the driver's facial information are stored in association. When the driver sits in the driving seat next time, the face recognition device recognizes the face and directly adjusts the exterior rearview mirror to the best position stored last time.

The embodiment of the present application can ensure that the exterior rearview mirror is always in the best position when the driver looks at the exterior rearview mirror in the cab of the car, which improves the driver's sense of safety during driving and enhances the sense of intelligence and technology of the car cockpit.

The key point of this application is the algorithm of rearview mirror adjustment.

The facial recognition device can recognize the coordinate information of the driver's facial feature points, eye coordinate information, and space vector coordinate information perpendicular to the eyeball, and these coordinates are relative to the coordinate information of the facial recognition device.

The facial recognition device sends the coordinate information of the recognized face, eyes, and eyeball space vector (direction of the main ray of the eye) to the controller through a dedicated data line in the form of serial data, thereby ensuring the real-time nature of the data, and the controller sends these coordinates The information is combined with the coordinate position of the facial recognition device in the vehicle, and matrix operation is performed to convert it into the coordinate position of the vehicle coordinate system.

Ergonomics is used to calculate the possible spatial range of the driver's eyes in the cab, and a spatial dot matrix is set within this spatial range. The dot matrix corresponds to the coordinates of the driver's eyes. Each point will be preset in advance with a rearview mirror up and down. The recommended position for adjustment and left and right adjustment, the dot matrix and the corresponding recommended position are set into a database. When the driver sits in the driving seat for the first time, the facial recognition device will record the driver's facial information, and then according to the driver's eyes Coordinates and preset dot matrix database, adjust the exterior rearview mirror to the recommended position, at this time the central control panel or instrument screen will remind the driver, or, through the voice in the car to remind the driver, if the recommended exterior rearview mirror If you are not satisfied with the position, you can adjust it manually. After adjustment, the controller will associate and store the optimal position with the driver’s face information. When the driver sits in the driving seat next time, the face recognition device will recognize the face and directly turn the exterior rearview mirror Adjust to the last stored best position.

The facial recognition device will recognize the driver's space vector perpendicular to the eyeball, which represents the direction of the driver's eye sight; the cone space formed by the driver's eye coordinates and the elliptical outer edge of the exterior rearview mirror housing is defined Adjusts the clearance for the exterior mirrors. When the driver's eyes look at the exterior rearview mirror, the driver's space vector perpendicular to the eyeball (eye sight direction) will enter the adjustment space of the exterior rearview mirror. Adjust up and down and left and right. In one embodiment, the facial recognition device recognizes the driver's space vector perpendicular to the eyeball (eye sight direction) in real time. When the driver's space vector perpendicular to the eyeball (eye sight direction) enters the rearview mirror adjustment space range, according to The line of sight of the driver's two eyes is at the intersection of the exterior rearview mirror, and the position of the rearview mirror is adjusted up, down, left, and right to meet the best view of the driver.

The pressure sensor of the driver's seat: it is set to detect whether there is a driver in the driving seat, and transmit the signal to the controller. The driver's seat is occupied, which is one of the conditions to activate the automatic adjustment mode of the exterior rearview mirror.

