WO2023185104A1

WO2023185104A1 - Rearview mirror adjusting method and apparatus, device, and storage medium

Info

Publication number: WO2023185104A1
Application number: PCT/CN2022/139421
Authority: WO
Inventors: 秦承峰
Original assignee: 华为技术有限公司
Priority date: 2022-03-31
Filing date: 2022-12-15
Publication date: 2023-10-05
Also published as: CN116923247A

Abstract

Embodiments of the present application provide a rearview mirror adjusting method and apparatus, a device, and a storage medium. The method comprises: acquiring running data during a vehicle running process of a vehicle, wherein the running data comprises a driving feature and a vehicle running signal, the driving feature comprises a first feature and/or a second feature, the first feature is used for representing a steering intention of a driver, the second feature is used for representing a longitudinal observation intention of the driver, and the vehicle running signal is used for reflecting a running state of the vehicle; and during a running process in which the vehicle in the steering state, performing longitudinal adjustment and/or transverse adjustment on a rearview mirror of the vehicle according to the running data. On one hand, the accuracy of rearview mirror adjustment is improved, so that a rearview mirror can always provide a good viewing angle for a driver during a vehicle steering process; on the other hand, the rearview mirror is automatically adjusted on the basis of a driving feature and a vehicle running signal, and a driver does not need to manually start a rearview mirror adjustment function, thereby improving the convenience of rearview mirror adjustment.

Description

Adjustment methods, devices, equipment and storage media for rearview mirrors

This application claims the priority of the Chinese patent application submitted to the China Patent Office on March 31, 2022, with the application number 202210335999.X and the application name "Rearview Mirror Adjustment Method, Device, Equipment and Storage Medium", all of which The contents are incorporated into this application by reference.

Technical field

The present application relates to the technical field of intelligent vehicles, and in particular to a rearview mirror adjustment method, device, equipment and storage medium.

Background technique

With the increasing development of vehicle intelligence, users have higher and higher requirements for the auxiliary capabilities of intelligent vehicles in driving safety. At present, the rearview mirrors of some vehicles cannot adjust according to the steering of the vehicle during the steering process. As a result, the area the driver sees through the rearview mirror is blocked by the vehicle itself and the effective viewing angle is reduced. In other words, the rearview mirror The viewing angle becomes narrower; the rearview mirrors of other vehicles can quickly adjust the rearview mirror from the initial position to a pre-designed fixed position after the user turns on the rearview mirror adjustment function, causing the driver to see through the rearview mirror. The area reached cannot provide a high reference value for driving. Therefore, there is currently a lack of effective technical solutions that can provide the driver with a better viewing angle by adjusting the angle of the rearview mirror during vehicle steering.

Contents of the invention

The embodiments of the present application provide a rearview mirror adjustment method, device, equipment and storage medium, so that the rearview mirror can provide a better viewing angle for the driver.

In the first aspect, embodiments of the present application provide a method for adjusting a rearview mirror. The method can be executed by an electronic device (such as the vehicle control device in the example below), which can be implemented as a smart vehicle or a component in the smart vehicle (such as chip, chip system, etc.), this application does not limit this. For ease of understanding, the method will be described below using the vehicle control device as the execution subject.

The method includes: the control device of the vehicle acquires driving data during the driving process of the vehicle. The driving data includes driving characteristics and vehicle driving signals. The driving characteristics include first characteristics and/or second characteristics. The first characteristics are used to characterize driving. The driver's steering intention, the second feature is used to characterize the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle; and during the driving process when the vehicle is in the steering state, the driving data is used to The vehicle's rear view mirrors are adjusted longitudinally and/or laterally.

Through the adjustment method of the rearview mirror provided in this embodiment, the vehicle control device obtains the driving characteristics and vehicle driving signals during the driving of the vehicle, so that the vehicle control device can be based on the driver's steering intention, longitudinal observation intention, and the vehicle's In the driving state, during the steering process of the vehicle, the rearview mirror is controlled to dynamically adjust as the vehicle turns. On the one hand, it improves the accuracy of adjustment so that the rearview mirror can always provide the driver with a better perspective during vehicle steering; on the other hand, it automatically adjusts the rearview mirror based on driving characteristics and vehicle driving signals. The driver does not need to manually turn on the rearview mirror adjustment function, which improves the convenience of rearview mirror adjustment.

Furthermore, this application can adjust the rearview mirror longitudinally and/or horizontally according to the driver's intention reflected in the driving characteristics and the vehicle state reflected in the vehicle driving signal. The adjustment solution of the rearview mirror in this application It can further optimize the viewing angle provided by the rearview mirror.

The longitudinal adjustment of the rearview mirror by the control device of the vehicle may include: longitudinally adjusting the rearview mirror of the vehicle according to the second characteristic and/or the inclination signal in the vehicle driving signal, the inclination signal being used to indicate the vehicle The angle of inclination relative to the ground plane. The vehicle's control device determines the inclination angle of the vehicle based on the inclination signal, and then adjusts the rearview mirror to rotate upward or downward so that the rearview mirror provides a better viewing angle for the driver. For example, when the vehicle's control device determines that the vehicle is on an uphill slope based on the inclination angle of the vehicle indicated by the inclination signal, the vehicle's control device may rotate the vehicle's rearview mirror downward to enable the driver to observe more through the rearview mirror. In road conditions close to the ground, or when the vehicle's control device determines that the vehicle is downhill based on the inclination angle of the vehicle indicated by the inclination signal, the vehicle's control device can rotate the vehicle's rearview mirror upward to avoid a narrow viewing angle of the rearview mirror. Increase the effective viewing angle of the rearview mirror and improve driving safety.

The lateral adjustment of the rearview mirror by the control device of the vehicle may include: lateral adjustment of the rearview mirror of the vehicle according to the driving characteristics and the steering wheel angle signal in the vehicle driving signal, the steering wheel angle signal is at least used to indicate the rotation of the steering wheel. angle. The rearview mirror is adjusted based on driving characteristics and steering wheel angle signals to achieve accurate adjustment of the rearview mirror, so that the opening and closing angle of the rearview mirror can always provide the driver with a better viewing angle during vehicle steering.

As a possible implementation of the above-mentioned lateral adjustment of the rearview mirror, the vehicle control device can adjust the rearview mirror in the adjustment direction of the rearview mirror according to the rotation angle of the steering wheel in the rotation direction of the steering wheel; wherein, the rearview mirror The adjustment direction of the mirror is associated with the steering wheel angle signal, and includes an opening direction and/or a closing direction. The opening direction is the direction to increase the angle between the rearview mirror and the vehicle body, and the closing direction is to decrease the angle between the rearview mirror and the vehicle body. The direction of the angle. Based on the rotation direction and angle of the steering wheel, the rearview mirror can be accurately adjusted in the adjustment direction.

As a possible implementation of the above-mentioned lateral adjustment of the rearview mirror, the vehicle control device can adjust the rearview mirror in the adjustment direction of the rearview mirror as the rotation angle of the steering wheel changes; wherein, the rearview mirror The adjustment direction of the mirror is associated with the steering wheel angle signal, and includes an opening direction and/or a closing direction. The opening direction is the direction to increase the angle between the rearview mirror and the vehicle body, and the closing direction is to decrease the angle between the rearview mirror and the vehicle body. The direction of the angle. The vehicle's control device can adjust the rearview mirror to change the angle of the steering wheel, realizing dynamic adjustment of the rearview mirror.

Optionally, the adjustment direction of the rearview mirror is associated with the steering wheel angle signal and driving characteristics. In other words, the vehicle's controls can accurately identify the direction of adjustment of the rearview mirror in conjunction with driving characteristics.