Now take the left rearview mirror as an example to illustrate the automatic adjustment algorithm of the exterior rearview mirror. As shown in Figure 3, Figure 4, Figure 5, and Figure 6, the facial recognition device monitors the driver's space vector perpendicular to the eyeball in real time (eye line of sight direction), when the driver looks at the left exterior rearview mirror with both eyes, the controller will control the left exterior rearview mirror to enter the automatic adjustment mode after the driver's eye sight direction enters the adjustment space of the left exterior rearview mirror , the two space vectors perpendicular to the eyeball from the driver's two eyes (the direction of sight of the two eyes) will meet at one point on the mirror surface of the left exterior rearview mirror. This point can be called the intersection point of sight, as shown in Figure 5 As shown, the lens of the exterior rearview mirror is established in a three-dimensional coordinate system as shown in the figure. The lens is on the plane where the XY axis is located. When the lens is adjusted up and down, it rotates around the X axis. When the lens is adjusted left and right, it rotates around the Y axis. is the origin O, the Z axis passes through the origin O and is perpendicular to the XY axis. The value of the upper edge of the lens on the Y axis is Ymax, the value of the lower edge on the Y axis is Ymin, the value of the left edge of the lens on the X axis is Xmin, and the value of the right edge of the lens is Xmax. The coordinates of the intersection point of the driver's eyes are (X1, Y1). When Y1=Ymax, the rearview mirror lens is turned up to the limit angle. When Y1=Ymin, the rearview mirror lens is turned down to the limit angle. When Y1 = 0, the up and down turning angle of the rearview mirror is 0, when Y1 is between Ymax≥Y1≥0, the turning angle of the rearview mirror lens is upward according to the ratio from 0 to the upward turning limit angle, when Y1 is 0≥Y1 When ≥Ymin, the rearview mirror lens is flipped down according to the ratio from 0 to the downturn limit angle. When X1=Xmax, the lens of the rearview mirror turns right to the limit angle; when X1=Xmin, the lens of the rearview mirror turns left to the limit angle; when X1=0, the turning angle of the rearview mirror is 0; When Xmax≥X1≥0, the rearview mirror turns to the right according to the ratio from 0 to the right turning limit angle; when X1 is between 0≥X1≥Xmin, the rearview mirror turns from 0 to the left limit The scale of the angle flips the angle to the left. Therefore, when the coordinates of the intersection point of the driver's eyes on the left exterior rearview mirror are (X1, Y1), the lens of the left exterior rearview mirror will be adjusted to the corresponding position.

During the process of adjusting the rearview mirror by the controller, the adjustment speed of the rearview mirror is also different depending on the vehicle speed. When the vehicle speed is high, the adjustment speed of the rearview mirror is faster, and when the vehicle speed is slow, the adjustment speed is relatively slow. Control the duty cycle of the PWM wave of the motor to adjust the speed of the motor. (Adjust the speed of the rearview mirror according to the speed of the vehicle, and the method of realization is the duty cycle of the PWM wave, and the PWM wave adjusts the duty cycle to change the speed of the motor.)

Optionally, before querying the database according to the driver's eye coordinate information to obtain the rearview mirror position information corresponding to the driver's eye coordinate information, it also includes:

Obtain the spatial scope of the driver's eyes in the cab;

Set a spatial lattice within the spatial range;

A database is established according to the spatial lattice and the rearview mirror position information corresponding to the spatial lattice.

Exemplarily, the spatial range of the driver's eyes in the cab is obtained; a spatial lattice is set within the spatial range; a database is established according to the spatial lattice and the rearview mirror position information corresponding to the spatial lattice, for example, Yes, use ergonomic principles to calculate the possible spatial range of the driver's eyes in the cab, and set a spatial dot matrix within this spatial range. The dot matrix corresponds to the coordinates of the driver's eyes, and each point will preset a rear view in advance. The recommended positions for the up-down adjustment and left-right adjustment of the mirror, the dot matrix and the corresponding recommended positions are set into a database.

Optionally, the driver's eye coordinate information includes: a space vector perpendicular to the eyeball;

Correspondingly, after adjusting the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information, the method further includes:

determining the target space according to the coordinate information of the driver's eyes and the coordinate information of the rearview mirror;

In the case that the space vector perpendicular to the eyeball is in the target space, the position of the rearview mirror is adjusted according to the position information of the driver's line of sight intersection.

Exemplarily, the target space is determined according to the coordinate information of the driver's eyes and the coordinate information of the rearview mirror. Adjusts the clearance for the exterior mirrors.

Exemplarily, in the case that the space vector perpendicular to the eyeball is in the target space, the position of the rearview mirror is adjusted according to the position information of the driver's line of sight intersection, for example, when the driver's eyes look outward When viewing the mirror, the driver's space vector perpendicular to the eyeball (eye sight direction) will enter the adjustment space of the exterior rearview mirror. At this time, the exterior rearview mirror will be adjusted up and down and left and right according to the driver's line of sight. In one embodiment, the facial recognition device recognizes the driver's space vector perpendicular to the eyeball (eye sight direction) in real time. When the driver's space vector perpendicular to the eyeball (eye sight direction) enters the rearview mirror adjustment space range, according to The line of sight of the driver's two eyes is at the intersection of the exterior rearview mirror, and the position of the rearview mirror is adjusted up, down, left, and right to meet the best view of the driver.

In an embodiment, the target space may be the adjustment space range of the exterior rearview mirror. Correspondingly, determining the target space according to the coordinate information of the driver's eyes and the coordinate information of the rearview mirror includes: determining the adjustment space range of the exterior rearview mirror according to the coordinate line of the driver's eyes and the coordinate information of the rearview mirror.

Optionally, adjust the position of the rearview mirror according to the position information of the driver's two eyes at the intersection of the rearview mirror, including:

Obtain the abscissa and ordinate of the driver's line of sight intersection;

Determine the leftward flip angle or rightward flip angle of the rearview mirror according to the abscissa of the driver's line of sight intersection, and adjust the position of the rearview mirror according to the leftward flip angle or rightward flip angle of the rearview mirror;

The upward or downward flip angle of the rearview mirror is determined according to the ordinate of the driver's line of sight intersection, and the position of the rearview mirror is adjusted according to the upward or downward flip angle of the rearview mirror.

In one embodiment, when the left rearview mirror is adjusted, two space vectors (directions of sight of the two eyes) perpendicular to the eyeballs from the driver's two eyes will converge at one point on the mirror surface of the left exterior rearview mirror. , this point can be called the intersection point of the line of sight. Optionally, the lens of the outer rearview mirror establishes a three-dimensional coordinate system. The lens is on the surface where the XY axes are located. When the lens is adjusted up and down, it rotates around the X axis, and when the lens is adjusted left and right, it rotates around the Y axis. O. Among them, the positive direction of the Y axis is the upward direction, the positive direction of the X axis is the right direction, the Z axis passes through the origin O and is perpendicular to the XY axis, the value of the upper edge of the lens on the Y axis is Ymax, and the value of the lower edge on the Y axis is Ymin, The value of the left edge of the lens on the X-axis is Xmin, and the value of the right edge on the X-axis is Xmax.

Optionally, the upward or downward flip angle of the rearview mirror is determined according to the ordinate of the driver's line of sight intersection, including:

In the case where the ordinate of the driver's line of sight intersection is equal to the first threshold, turn the lens of the rearview mirror upward to the maximum angle;

In the case where the ordinate of the driver's line of sight intersection is equal to a second threshold, turn the lens of the rearview mirror downward to a maximum angle, wherein the first threshold is greater than zero, and the second threshold is less than zero;

In the case where the ordinate of the driver's line of sight intersection is greater than zero and less than the first threshold, the target upward turning angle is determined according to the ordinate of the driver's line of sight intersection and the maximum angle of upward turning of the lens of the rearview mirror;

If the ordinate of the driver's line of sight intersection is less than zero and greater than the second threshold, the target downturning angle is determined according to the ordinate of the driver's line of sight intersection and the maximum downturning angle of the rearview mirror.

In this embodiment, the first threshold may be Ymax, and the second threshold may be Ymin.

Optionally, determining the leftward or rightward flip angle of the rearview mirror according to the abscissa of the driver's line of sight intersection, including:

When the abscissa of the driver's line of sight intersection is equal to the third threshold, turn the eyeglass of the rearview mirror to the right to the maximum angle;

In the case where the abscissa of the driver's line of sight intersection is equal to a fourth threshold, turn the lens of the rearview mirror to the left to a maximum angle, wherein the third threshold is greater than zero, and the fourth threshold is less than zero;

In the case where the abscissa of the driver's line of sight intersection is greater than zero and less than the third threshold, the target rightward turning angle is determined according to the abscissa of the driver's line of sight intersection and the maximum angle at which the lens of the rearview mirror turns rightward;

If the abscissa of the driver's line of sight intersection is less than zero and greater than the fourth threshold, the target left turn angle is determined according to the abscissa of the driver's line of sight intersection and the maximum left turn angle of the rearview mirror.

In this embodiment, the third threshold may be Xmax, and the fourth threshold may be Xmin.

Optionally, after adjusting the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information, the method further includes:

Obtain the user's adjustment information for the rearview mirror;

The adjustment information and the driver's facial information are associated and stored.