In order to achieve accurate adjustment of the rearview mirror, the following is an exemplary description of how to determine the adjustment direction and speed of the rearview mirror based on the rotation signal of the steering wheel and the vehicle speed signal:

Example 1: When the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is the opening direction, and the vehicle driving signal includes a vehicle speed signal, and the vehicle speed signal is used to indicate the vehicle's driving speed; As the rotation angle of the steering wheel changes, adjusting the rearview mirror in the adjustment direction includes: performing a first adjustment operation on the rearview mirror to the angle between the rearview mirror and the vehicle body. When it is equal to the preset angle, the first adjustment operation is stopped; or, the first adjustment operation is performed on the rearview mirror, and when the rotation angle of the steering wheel remains unchanged, the second adjustment operation is performed on the rearview mirror. When the angle between the rearview mirror and the vehicle body is equal to the preset angle, the second adjustment operation is stopped; wherein the first adjustment operation is to adjust the distance between the rearview mirror and the vehicle body in the opening direction according to the first adjustment speed. The first adjustment speed is dynamically determined based on the rotation angle of the steering wheel and the vehicle speed signal. The second adjustment operation is to adjust the distance between the rearview mirror and the vehicle body in the opening direction according to the second adjustment speed. angle.

Example 2: When the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is the closing direction; as the rotation angle of the steering wheel changes, the rearview mirror is adjusted in the adjustment direction. The rearview mirror includes: performing a third adjustment operation on the rearview mirror, and stopping the third adjustment operation when the vehicle ends the steering state; wherein the third adjustment operation is performed according to a third adjustment speed, at the The angle between the rearview mirror and the vehicle body is adjusted in the closing direction. The third adjustment speed is dynamically determined based on the rotation angle of the steering wheel and the vehicle speed signal. When the vehicle ends the steering state, the rearview mirror is adjusted to the initial position. The initial position is the position of the rearview mirror when the vehicle starts the steering state.

The above two examples realize fine adjustment of the rearview mirror based on the steering wheel rotation direction and the vehicle steering direction.

Optionally, when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the rotation angle of the steering wheel is negatively related to the first adjustment speed; and/or, the driving speed of the vehicle indicated by the vehicle speed signal is related to the third adjustment speed. One adjustment speed is positively related.

Optionally, when the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the rotation angle of the steering wheel is positively related to the third adjusted speed; and/or, the driving speed of the vehicle indicated by the vehicle speed signal is related to the third adjustment speed. Three adjustment speeds are positively related.

On the one hand, when the steering wheel turns in the same direction as the vehicle, it indicates that the vehicle's steering is increasing. In this case, when the vehicle first starts to turn, the rearview mirror can be adjusted to a greater extent, so that the rearview mirror The viewing angle can be optimized quickly; when the steering wheel rotation direction is inconsistent with the steering direction of the vehicle, it indicates that the vehicle's steering is decreasing, that is, the direction is gradually returning to the normal direction. In this case, when the vehicle needs to return to the normal direction, the rear The rearview mirror is adjusted to a large extent so that the viewing angle of the rearview mirror can be quickly optimized to the state before adjustment. On the other hand, the greater the driving speed of the vehicle, the faster the adjustment speed of the rearview mirror, so that the adjustment speed of the rearview mirror can adapt to the driving speed of the vehicle.

As a possible implementation of the above-mentioned longitudinal adjustment of the rearview mirror, the vehicle's control device can perform longitudinal adjustment of the vehicle's rearview mirror based on the result of a weighted calculation of the first inclination angle and the inclination angle; wherein, The first tilt angle is determined by the second feature. It achieves accurate adjustment of the rearview mirror in the longitudinal adjustment direction based on the driving characteristics and the tilt angle of the vehicle.

As another possible implementation of the above-mentioned longitudinal adjustment of the rearview mirror, the vehicle's control device may perform longitudinal adjustment of the vehicle's rearview mirror based on the result of a weighted calculation of the second feature and the tilt angle. Compared with the previous implementation of longitudinal adjustment, this implementation can perform a weighted operation on the second feature and the tilt angle, which improves processing efficiency.

Optionally, the vehicle's control device can perform a weighted operation on the first feature and the vehicle driving signal to determine whether the vehicle is in a steering state; wherein the vehicle driving signal includes: a vehicle speed signal, a steering signal, and a steering wheel angle signal. At least one. To realize automatic identification of vehicle steering status.

Optionally, the vehicle's control device can perform a weighted operation on the first characteristic and the vehicle driving signal to determine whether the vehicle ends the steering state; wherein the vehicle driving signal includes: a vehicle speed signal, a steering signal, and a steering wheel angle signal. at least one of. To achieve automatic identification of the vehicle's stopped steering state.

Optionally, the vehicle control device can dynamically collect the driver's image through the vehicle-mounted image acquisition device; based on the driver's image, identify the driver's steering intention and longitudinal observation intention to obtain the driving characteristics; wherein, the driving characteristics Including: at least one of the driver's sight direction, head rotation direction, and limb movement direction. Accurately obtain the driver's driving characteristics, and then accurately adjust the rearview mirror based on the driving characteristics.

Optionally, the rearview mirror includes at least one of a vehicle interior rearview mirror, a vehicle left rearview mirror, and a vehicle right rearview mirror.

In the second aspect, embodiments of the present application provide a method for adjusting a rearview mirror. The method can be executed by an electronic device, which can be implemented as a smart vehicle or a component (such as a chip, chip system, etc.) in a smart vehicle. The present application provides This is not a limitation.

The method includes: obtaining an adjustment instruction, the adjustment instruction includes a longitudinal adjustment instruction and/or a lateral adjustment instruction, the longitudinal adjustment instruction is used to indicate the longitudinal adjustment angle of the rearview mirror, and the lateral adjustment instruction is used to indicate the angle of the rearview mirror. Adjust direction and speed; control the rotation of the rearview mirror according to the adjustment instruction; wherein the adjustment instruction is associated with driving data during vehicle driving, the driving data includes driving characteristics and vehicle driving signals, and the driving characteristics include the third A feature and/or a second feature, the first feature is used to characterize the driver's steering intention, the second feature is used to characterize the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle.

In a possible implementation, controlling the rotation of the rearview mirror according to the adjustment instruction includes: controlling the rotation of the rearview mirror to the longitudinal adjustment angle according to the longitudinal adjustment instruction, wherein the longitudinal adjustment instruction is consistent with the third The two features and/or the inclination signal in the vehicle driving signal are associated.

In a possible implementation, controlling the rotation of the rearview mirror according to the adjustment instruction includes: controlling the rotation of the rearview mirror in the adjustment direction according to the adjustment speed according to the lateral adjustment instruction, and the adjustment direction Including the opening direction or the closing direction, the opening direction is the direction to increase the angle between the rearview mirror and the vehicle body, and the closing direction is the direction to decrease the angle between the rearview mirror and the vehicle body.

In a possible implementation, the lateral adjustment instruction includes a first adjustment instruction, the first adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is an opening direction, and the adjustment speed is a first adjustment speed, and the The first adjustment speed is dynamically determined based on the rotation angle of the steering wheel in the rotation direction of the steering wheel and the vehicle speed signal.

In a possible implementation, the lateral adjustment instruction further includes a second adjustment instruction, the second adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is an opening direction, and the adjustment speed is a second adjustment speed.

In a possible implementation, the lateral adjustment instruction also includes a third adjustment instruction, the third adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is a closing direction, and the adjustment speed is a third adjustment speed, The third adjustment speed is dynamically determined based on the rotation angle of the steering wheel in the rotation direction of the steering wheel and the vehicle speed signal.

The beneficial effects of the rearview mirror adjustment method provided by the above-mentioned second aspect and the possible implementations of the above-mentioned second aspect can be referred to the beneficial effects brought by the above-mentioned first aspect and the possible implementations of the first aspect. , will not be described in detail here.

In a third aspect, embodiments of the present application provide a method for adjusting a rearview mirror, which includes: while the vehicle is driving in a steering state, laterally adjusting the rearview mirror of the vehicle according to the vehicle speed signal and the steering wheel angle signal; The vehicle speed signal is used to indicate the driving speed of the vehicle, and the steering wheel angle signal is used to indicate the rotation angle of the steering wheel.

In a possible implementation, lateral adjustment of the rearview mirror of the vehicle based on the vehicle speed signal and the steering wheel angle signal includes: determining the adjustment speed of the rearview mirror based on the vehicle speed signal and the steering wheel angle signal; Adjust the speed to make lateral adjustments to the vehicle's rearview mirrors.

In a possible implementation, the method further includes: obtaining a speed signal and a steering wheel angle signal of the vehicle.

In a possible implementation, when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is the opening direction; the rearview mirror is determined based on the vehicle speed signal and the steering wheel angle signal. The adjustment speed includes: determining the first adjustment speed according to the rotation angle of the steering wheel and the vehicle speed signal, and the adjustment speed includes the first adjustment speed.

In a possible implementation, the lateral adjustment of the rearview mirror of the vehicle according to the adjustment speed includes: performing a first adjustment operation on the rearview mirror, until the clamping point between the rearview mirror and the vehicle body is reached. When the angle is equal to the preset angle, stop the first adjustment operation; or, perform the first adjustment operation on the rearview mirror until the rotation angle of the steering wheel remains unchanged, perform the second adjustment operation on the rearview mirror until the rotation angle of the steering wheel remains unchanged. When the angle between the rearview mirror and the vehicle body is equal to the preset angle, the second adjustment operation is stopped; wherein the first adjustment operation is to adjust the rearview mirror and the vehicle body in the opening direction according to the first adjustment speed. The second adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the second adjustment speed.

In a possible implementation, when the steering wheel rotation direction is inconsistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is a closing direction; the rearview mirror is determined based on the vehicle speed signal and the steering wheel angle signal. Adjusting the speed includes: determining a third adjustment speed according to the rotation angle of the steering wheel and the vehicle speed signal, and the adjustment speed includes the third adjustment speed.

In a possible implementation, the lateral adjustment of the rearview mirror of the vehicle according to the adjustment speed includes: performing a third adjustment operation on the rearview mirror, and stopping the rearview mirror when the vehicle ends the steering state. A third adjustment operation; wherein the third adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the closing direction according to the third adjustment speed. When the vehicle ends the steering state, the rearview mirror Adjust to the initial position, which is the position of the rearview mirror when the vehicle starts the steering state.

The beneficial effects of the rearview mirror adjustment method provided by the third aspect and the possible implementations of the third aspect can be found in the beneficial effects brought by the first aspect and the possible implementations of the first aspect. , will not be described in detail here.

In a fourth aspect, embodiments of the present application provide a vehicle control device, including: an acquisition unit configured to acquire driving data during vehicle driving. The driving data includes driving characteristics and vehicle driving signals, and the driving characteristics include a first characteristic. and/or a second characteristic, the first characteristic is used to characterize the driver's steering intention, the second characteristic is used to characterize the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle; the control unit, It is used to adjust the rearview mirror of the vehicle longitudinally and/or horizontally according to the driving data while the vehicle is in a steering state.

In a possible implementation, the control unit is specifically configured to: longitudinally adjust the rearview mirror of the vehicle according to the second characteristic and/or the inclination signal in the vehicle driving signal, and the inclination signal is used to indicate The angle of inclination of the vehicle relative to the ground plane.

In a possible implementation, the control unit is specifically configured to: adjust the rearview mirror of the vehicle laterally according to the driving characteristics and the steering wheel angle signal in the vehicle driving signal, and the steering wheel angle signal is at least used to indicate The angle of rotation of the steering wheel.

In a possible implementation, the control unit is specifically configured to: adjust the rearview mirror in the adjustment direction of the rearview mirror as the rotation angle of the steering wheel changes; wherein, the adjustment direction of the rearview mirror It is associated with the steering wheel angle signal and includes an opening direction and/or a closing direction. The opening direction is the direction to increase the angle between the rearview mirror and the vehicle body, and the closing direction is the direction to decrease the angle between the rearview mirror and the vehicle body.

In a possible implementation, when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is an opening direction, and the vehicle driving signal includes a vehicle speed signal, and the vehicle speed signal is used to indicate the The driving speed of the vehicle; the control unit is specifically used to: perform a first adjustment operation on the rearview mirror, and stop the first adjustment operation when the angle between the rearview mirror and the vehicle body is equal to the preset angle; or, Perform a first adjustment operation on the rearview mirror. When the rotation angle of the steering wheel remains unchanged, perform a second adjustment operation on the rearview mirror. When the angle between the rearview mirror and the vehicle body is equal to the preset angle, Stop the second adjustment operation; wherein the first adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to a first adjustment speed, which is based on the rotation of the steering wheel. The angle and the vehicle speed signal are dynamically determined, and the second adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the second adjustment speed.

In a possible implementation, when the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is a closing direction; the control unit is specifically configured to: perform a third step on the rearview mirror. The adjustment operation is to stop the third adjustment operation when the vehicle ends the steering state; wherein the third adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the closing direction according to the third adjustment speed. , the third adjustment speed is dynamically determined based on the rotation angle of the steering wheel and the vehicle speed signal. When the vehicle ends the steering state, the rearview mirror is adjusted to the initial position. The initial position is the position when the vehicle starts the steering state. The position of the rearview mirror.

In a possible implementation, when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the rotation angle of the steering wheel is negatively correlated with the first adjustment speed; and/or, the vehicle speed signal indicates the rotation angle of the vehicle. The driving speed is positively related to the first adjustment speed.

In a possible implementation, when the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the rotation angle of the steering wheel is positively related to the third adjustment speed; and/or, the vehicle speed signal indicates the rotation angle of the vehicle. The driving speed is positively related to the third adjustment speed.

In a possible implementation, the control unit is specifically configured to: longitudinally adjust the rearview mirror of the vehicle according to the weighted calculation result of the first inclination angle and the inclination angle; wherein the first inclination The angle is determined by this second feature.

In a possible implementation, the device further includes: a processing unit configured to perform a weighted operation on the first feature and the vehicle driving signal to determine whether the vehicle is in a steering state; wherein the vehicle driving signal includes: vehicle speed At least one of a signal, a turn signal, and a steering wheel angle signal.

In a possible implementation, the processing unit is further configured to: perform a weighted operation on the first feature and the vehicle driving signal to determine whether the vehicle ends the steering state; wherein the vehicle driving signal includes: a vehicle speed signal, At least one of a turn signal and a steering wheel angle signal.

In a possible implementation, the acquisition unit is specifically configured to: dynamically collect the driver's image through a vehicle-mounted image acquisition device; identify the driver's steering intention and longitudinal observation intention based on the driver's image, and obtain the driving intention. Features; wherein, the driving features include: at least one of the driver's sight direction, head rotation direction, and limb movement direction.

In a possible implementation, the rearview mirror includes at least one of a vehicle interior rearview mirror, a vehicle left rearview mirror, and a vehicle right rearview mirror.

The beneficial effects of the vehicle control device provided by the above-mentioned fourth aspect and the possible implementations of the above-mentioned fourth aspect can be referred to the beneficial effects brought by the above-mentioned first aspect and the possible implementations of the first aspect. In No further details will be given here.