Optionally, the driver's eye coordinates are spatial coordinates of the middle position of the driver's two eyes.

The embodiment of the present application uses facial recognition technology to recognize the driver's face. The facial recognition device is located at a fixed position in the vehicle. The coordinates of the facial recognition device in the vehicle coordinate system are fixed. The facial recognition device can recognize The eye coordinate information of the device position, and the space vector perpendicular to the eyeball (eye line of sight direction), coordinate transformation with a matrix, the eye coordinate information and the space vector perpendicular to the eyeball (eye line of sight direction) can be transformed into the coordinates of the vehicle system; using ergonomic principles to calculate the possible spatial range of the driver's eyes in the cab, when the driver's eye coordinates are within this spatial range, and at the same time verify that the seat sensor of the driver's position is occupied, then you can enter Auto-adjustment mode for exterior mirrors.

Ergonomics is used to calculate the possible spatial range of the driver's eyes in the cab, and a spatial dot matrix is set within this spatial range. The dot matrix corresponds to the coordinates of the driver's eyes. Each point will be preset in advance with a rearview mirror up and down. The recommended positions for adjustment and left and right adjustments, the dot matrix and the corresponding recommended positions are set into a database. When the driver sits in the driving seat for the first time, the facial recognition device will record the driver's facial information, and then adjust the exterior rearview mirror to the recommended position according to the coordinates of the driver's eyes and the preset dot matrix database. The central control screen or the instrument screen will remind the driver, or the driver will be reminded by the voice in the car. If you are not satisfied with the recommended position of the exterior rearview mirror, you can manually adjust it. After adjustment, the controller will compare the best position with the driving position When the driver sits in the driving seat next time and the face recognition device recognizes the face, the exterior rearview mirror is directly adjusted to the best position stored last time.

In one embodiment, the facial recognition device can identify the driver's space vector perpendicular to the eyeball, and this space vector represents the driver's eye sight direction; The formed vertebral body space is defined as the adjustment space range of the exterior rearview mirror. When the driver's eyes look at the exterior rearview mirror, the driver's space vector perpendicular to the eyeball (eye sight direction) will enter the adjustment space of the exterior rearview mirror. Adjust up and down and left and right. In one embodiment, the facial recognition device recognizes the driver's space vector perpendicular to the eyeball (eye sight direction) in real time. When the driver's space vector perpendicular to the eyeball (eye sight direction) enters the rearview mirror adjustment space range, according to The line of sight of the driver's two eyes is at the intersection of the exterior rearview mirror, and the position of the rearview mirror is adjusted up, down, left, and right to meet the best view of the driver. Compared with the scheme of adjusting through the camera in the car and the preset database in the related art, the embodiment of the present application can adjust the exterior rearview mirror through the direction of the driver's eye line of sight, which is more intelligent and more accurate. In the process of driving, sometimes when the driver looks at the exterior rearview mirror, the position of the eyes and the position of the face change very little, and he only looks at the rearview mirror through the movement of the eyeballs. The scheme of setting up the database cannot recognize that the driver is observing the exterior rearview mirror, let alone adjust the exterior rearview mirror, which will lead to poor vision of the driver.

Compared with related technical solutions, this solution is more intelligent, and has more detailed facial recognition coordinate transformation algorithms and rearview mirror adjustment algorithms.

In the embodiment of the present application, in order to make the driver in the car, the exterior rearview mirror can always be in an optimal field of view, and adjust the rearview mirror according to the driver's intention, so as to ensure that the driver has the best view in the car when driving. the best view.

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that need to be used in the description will be described in detail below. The drawings in the following descriptions are only for this application to more clearly illustrate the embodiments of the present application or related technologies In the technical solution, the following will introduce the accompanying drawings that need to be used in the description of related technologies.

Device system composition:

1. Facial recognition device: it can realize the driver's facial feature recognition and obtain the driver's facial coordinates, eye coordinates, and coordinates in the space vector (eye line direction) perpendicular to the eyeball. The origin of these coordinate data is the face recognition device. The position is not the coordinates of the vehicle coordinate system. These coordinates can be converted into vehicle coordinates through a matrix through the coordinate position of the facial recognition device in the vehicle coordinate system. This coordinate transformation is performed in the controller.

2. The pressure sensor of the driver's seat: it is set to detect whether there is a driver in the driving seat, and transmit the signal to the controller.

3. The up and down adjustment device and up and down adjustment motor of the exterior rearview mirror, the left and right adjustment device and the left and right adjustment motor of the exterior rearview mirror. This structure and driving motor are very common in current vehicles, and will not be specifically described here.

As shown in Figure 1a, the facial recognition device is installed above the dashboard of the car, and can also be installed on the A-pillar, on the left side of the central control panel (driver's side), and above the front windshield on the driver's side. After the face recognition device is installed and fixed, the coordinate position of the face recognition device in the vehicle coordinate system is fixed.

In Figure 1a, Figure 1b and Figure 1c, the facial recognition device can identify the driver's facial features and facial coordinate information, eye coordinate information, and space vector coordinate information perpendicular to the eyeball, these coordinate information are relative to the coordinates of the facial recognition device Information, that is, these coordinate information are coordinates in the coordinate system with the origin of the facial recognition device.

As shown in Fig. 1a, Fig. 1b, Fig. 1c and Fig. 1d, the facial recognition device will identify the face, eyes, coordinate information of the eyeball space vector (direction of the chief ray of the eye) (in the coordinate system with the facial recognition device as the origin The coordinates.) are sent to the controller through the data line, and the controller combines these coordinate information with the coordinate position of the facial recognition device in the vehicle coordinate system to perform coordinate transformation, and transforms the face, eyes and eyeball space vector (the chief ray of the eye direction) coordinate information into vehicle coordinate position.

As shown in Fig. 1a, Fig. 1b and Fig. 1c, the spatial range that the driver's eyes may reach in the driver's cab is counted through the ergonomics principle, and the spatial dot matrix is set in this spatial range, and the dot matrix corresponds to the coordinates of the driver's eyes. Each point will set a recommended position for rearview mirror up and down adjustment and left and right adjustment in advance, and set the dot matrix and the corresponding recommended position into a database. When the driver sits in the driving seat for the first time, the facial recognition device will record the driver's facial information, and then adjust the exterior rearview mirror to the recommended position according to the coordinates of the driver's eyes and the preset dot matrix database. Sometimes the central control screen or instrument screen or voice system will remind the driver. If the driver is not satisfied with the recommended position of the exterior rearview mirror, he can manually adjust it. After adjustment, the controller will associate and store the optimal position with the driver's face information. When the driver sits in the driving seat next time, the facial recognition device will After the face is recognized, directly adjust the exterior rearview mirror to the best position stored last time.

As shown in Figure 1c, the vertebral body space formed by the driver's eye coordinates and the elliptical outer edge of the exterior rearview mirror housing is defined as the adjustment space range of the exterior rearview mirror. When the driver's eyes look at the exterior rearview mirror, The driver's space vector perpendicular to the eyeball (eye sight direction) will enter the adjustment space range of the exterior rearview mirror. Only when the driver's eye sight direction enters the adjustment space range of the exterior rearview mirror, the controller will control The mirror can be adjusted up and down and left and right according to the driver's line of sight. When the driver looks at the front of the car, the driver's space vector perpendicular to the eyeball (eye sight direction) is not in the adjustment space range of the exterior rearview mirror, and the controller will not be activated to enter the automatic adjustment mode of the rearview mirror. That is to say, as long as the driver is looking at the exterior rearview mirror on that side, the exterior rearview mirror on that side will be adjusted.