In a fifth aspect, embodiments of the present application provide a rearview mirror adjustment device, including: an acquisition unit for acquiring adjustment instructions, where the adjustment instructions include longitudinal adjustment instructions and/or lateral adjustment instructions, and the longitudinal adjustment instructions are used to indicate The longitudinal adjustment angle of the rearview mirror, the lateral adjustment instruction is used to indicate the adjustment direction and adjustment speed of the rearview mirror; the control unit is used to control the rotation of the rearview mirror according to the adjustment instruction; wherein the adjustment instruction and The driving data during the driving process of the vehicle are related. The driving data includes driving characteristics and vehicle driving signals. The driving characteristics include a first characteristic and/or a second characteristic. The first characteristic is used to characterize the driver's steering intention. The third characteristic is used to represent the driver's steering intention. The second feature is used to characterize the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle.

In a possible implementation, the control unit is specifically configured to: control the rearview mirror to rotate to the longitudinal adjustment angle according to the longitudinal adjustment instruction, wherein the longitudinal adjustment instruction is consistent with the second characteristic and/or the vehicle traveling The tilt signal in the signal is associated.

In a possible implementation, the control unit is specifically configured to: control the rearview mirror to rotate in the adjustment direction according to the adjustment speed according to the lateral adjustment instruction, and the adjustment direction includes an opening direction or a closing direction, the The opening direction is the direction to increase the angle between the rearview mirror and the vehicle body, and the closing direction is the direction to decrease the angle between the rearview mirror and the vehicle body.

The beneficial effects of the rearview mirror adjustment device provided by the fifth aspect and the possible implementations of the fifth aspect can be found in the beneficial effects brought by the second aspect and the possible implementations of the second aspect. , will not be described in detail here.

In a sixth aspect, embodiments of the present application provide a vehicle control device, including: a control unit configured to perform lateral control of the rearview mirror of the vehicle according to the vehicle speed signal and the steering wheel angle signal during the driving process of the vehicle in a steering state. Adjustment; the vehicle speed signal is used to indicate the driving speed of the vehicle, and the steering wheel angle signal is used to indicate the rotation angle of the steering wheel.

In a possible implementation, the control unit is specifically configured to: determine the adjustment speed of the rearview mirror based on the vehicle speed signal and the steering wheel angle signal; and perform lateral adjustment of the rearview mirror of the vehicle according to the adjustment speed.

In a possible implementation, the device further includes: an acquisition unit, configured to acquire the vehicle speed signal and steering wheel angle signal.

In a possible implementation, when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is the opening direction; the control unit is specifically used to: according to the rotation direction of the steering wheel, The rotation angle and the vehicle speed signal determine the first adjustment speed, which includes the first adjustment speed.

In one possible implementation, the control unit is specifically configured to: perform a first adjustment operation on the rearview mirror, and stop the first adjustment operation when the angle between the rearview mirror and the vehicle body is equal to a preset angle; Or, perform a first adjustment operation on the rearview mirror until the rotation angle of the steering wheel remains unchanged, then perform a second adjustment operation on the rearview mirror until the angle between the rearview mirror and the vehicle body is equal to the preset angle. when, stop the second adjustment operation; wherein, the first adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the first adjustment speed, and the second adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the first adjustment speed. 2. Adjust the speed to adjust the angle between the rearview mirror and the vehicle body in the opening direction.

In a possible implementation, when the steering wheel rotation direction is inconsistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is a closing direction; the control unit is specifically configured to: according to the steering wheel rotation direction in the steering wheel rotation direction The rotation angle and the vehicle speed signal determine the third adjustment speed, which includes the third adjustment speed.

In a possible implementation, the control unit is specifically configured to: perform a third adjustment operation on the rearview mirror, and stop the third adjustment operation when the vehicle ends the steering state; wherein, the third adjustment operation In order to adjust the angle between the rearview mirror and the vehicle body in the closing direction according to the third adjustment speed, when the vehicle ends the steering state, the rearview mirror is adjusted to the initial position, and the initial position is when the vehicle starts. The position of the rearview mirror at the start of this steering state.

The beneficial effects of the vehicle control device provided by the above-mentioned sixth aspect and each possible implementation manner of the above-mentioned sixth aspect can be referred to the beneficial effects brought by the above-mentioned first aspect and each possible implementation manner of the first aspect, in No further details will be given here.

In a seventh aspect, embodiments of the present application provide an electronic device, including: a processor and a memory. The memory is used to store a computer program. The processor is used to call and run the computer program stored in the memory to perform the above-mentioned first aspect. to any possible implementation method in the third aspect.

In an eighth aspect, embodiments of the present application provide a chip, including: a processor configured to call and run computer instructions from a memory, so that a device installed with the chip executes any one of the above first to third aspects. Methods in possible implementations.

In a ninth aspect, embodiments of the present application provide a computer-readable storage medium for storing computer program instructions. The computer program causes the computer to execute the method in any of the possible implementations of the above-mentioned first to third aspects.

In a tenth aspect, embodiments of the present application provide a computer program product, including computer program instructions, which enable a computer to execute the method in any of the possible implementation manners of the first to third aspects.

In an eleventh aspect, embodiments of the present application provide a smart vehicle, including: a vehicle control device and a rearview mirror as provided in any possible implementation of the fourth aspect, or as any one of the sixth aspect Possible implementations provide vehicle controls and rearview mirrors.

In a twelfth aspect, an embodiment of the present application provides a smart vehicle, the rearview mirror including the adjustment device of the rearview mirror provided in any possible implementation manner of the fifth aspect.

In a thirteenth aspect, embodiments of the present application provide an intelligent vehicle, including: a vehicle control device as provided in any possible implementation manner of the fourth aspect and a vehicle control device provided in any possible implementation manner of the fifth aspect. The rearview mirror adjustment device, or the vehicle control device provided in any possible implementation manner of the sixth aspect and the rearview mirror adjustment device provided in any possible implementation manner of the fifth aspect.

Description of drawings

Figure 1 is a schematic structural diagram of a vehicle provided by an embodiment of the present application;

Figure 2 is a schematic block diagram of a control device provided by an embodiment of the present application;

Figure 3 is a schematic diagram of the hardware structure of a vehicle provided by an embodiment of the present application;

Figure 4 is a schematic flow chart of a rearview mirror adjustment method provided by an embodiment of the present application;

Figure 5 is a schematic diagram of a rearview mirror opening and closing curve provided by an embodiment of the present application;

Figure 6 is a schematic diagram of another rearview mirror opening and closing curve provided by an embodiment of the present application;

Figure 7 is a schematic flow chart of another rearview mirror adjustment method provided by an embodiment of the present application;

Figure 8 is a schematic flow chart of another rearview mirror adjustment method provided by an embodiment of the present application;

Figure 9 is a schematic block diagram of a vehicle control device provided by an embodiment of the present application;

Figure 10 is a schematic block diagram of a rearview mirror adjustment device provided by an embodiment of the present application;

Figure 11 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

The execution subject of the technical solution of the embodiment of the present application may be an electronic device, which may be deployed on a movable device or connected to the movable device in a wired or wireless manner (such as the control shown in Figure 1 or 2 below). Device 110), of course, the electronic device can also be the removable device itself. Mobile devices can have any appearance, such as smart vehicles, smart robots, etc.

When the electronic device is connected to a removable device, the electronic device may be a terminal device, such as a smartphone, a tablet, a laptop, a desktop computer, etc., but is not limited thereto, or the electronic device may also be A server, which can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

The following description takes the mobile device as an intelligent vehicle (vehicle for short) as an example.