Now take the left rearview mirror as an example to illustrate the automatic adjustment algorithm of the exterior rearview mirror. As shown in Fig. direction), when the driver looks at the left exterior rearview mirror with both eyes, the controller will control the left exterior rearview mirror to enter the automatic adjustment mode after the driver's eye sight direction enters the adjustment space of the left exterior rearview mirror . The two space vectors from the driver's two eyes perpendicular to the eyeball (directions of sight of the two eyes) will meet at one point on the mirror surface of the left exterior rearview mirror. This point can be called the intersection point of sight, as shown in Figure 1e As shown, the lens of the exterior rearview mirror is established in a three-dimensional coordinate system as shown in the figure. The lens is located on the plane where the XY axis is located. When the lens is adjusted up and down, it rotates around the X axis, and when the lens is adjusted left and right, it rotates around the Y axis. The origin O, the Z axis passes through the origin O and is perpendicular to the XY axis. The value of the upper edge of the lens on the Y axis is Ymax, the value of the lower edge on the Y axis is Ymin, the value of the left edge of the lens on the X axis is Xmin, and the value of the right edge of the lens is Xmax. The coordinates of the intersection point of the driver's eyes are (X1, Y1). When Y1=Ymax, the rearview mirror lens is turned up to the limit angle. When Y1=Ymin, the rearview mirror lens is turned down to the limit angle. When Y1 = 0, the up and down flip angle of the rearview mirror is 0, when Y1 is between Ymax≥Y1≥0, the rearview mirror lens is flipped up according to the ratio from 0 to the upturn limit angle, when Y1 is 0≥Y1 When ≥Ymin, the rearview mirror lens is flipped down according to the ratio from 0 to the downturn limit angle. When X1=Xmax, the lens of the rearview mirror turns right to the limit angle; when X1=Xmin, the lens of the rearview mirror turns left to the limit angle; when X1=0, the turning angle of the rearview mirror is 0; When Xmax≥X1≥0, the rearview mirror lens turns to the right according to the ratio from 0 to the right turning limit angle; when X1 is between 0≥X1≥Xmin, the rearview mirror lens rotates from 0 to the left The scale of the flip limit angle flips the angle to the left. Therefore, when the coordinates of the intersection point of the driver's eyes on the left exterior rearview mirror are (X1, Y1), the lens of the left exterior rearview mirror will be adjusted to the corresponding position.

During the process of adjusting the rearview mirror, the adjustment speed of the rearview mirror is different depending on the vehicle speed. When the vehicle speed is high, the adjustment speed of the rearview mirror is faster, and when the vehicle speed is slow, the adjustment speed is relatively slow. By adjusting the PWM wave The duty cycle is implemented to adjust the speed of the motor.

The embodiment of the present application discloses an automatic adjustment device and a control algorithm for an exterior rearview mirror of an automobile. The embodiment of the present application is completely different from the manual adjustment of the exterior rearview mirror of the car. The embodiment of the present application calculates the coordinates of the driver's eyes identified by the facial recognition technology and the space vector (direction of eye sight) perpendicular to the driver's eyeballs. After the calculation, the The exterior rearview mirror is adjusted to the best position, and the entire adjustment process fully realizes intelligent, fast and automatic adjustment. Compared with the manual adjustment of the rearview mirror, it is more convenient and improves driving safety, so that the external rearview mirror is always in the driver's best viewing area. Improve the driving safety of the driver, while enhancing the technological sense of the car cockpit.

The embodiment of the present application ensures that when the driver looks at the exterior rearview mirror in the cab of the car, the exterior rearview mirror is in the best visual field position, which improves the driver's sense of safety during driving. In the embodiment of the present application, the driver's eye coordinates identified by facial recognition technology and the space vector perpendicular to the eyeball (eye sight direction) are calculated, and after the calculation, the exterior rearview mirror is adjusted to the optimal position, and the entire adjustment process fully realizes intelligent and rapid automation. Adjustment.

In this embodiment, when it is determined that the driver enters for the first time according to the facial information of the driver, the driver's eye coordinate information is obtained; the database is queried according to the driver's eye coordinate information, and the rearview mirror corresponding to the driver's eye coordinate information is obtained. Position information; according to the position information of the rear-view mirror, adjust the rear-view mirror to the position corresponding to the position information of the rear-view mirror, which can more conveniently adjust the rear-view mirror, improve driving safety, and make the exterior rear-view mirror always In the driver's best observation zone.

Fig. 2 is a schematic structural diagram of a rearview mirror adjusting device provided by an embodiment of the present application. This embodiment is applicable to the situation of rearview mirror adjustment, and the device can be realized by software and/or hardware, and the rearview mirror adjustment device can be integrated in any equipment that provides rearview mirror adjustment function, as shown in Figure 2 As shown, the rearview mirror adjustment device includes: an acquisition module 210 , a query module 220 and an adjustment module 230 .

The above-mentioned products can execute the method provided by any embodiment of the present application, and have corresponding functional modules and beneficial effects for executing the method.

In this embodiment, when it is determined that the driver enters for the first time according to the facial information of the driver, the driver's eye coordinate information is obtained; the database is queried according to the driver's eye coordinate information, and the result corresponding to the driver's eye coordinate information is obtained. Mirror position information; adjust the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information, which can more conveniently adjust the rearview mirror, improve driving safety, and make the exterior rearview The mirror is always in the best viewing area for the driver.

FIG. 3 is a schematic structural diagram of an electronic device in an embodiment of the present application. FIG. 3 shows a block diagram of an exemplary electronic device 12 suitable for implementing embodiments of the present application. The electronic device 12 shown in FIG. 3 is only one example.

As shown in FIG. 3, electronic device 12 takes the form of a general-purpose computing device. Components of electronic device 12 may include one or more processors or processing units 16, system memory 28, bus 18 connecting various system components including system memory 28 and processing unit 16.

Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (Industry Standard Architecture, ISA) bus, Micro Channel Architecture (Micro Channel Architecture, MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local bus and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.

Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12 and include both volatile and nonvolatile media, removable and non-removable media.

System memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32 . Electronic device 12 may include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (commonly referred to as a "hard drive"), and may be Read-write disk drives, and removable non-volatile discs (Compact Disc-Read Only Memory (CD-ROM), Digital Video Disc-Read Only Memory, DVD-ROM) or other optical discs media) CD-ROM drive for reading and writing. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present application.

A program/utility 40 may be stored, for example, in system memory 28 as a set (at least one) of program modules 42, such program modules 42 including an operating system, one or more application programs, other program modules, and program data, which Each or some combination of the examples may include the implementation of a network environment. The program modules 42 generally perform the functions and/or methods of the embodiments described herein.

The electronic device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 12, and/or communicate with Any device (eg, network card, modem, etc.) that enables the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 22 . In addition, in the electronic device 12 in this embodiment, the display 24 does not exist as an independent entity, but is embedded in the mirror surface. When the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Moreover, the electronic device 12 can also communicate with one or more networks (such as a local area network (Local Area Network, LAN), a wide area network, Wide Area Network, WAN) and/or a public network, such as the Internet, through the network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18, and other hardware and/or software modules may be used in conjunction with electronic device 12, including: microcode, device drivers, redundant processing units, external disk drives Arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems, etc.

The processing unit 16 executes a variety of functional applications and data processing by running the program stored in the system memory 28, such as implementing the rearview mirror adjustment method provided in the embodiment of the present application:

Fig. 4 is a schematic structural diagram of a computer-readable storage medium containing a computer program in an embodiment of the present application. The embodiment of the present application provides a computer-readable storage medium 61, on which a computer program 610 is stored. When the program is executed by one or more processors, the rearview mirror adjustment method provided in all the application embodiments of the present application is realized:

Any combination of one or more computer readable medium(s) may be utilized. A computer readable medium may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. Computer-readable storage media include: electrical connections with one or more conductors, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory) ), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

In some implementations, the client and the server can communicate using any currently known or future-developed network protocols such as HTTP (Hyper Text Transfer Protocol, Hypertext Transfer Protocol), and can communicate with any form or medium of digital Data communication (eg, communication network) interconnections. Examples of communication networks include local area networks ("LANs"), wide area networks ("WANs"), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network of.

The above-mentioned computer-readable medium may be included in the above-mentioned electronic device, or may exist independently without being incorporated into the electronic device.

Computer program code for carrying out the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional process programming language—such as "C" or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. Where a remote computer is involved, the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g. via the Internet using an Internet Service Provider). .

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.

The units involved in the embodiments described in the present disclosure may be implemented by software or by hardware. Wherein, the name of a unit does not constitute a limitation of the unit itself under certain circumstances.