When the vehicle is turning and the relative position between the rearview mirror and the vehicle body is fixed, the viewing angle of the rearview mirror changes with the steering of the vehicle. For example, when the vehicle is turning right, the rearview mirror on the right side of the vehicle can be used to The area seen is narrow, that is, the viewing angle is narrow and the blind area is large. This situation will bring greater driving safety risks. Therefore, it is very necessary to ensure that the rearview mirror can provide the driver with a better viewing angle. . Currently, when the vehicle is about to turn and drive, the driver can manually turn on the rearview mirror adjustment function to quickly adjust the rearview mirror from the initial position to a pre-designed fixed position, allowing the driver to observe the road conditions in the dangerous area through the rearview mirror and confirm driving. Turn when it is safe. During the turning process, the rearview mirror gradually adjusts back to its original position. However, on the one hand, in this solution, the rearview mirror is directly adjusted from the initial position to the fixed position, which cannot provide the driver with the best viewing angle at various steering angles during the steering process, and there is still a blind spot; on the other hand, Said that the driver needs to operate to turn on the adjustment function of the rearview mirror, which makes the adjustment of the rearview mirror less convenient.

In response to the above problems, this application provides a rearview mirror adjustment solution that introduces driving characteristics and vehicle driving signals, so that the vehicle or the electronic device in the vehicle can adjust the rearview mirror based on the driver's steering intention, longitudinal observation intention, and the driving status of the vehicle. , during the steering process of the vehicle, the rearview mirror is controlled to dynamically adjust as the vehicle turns. On the one hand, it improves the accuracy of adjustment so that the rearview mirror can always provide the driver with a better perspective during vehicle steering; on the other hand, it automatically adjusts the rearview mirror based on driving characteristics and vehicle driving signals. The driver does not need to manually turn on the rearview mirror adjustment function, which improves the convenience of rearview mirror adjustment.

Furthermore, this application can adjust the rearview mirror longitudinally and/or horizontally according to the driver's intention reflected in the driving characteristics and the vehicle state reflected in the vehicle driving signal. Compared with the prior art, the rearview mirror is always adjusted. As for the lateral adjustment of the rearview mirror, the adjustment solution of the rearview mirror in this application can further optimize the viewing angle provided by the rearview mirror.

Figure 1 is a schematic structural diagram of a vehicle provided by an embodiment of the present application. As shown in FIG. 1 , a control device 110 , a rearview mirror 120 and a vehicle sensor 130 are deployed in the vehicle 100 . The rearview mirror 120 of the vehicle 100 may include at least one of a vehicle left rearview mirror 121 , a vehicle right rearview mirror 122 , and a vehicle interior rearview mirror 123 . The vehicle sensor 130 may include, for example, an image sensor 131, a wheel speed sensor 132, a steering wheel angle sensor 133, a gyroscope 134, and the like. Each rearview mirror and each vehicle sensor of the vehicle 100 are connected to the control device 110 in a wired or wireless manner.

The control device 110 can obtain the driving data of the vehicle 100 in real time through the vehicle sensor 130 . For example, the control device 110 can collect the driver's image of the vehicle through the image sensor 131, and obtain the driver's driving characteristics (such as the first characteristic indicating the steering intention, and/or the third characteristic indicating the longitudinal viewing intention) based on the driver image recognition. Second feature); the control device 110 can also obtain vehicle driving signals through one or more sensors among the wheel speed sensor 132, the steering wheel angle sensor 133, and the gyroscope 134. For example, the control device 110 collects a vehicle speed signal through the wheel speed sensor 132, and the vehicle speed signal is used to indicate the driving speed of the vehicle 100; it collects a steering wheel angle signal through the steering wheel angular speed sensor 133, and the steering wheel angle signal is used to reflect the steering wheel position of the vehicle 100 at the current moment. Rotation angle: the inclination signal of the vehicle 100 is collected through the gyroscope 134, and the inclination signal indicates the inclination angle of the vehicle 100 relative to the ground plane.

In some embodiments, the control device 110 can also obtain the driving data of the vehicle 100 through the vehicle's operating device, for example, obtain the turn signal after the driver turns on the turn signal, obtain the reverse signal after the driver turns on the reverse mode, etc.

In some embodiments, the control device 110 can collect the driver image of the vehicle through the image sensor 131 and obtain the driver's driving characteristics based on the driver image recognition, specifically through the driver status detection system deployed in the control device 110 (driver monitor system, DMS) is implemented by running.

Further, the control device 110 performs longitudinal adjustment and/or lateral adjustment of the rearview mirror 120 of the vehicle 100 according to the driving data.

The embodiment of the present application does not limit the deployment position of the vehicle sensor 130 in the vehicle 100 . Generally speaking, the image sensor 131 can be deployed inside the vehicle, and the image sensor 131 should be aimed at the driver to collect a frontal image of the driver. In some embodiments, image sensor 131 may be integrated into vehicle interior rearview mirror 123 .

Generally speaking, the horizontal and vertical directions refer to the up, down, left and right directions that the driver feels when driving a vehicle. The horizontal direction generally refers to the left and right directions of the driver, and the longitudinal direction generally refers to the up and down directions of the driver. For example, as shown in Figure 1, the lateral adjustment of the rearview mirror refers to the adjustment of the rearview mirror along the direction a or b in Figure 1, and the longitudinal adjustment refers to the adjustment of the rearview mirror along the direction c or d; In the following, when adjusting the rearview mirror laterally, the opening direction is the direction that increases the angle between the rearview mirror and the vehicle body, that is, the direction a in Figure 1, and the closing direction is the direction that decreases the angle between the rearview mirror and the vehicle body, that is, Figure 1 direction in b. Of course, FIG. 1 only takes the longitudinal adjustment of the vehicle's interior rearview mirror 123 and the lateral adjustment of the vehicle's right side rearview mirror 122 as an example to illustrate the possible longitudinal and lateral adjustment directions, and should not be understood as any reference to the present application. limited. For example, the vehicle's interior rearview mirror 123 can also be adjusted laterally in direction a or b, and the vehicle's right side rearview mirror 122 can also be longitudinally adjusted in direction c or d. Similarly, the vehicle's left side rearview mirror 121 can also be adjusted in direction a or b for lateral adjustment, or longitudinal adjustment in direction c or d.

Figure 2 is a schematic block diagram of a control device provided by an embodiment of the present application. As shown in FIG. 2 , the control device 110 includes a steering judgment module 111 and a rearview mirror adjustment module 112 . The steering judgment module 111 is used to determine whether the vehicle is in a steering state and/or whether to end the steering state based on driving data; the rearview mirror adjustment module 112 is used to dynamically adjust the rearview mirror during driving when the vehicle is in a steering state. Adjust so that the rearview mirror follows the steering process of the vehicle.

It should be understood that the above-mentioned steering determination module 111 and rearview mirror adjustment module 112 can be independent modules, or can be integrated into the same module as sub-modules, which is not limited in this application.

The control device 110 in the above-mentioned Figures 1 and 2 can be implemented as a central processing unit (CPU) 201 in the vehicle as shown in Figure 3 below, or the control device 110 can be some functional modules in the CPU 201, as shown in Figure 3 Vehicle sensor 130 in 1 may be sensor device 206 in FIG. 3 .

Figure 3 is a schematic diagram of the hardware structure of a vehicle provided by an embodiment of the present application. The vehicle 200 includes:

CPU 201, on the one hand, is used to control various parts of the hardware equipment of the entire smart vehicle (including the rearview mirror not shown in Figure 3); on the other hand, it is used to run operating system software and required application software, including those involved in this application. Software for acquiring driving characteristics, acquiring driving data, determining steering status, and adjusting rearview mirrors during steering.

The storage device 202 is used to store various software programs, data, etc. of the vehicle 200; the storage device can be a read-only memory (read-only memory, ROM), a random access memory (random access memory, RAM), an erasable memory, etc. One or more of erasable programmable readonly memory (EPROM), solid state disk (SSD), secure digital (SD) card, and hard disk, the rearview mirror provided by the embodiment of the present application The software functions of the adjustment method are also run and stored on the storage device 202.

The communication device 203 provides network communication functions for the vehicle 200, including cellular network (global system for mobile communications, GSM)/universal mobile telecommunications system (UMTS)/long term evolution (LTE) )/code division multiple access (CDMA), etc.), wireless local area networks (WLAN), near field communication (NFC), short-range communication (such as Bluetooth, in future communication systems One or more of the short-distance communication technologies adopted), etc., or the communication device 203 provides the vehicle 200 with a wired communication function based on electrical connection, including any method of transmitting information through tangible media such as metal wires and optical fibers. For example, the vehicle can implement communication between the entire vehicle system and vehicle components (such as rearview mirrors) based on the communication device 203, or the vehicle can communicate with other vehicles, roadside equipment, etc. based on the communication device 203 to achieve information interaction.

Antenna device 204 includes a wireless transmitting antenna or a wireless receiving antenna used by communication device 203 . A global positioning system (GPS) device 205 is used to provide location information of the vehicle 200 . The sensor device 206 may include the vehicle sensors shown in FIG. 1 for obtaining the driving status of the vehicle, and may also include, for example, radar, a camera based on machine vision, etc., for sensing the road traffic environment and road pedestrians, etc., to guide the vehicle according to the Driving according to road conditions. The power supply device 207 supplies power to the vehicle. Input/output (I/O) control device 208 is used to control data interaction between various input and output devices, especially data interaction between the CPU 201, the I/O interface 209, and the UI operation interface 210. .

The I/O interface 209 is an external interface provided by the vehicle 200, including a universal serial bus (USB) interface, an SD card interface, a compact disc (CD)/digital vers atile disc (DVD) ) interface, key interface, etc. One or more. The UI operation interface 210 includes a graphical user interface (GUI) operation/display panel provided by the vehicle 200 and is used to display the operating status, equipment status, environment of the autonomous driving vehicle, user operation interface and operation results of the vehicle 200 ; The panel may also be a touch screen, used to receive user touch operations and convert them into user operation instructions.

The adjustment method of the rearview mirror provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

It should be understood that the following is only for convenience of understanding and explanation. The method provided by the embodiment of the present application is described with the control device in the vehicle as the execution subject. The control device may be, for example, the control device 110 in the above-mentioned Figures 1 and 2, or CPU 201 in Figure 3. The control device can be implemented as a component in the vehicle, such as a chip, a chip system, or other functional modules capable of calling and executing programs. The control device in the vehicle can interact with the adjustment device of the rearview mirror to implement some implementations in the embodiments of the present application. The rearview mirror adjustment device can be implemented as a component in the rearview mirror, such as a chip, a chip system, or other functional modules that can call and execute a program.

However, it should be understood that this should not constitute any limitation on the execution subject of the method provided in this application. As long as the method provided by the embodiment of the present application can be implemented by running a program that records the code of the method provided by the embodiment of the present application, it can be used as the execution subject of the method provided by the embodiment of the present application.

FIG. 4 is a schematic flowchart of a rearview mirror adjustment method 300 provided by an embodiment of the present application. As shown in Figure 4, the method 300 may include at least one of S310 and S320. Each step in method 300 is described in detail below.

S310. Obtain driving data during vehicle driving. The driving data includes driving characteristics and vehicle driving signals. The driving characteristics include first characteristics and/or second characteristics. The first characteristics are used to characterize the driver's steering intention. The second feature is used to characterize the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving status of the vehicle;

S320: While the vehicle is driving in a steering state, perform longitudinal adjustment and/or lateral adjustment of the rearview mirror of the vehicle according to the driving data.

For example, the vehicle driving signal may include: at least one of a vehicle speed signal, a steering wheel angle signal, an inclination signal, a steering signal, and a reversing signal.

Among them, the vehicle speed signal is used to indicate the driving speed of the vehicle; the steering wheel angle signal can be used to reflect the rotation angle of the steering wheel of the vehicle at the current moment. The rotation angle of the steering wheel can be the rotation angle based on the initial position of the steering wheel, such as the initial position of the steering wheel. The corresponding rotation angle of the position is 0 degrees. Clockwise steering (that is, the steering wheel turns right) is positive, and counterclockwise steering (that is, the steering wheel turns left) is negative. When the steering wheel is turned clockwise to 90 degrees, the rotation angle of the steering wheel is 90 degrees. Counterclockwise steering (that is, the steering wheel turns left) is negative. When the hour hand rotates to 30 degrees, the rotation angle of the steering wheel is -30 degrees. Generally speaking, the initial position of the steering wheel is the position of the steering wheel when controlling the vehicle to drive straight. In some embodiments, the steering wheel angle signal can also be used to reflect the steering wheel angle. Rotation direction. The rotation direction of the steering wheel can be determined based on the rotation angle of the steering wheel at the current moment and the previous moment. For example, the rotation angle at the previous moment is 90 degrees and the rotation angle at the current moment is 45 degrees. The steering wheel rotates in the counterclockwise direction. 45 degrees, that is, the direction of rotation of the steering wheel is counterclockwise; the inclination signal is used to indicate the inclination angle of the vehicle relative to the ground plane.

In the above S310, the vehicle's control device can obtain driving data through sensors deployed in the vehicle (such as the wheel speed sensor 132, the steering wheel angle sensor 133, and the gyroscope 134 in Figure 1). As mentioned before, the control device can collect the vehicle speed signal through the wheel speed sensor, the steering wheel angle signal through the steering wheel angular velocity sensor, and the vehicle's inclination signal through the gyroscope; the control device can also obtain the vehicle's driving data through the vehicle's operating device. For example, the turn signal is obtained after the driver turns on the turn signal, and the reversing signal is obtained after the driver turns on the reversing mode.

In some embodiments, the vehicle's control device (for example, the DMS deployed in the control device) obtains the driving characteristics by dynamically collecting the driver's image through a vehicle-mounted image acquisition device (such as the image sensor in Figure 1), and based on the driving The driver's image is used to identify the driver's steering intention and longitudinal observation intention to obtain driving characteristics. The dimensions of the driving characteristics include but are not limited to: the driver's sight direction, head rotation direction, and limb movement direction. For example, the vehicle's control device can identify the driver's gaze direction in the driver's image to determine the driving characteristics. For example, the driver's gaze direction is the left gaze direction, and the first feature represents the driver's turning intention to turn left, such as The driver's sight direction is to the right, and the first feature represents the driver's turning intention to turn right; the vehicle's control device can identify the driver's head turning direction in the driver's image, such as the driver's head turning left The first feature represents the driver's turning intention to turn left; the vehicle's control device can identify the driver's body movements in the driver's image to determine the driving characteristics, such as the driver stretching his neck upward or straightening his upper body, then the third feature represents the driver's turning intention. The second feature represents the driver's longitudinal observation intention and the road condition where the desired observation angle is lower (closer to the ground).

The first feature in the driving characteristics may be a quantitative representation of the driver's steering intention, for example, expressing the steering intention through a numerical value. Similarly, the second feature may be a quantitative representation of the driver's longitudinal viewing intention, for example, expressing the longitudinal viewing intention through a numerical value.

The vehicle's control device can dynamically obtain the vehicle's driving data. For example, the vehicle's control device may periodically obtain the vehicle's driving data during the driving process of the vehicle. For example, the vehicle's control device periodically acquires vehicle driving signals sent by vehicle sensors, and periodically performs image collection and image recognition on the driver to obtain driving characteristics, etc. Alternatively, the vehicle's control device can obtain the driving data during the vehicle's steering process in real time after the vehicle enters the steering state.

It should be noted that the embodiment of the present application does not limit the driving path of the vehicle. For example, the vehicle can travel on turning sections, uphill sections, downhill sections, caves, bridges, etc. That is to say, no matter what kind of driving path the vehicle is traveling on, the driving data during the driving process of the vehicle can be dynamically obtained.