The functions described herein above may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), System on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may comprise an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. A machine-readable storage medium may include one or more wire-based electrical connections, a portable computer disk, a hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash flash memory), optical fiber, compact disc read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

Claims

A method for adjusting a rearview mirror, comprising:

In the case of determining the driver's first entry based on the driver's facial information, obtain the driver's eye coordinate information;

Querying the database according to the driver's eye coordinate information to obtain the rearview mirror position information corresponding to the driver's eye coordinate information;

Adjust the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information.
The method according to claim 1, before querying the database according to the driver's eye coordinate information to obtain the rearview mirror position information corresponding to the driver's eye coordinate information, further comprising:

Obtain the spatial scope of the driver's eyes in the cab;

Set a spatial lattice within the spatial range;

A database is established according to the spatial lattice and the rearview mirror position information corresponding to the spatial lattice.
The method according to claim 1, wherein the driver's eye coordinate information includes: a space vector perpendicular to the eyeball;

After adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information, it also includes:

determining the target space according to the coordinate information of the driver's eyes and the coordinate information of the rearview mirror;

In the case that the space vector perpendicular to the eyeball is in the target space, the position of the rearview mirror is adjusted according to the position information of the driver's line of sight intersection.
The method according to claim 3, wherein adjusting the position of the rearview mirror according to the position information of the driver's two eyes at the intersection of the rearview mirror includes:

Obtain the abscissa and ordinate of the driver's line of sight intersection;

Determine the leftward flip angle or rightward flip angle of the rearview mirror according to the abscissa of the driver's line of sight intersection, and adjust the position of the rearview mirror according to the leftward flip angle or rightward flip angle of the rearview mirror;

The upward or downward flip angle of the rearview mirror is determined according to the ordinate of the driver's line of sight intersection, and the position of the rearview mirror is adjusted according to the upward or downward flip angle of the rearview mirror.
The method according to claim 4, wherein, according to the ordinate of the driver's line of sight intersection, determining the upward flip angle or the downward flip angle of the rearview mirror comprises:

In the case where the ordinate of the driver's line of sight intersection is equal to the first threshold, turn the lens of the rearview mirror upward to the maximum angle;

In the case where the ordinate of the driver's line of sight intersection is equal to a second threshold, turn the lens of the rearview mirror downward to a maximum angle, wherein the first threshold is greater than zero, and the second threshold is less than zero;

In the case where the ordinate of the driver's line of sight intersection is greater than zero and less than the first threshold, the target upward turning angle is determined according to the ordinate of the driver's line of sight intersection and the maximum angle of upward turning of the lens of the rearview mirror;

If the ordinate of the driver's line of sight intersection is less than zero and greater than the second threshold, the target downturning angle is determined according to the ordinate of the driver's line of sight intersection and the maximum downturning angle of the rearview mirror.
The method according to claim 4, wherein, according to the abscissa of the driver's line of sight intersection, determining the leftward flip angle of the rearview mirror or the rightward flip angle comprises:

When the abscissa of the driver's line of sight intersection is equal to the third threshold, turn the eyeglass of the rearview mirror to the right to the maximum angle;

In the case where the abscissa of the driver's line of sight intersection is equal to a fourth threshold, turn the lens of the rearview mirror to the left to a maximum angle, wherein the third threshold is greater than zero, and the fourth threshold is less than zero;

In the case where the abscissa of the driver's line of sight intersection is greater than zero and less than the third threshold, the target rightward turning angle is determined according to the abscissa of the driver's line of sight intersection and the maximum angle at which the lens of the rearview mirror turns rightward;

If the abscissa of the driver's line of sight intersection is less than zero and greater than the fourth threshold, the target left turn angle is determined according to the abscissa of the driver's line of sight intersection and the maximum left turn angle of the rearview mirror.
The method according to claim 1, after adjusting the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information, further comprising:

Obtain the user's adjustment information for the rearview mirror;

The adjustment information and the driver's facial information are associated and stored.
A rearview mirror adjustment device, comprising:

The obtaining module is configured to obtain the driver's eye coordinate information under the condition that the driver enters for the first time according to the driver's facial information;

The query module is configured to query the database according to the driver's eye coordinate information to obtain the rearview mirror position information corresponding to the driver's eye coordinate information;

The adjustment module is configured to adjust the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information.
An electronic device comprising:

processor;

memory for storing programs;

When the program is executed by the processor, the processor is made to implement the method according to any one of claims 1-7.
A computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the method according to any one of claims 1-7 is implemented.