In the above S320, when the vehicle is in a steering state (including turning left forward, turning right forward, turning left in reverse, or turning right in reverse), the vehicle's control device can adjust the rearview mirror of the vehicle based on the acquired driving data. Adjust so that the rearview mirror can provide the driver with a better viewing angle. Of course, when the vehicle is in the steering state, based on the dynamically acquired driving data, the vehicle control device dynamically adjusts the rearview mirror as the dynamically acquired driving data is obtained.

In the above-mentioned S320, the vehicle control device may perform longitudinal adjustment, lateral adjustment, or both longitudinal adjustment and lateral adjustment on the rearview mirror of the vehicle according to the driving data. In the case where both the longitudinal adjustment and the lateral adjustment are performed on the rearview mirror of the vehicle, the longitudinal adjustment and the lateral adjustment may be performed sequentially or in parallel, which is not limited in this application.

The following is an exemplary description of the implementation methods of vertical adjustment and horizontal adjustment respectively.

1. Vertical adjustment.

The control device of the vehicle may longitudinally adjust the rearview mirror of the vehicle based on at least one of the second characteristic and the inclination signal in the vehicle driving signal. As mentioned above, the second feature can reflect the driver's longitudinal observation intention, such as the driver stretching his neck upward or straightening his upper body, indicating that the driver expects to observe road conditions with a lower angle (closer to the ground), that is, the rearview mirror needs Pivot downwards to provide the driver with the desired viewing angle. The inclination angle signal can reflect the inclination angle of the vehicle. For example, when the vehicle is going uphill or downhill, the vehicle has an inclination angle. Then when the vehicle control device determines that the vehicle is uphill based on the inclination angle of the vehicle indicated by the inclination angle signal, The vehicle's control device can rotate the vehicle's rearview mirror downward so that the driver can observe more road conditions close to the ground through the rearview mirror, or the vehicle's control device can determine the vehicle's position based on the inclination angle of the vehicle indicated by the inclination signal. When going downhill, the vehicle's control device can rotate the vehicle's rearview mirror upward to avoid a narrow viewing angle, increase the effective viewing angle of the rearview mirror, and improve driving safety.

In the first example, the vehicle's control device can predict the vehicle's first inclination angle based on the above-mentioned second feature, and longitudinally adjust the rearview mirror according to the first inclination angle. For example, the vehicle's control device can adjust the first inclination angle of the vehicle. The angle is multiplied by the preset coefficient to obtain the longitudinal adjustment angle of the rearview mirror, and the rearview mirror is adjusted according to the longitudinal adjustment angle.

In the second example, the vehicle's control device can longitudinally adjust the rearview mirror according to the inclination angle of the vehicle indicated by the inclination signal. For example, the vehicle's control device multiplies the inclination angle of the vehicle indicated by the inclination signal by a preset coefficient, Obtain the longitudinal adjustment angle of the rearview mirror, and adjust the rearview mirror according to the longitudinal adjustment angle.

In a third example, the vehicle's control device can longitudinally adjust the rearview mirror according to the second characteristic and the inclination signal, for example, perform a weighted operation on the second characteristic and the inclination signal, and adjust the vehicle's height according to the result of the weighted operation. The rearview mirror can be adjusted longitudinally; alternatively, the vehicle control device can perform a weighted operation on the first inclination angle of the vehicle predicted in the first example above and the inclination angle indicated by the inclination angle signal, and calculate the result according to the weighted operation. As a result, the vehicle's rearview mirror is adjusted longitudinally. For example, the vehicle's control device multiplies the vehicle's inclination angle reflected by the weighted operation result by a preset coefficient to obtain the vehicle's longitudinal adjustment angle, and then adjusts the vehicle's rearview mirror according to the longitudinal adjustment angle.

It should be noted that in the embodiment of the present application, the vehicle control device can control the vehicle interior rearview mirror (123 in Figure 1), the vehicle left rearview mirror (121 in Figure 1), the vehicle right rearview mirror One or more of the rearview mirrors (122 in Figure 1) can be adjusted longitudinally.

It should also be understood that the above-mentioned longitudinal adjustment angle of the rearview mirror may include an adjustment angle based on the longitudinal initial position of the rearview mirror, that is, the longitudinal initial position of the rearview mirror is regarded as an angle of zero.

2. Horizontal adjustment.

The vehicle's control device can adjust the vehicle's rearview mirror laterally based on the steering wheel angle signal. For example, based on whether the steering wheel's rotation direction indicated by the steering wheel angle signal is consistent with the vehicle's steering direction, the adjustment direction of the rearview mirror is determined, and the vehicle's rearview mirror is adjusted accordingly. Adjust the rearview mirror laterally in the adjustment direction. The adjustment direction includes an opening direction (direction a in Figure 1) and a closing direction (direction b in Figure 1).

In some embodiments, the vehicle's control device can laterally adjust the vehicle's rearview mirror based on driving characteristics and steering wheel angle signals. For example, the vehicle's control device determines the steering direction of the vehicle based on the driver's steering intention indicated by the first characteristic of the driving characteristics, and determines the adjustment direction of the rearview mirror based on the vehicle's steering direction and steering wheel angle signal, and in the adjustment direction Adjust the rearview mirror laterally.

For example, the vehicle's control device can dynamically adjust the rearview mirror in a determined adjustment direction as the rotation angle of the steering wheel changes.

First, taking the vehicle's forward left turn as an example, the steering wheel's steering and the vehicle's steering during the vehicle's forward left turn will be exemplified. In this embodiment, the steering process can be divided into three stages: in the initial stage, the steering wheel turns to the left (or counterclockwise steering) to control the vehicle to start turning left; in the intermediate stage, the steering wheel remains at a certain angle of rotation in the initial stage. On the steering wheel, the vehicle continues to turn left according to the angle maintained by the steering wheel at this time; in the back-to-right phase, the steering wheel turns to the right (or called clockwise steering) to control the vehicle to turn left at a gradually decreasing angle until the steering wheel returns to straight (i.e. When the steering wheel returns to the initial position before the steering started), the vehicle ends the steering state.

In the above initial stage, the angle of the vehicle's left turn is gradually increasing. In order to enable the rearview mirror to provide a better viewing angle, the vehicle's control device can adjust the rearview mirror in the opening direction so that it is sandwiched between the rearview mirror and the body. The angle is larger; during the above-mentioned righting stage, the angle of the vehicle's left turn is gradually decreasing, and the vehicle's control device can adjust the rearview mirror in the closing direction to gradually reduce the angle between the rearview mirror and the vehicle body, thus avoiding rear view. The rearview image provided by the mirror is not useful for driving; in the above-mentioned intermediate stage, considering that the left turn angle is still large, the vehicle's control device can continue to adjust the rearview mirror in the opening direction to make it closer to the vehicle body. The included angle is larger.

In some embodiments, when the vehicle's control device adjusts the rearview mirror in the opening direction, it can stop adjusting the rearview mirror in the opening direction when the angle between the rearview mirror and the vehicle body reaches a preset angle. For example, if the angle between the rearview mirror and the vehicle body is adjusted to a preset angle in the above-mentioned initial stage, the adjustment of the rearview mirror in the opening direction will be stopped in the initial stage, and the preset angle between the rearview mirror and the vehicle body will be maintained. Set the angle until the rearview mirror is adjusted in the closing direction during the return stage so that the angle between the rearview mirror and the vehicle body gradually decreases; for another example, the angle between the rearview mirror and the vehicle body is adjusted to the preset angle in the above-mentioned intermediate stage. , then in the intermediate stage, stop adjusting the rearview mirror in the opening direction, and keep the preset angle between the rearview mirror and the vehicle body, until the return stage, adjust the rearview mirror in the closing direction to keep the distance between the rearview mirror and the vehicle body. The angle gradually decreases.

It can be understood that the preset angle can be the upper limit angle for rearview mirror adjustment. However, this does not mean that this embodiment limits the angle between the rearview mirror and the vehicle body to be adjusted to the upper limit angle. The rearview mirror of the vehicle is initially If the angle between the rearview mirror and the vehicle body is not adjusted to the upper limit, it can also enter the back-to-alignment stage, thereby adjusting the angle between the rearview mirror and the vehicle body to gradually decrease.

For example, assume that the angle between the rearview mirror and the car body is 90 degrees in the initial position, and the preset maximum opening angle is 120 degrees. In the initial stage of the vehicle control device, as the steering wheel turns to the left, it gradually adjusts the rearview mirror until the angle between it and the vehicle body is 120 degrees. In the return to alignment stage, as the steering wheel turns to the right, the rearview mirror gradually adjusts from 120 degrees to the initial position (0 degrees).

For another example, it is still assumed that the angle between the rearview mirror and the vehicle body is 90 degrees in the initial position, and the preset maximum opening angle is 120 degrees. In the initial stage of the vehicle control device, as the steering wheel turns to the left, it gradually adjusts the rearview mirror until the angle between it and the body is 110 degrees. In the intermediate stage, it gradually opens the rearview mirror so that the angle between it and the body is 110 degrees. The angle gradually increases from 110 degrees to 120 degrees. During the return to normalization stage, as the steering wheel turns to the right, the rearview mirror is gradually adjusted from 120 degrees to the initial position (0 degrees).

For another example, it is still assumed that the angle between the rearview mirror and the vehicle body is 90 degrees in the initial position, and the preset maximum opening angle is 120 degrees. In the initial stage of the vehicle control device, as the steering wheel turns to the left, it gradually adjusts the rearview mirror until the angle between it and the body is 100 degrees. In the intermediate stage, it gradually opens the rearview mirror so that the angle between it and the body is 100 degrees. The angle gradually increases from 100 degrees to 110 degrees. At this time, due to the steering wheel returning to the right direction, the vehicle enters the straightening stage. There is no need to continue to adjust the rearview mirror in the opening direction. In the straightening stage, as the steering wheel moves to the right, Turn and gradually adjust the rearview mirror from 110 degrees to the initial position (0 degrees).

Based on the above example, one possible implementation is: in the initial stage, the steering wheel's rotation direction is consistent with the vehicle's steering direction, the rearview mirror is adjusted in the opening direction, and the vehicle's control device can perform the first step on the rearview mirror. The adjustment operation is stopped when the angle between the rearview mirror and the vehicle body is equal to the preset angle. The first adjustment operation is to adjust the relationship between the rearview mirror and the vehicle body in the opening direction according to the first adjustment speed. the angle between.

Continuing from the above possible implementation, in the intermediate stage, the vehicle's control device may not perform the operation of adjusting the rearview mirror, so that the rearview mirror remains at the preset angle. Alternatively, it can be considered that there are no intermediate stages.

Furthermore, during the back-to-alignment phase, the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, and the adjustment direction of the rearview mirror is the closing direction. The vehicle's control device can perform a third adjustment operation on the rearview mirror until the vehicle ends the steering state. , to stop the third adjustment operation, which is to adjust the angle between the rearview mirror and the vehicle body in the closing direction according to the third adjustment speed.

Another possible implementation based on the above example is: in the initial stage, the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is the opening direction, and the vehicle's control device can perform the first step on the rearview mirror. After the first adjustment operation, when the rotation angle of the steering wheel remains unchanged (i.e. in the intermediate stage), the second adjustment operation is performed on the rearview mirror. When the angle between the rearview mirror and the vehicle body is equal to the preset angle, the second adjustment operation is stopped. Adjust operations. Furthermore, during the back-to-alignment phase, the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, and the adjustment direction of the rearview mirror is the closing direction. The vehicle's control device can perform a third adjustment operation on the rearview mirror until the vehicle ends the steering state. , stop the third adjustment operation.

The above-mentioned first adjustment speed may be dynamically determined based on the rotation angle of the steering wheel and the vehicle speed signal. The rotation angle of the steering wheel may be a rotation angle based on the initial position of the steering wheel. For example, in the initial stage of the vehicle turning left, the steering wheel turns 30 degrees to the left, and the steering wheel's rotation angle is 30 degrees. For example, in the initial state of the vehicle turning right, the steering wheel turns 40 degrees to the right, and the steering wheel's rotation angle is 30 degrees. The angle is 40 degrees. It should also be noted that the rotation angle of the steering wheel changes gradually. For example, in the initial stage, the rotation angle of the steering wheel gradually changes from 0 degrees to the maximum steering wheel rotation angle required for steering (for example, 30 degrees).

The first adjustment speed may be negatively correlated with the rotation angle of the steering wheel in the rotation direction of the steering wheel, that is, in the initial stage, the rotation angle of the steering wheel gradually increases, and the first adjustment speed gradually becomes smaller. Still taking the left turn ahead as an example, combined with the rearview mirror opening and closing curve shown in Figure 5, the abscissa of the rearview mirror opening and closing curve is the rotation angle of the steering wheel, and the ordinate is the angle between the rearview mirror and the body. , the slope is the rate of change of the angle between the rearview mirror and the vehicle body. In the initial stage, the steering wheel rotates in the counterclockwise direction, and the rotation angle gradually increases, and the angle between the rearview mirror and the vehicle body gradually increases. And the rate of change of the angle between the rearview mirror and the vehicle body (i.e., the first adjustment speed) changes from large to small. In this case, when the vehicle first starts to turn, the rearview mirror can be adjusted to a greater extent, so that the viewing angle of the rearview mirror can be optimized quickly.

The first adjustment speed can also be positively related to the driving speed of the vehicle indicated by the vehicle speed signal. In other words, the faster the vehicle is driving, the faster the adjustment speed of the rearview mirror is, so that the adjustment speed of the rearview mirror can adapt to the driving speed of the vehicle. . As shown in Figure 5, the first traveling speed is greater than the second traveling speed, and the first adjustment speed at the first traveling speed is greater than the first adjustment speed at the second traveling speed.

The above-mentioned second adjustment speed is different from the first adjustment speed. For example, the second adjustment speed may be non-dynamically determined, such as a preset fixed value. In this case, the vehicle's control device adjusts the rearview mirror according to the second adjustment speed in the opening direction, which can be understood as the vehicle's control device adjusting the rearview mirror at a constant speed in the opening direction. Combined with the rearview mirror opening and closing curve shown in Figure 5, when the steering wheel's rotation angle is maintained at angle α, the vehicle's control device adjusts the rearview mirror at a constant speed in the opening direction so that the angle between it and the body gradually increases to the angle α. β.

The above-mentioned third adjustment speed may be dynamically determined based on the rotation angle of the steering wheel and the vehicle speed signal. In the back-to-center stage, the rotation angle of the steering wheel may be the rotation angle based on the initial position of the steering wheel. For example, when the vehicle is turning left, the steering wheel turns 30 degrees to the left, and then 10 degrees to the right. In the back-to-center phase, the steering wheel rotates at an angle of 20 degrees. When the steering wheel turns to the right to 0 degrees, the steering wheel rotates to 0 degrees. Return to straight; for another example, when the vehicle turns right, the steering wheel turns 40 degrees to the right, and then turns 30 degrees to the left, then the steering angle of the steering wheel in the direction of rotation is 10 degrees. When the steering wheel turns to the left, The steering wheel returns to the straight position when it reaches 0 degrees. It should also be noted that the rotation angle of the steering wheel changes gradually.

The third adjustment speed may be positively related to the rotation angle of the steering wheel, that is, during the back-to-alignment stage, the rotation angle of the steering wheel gradually decreases, and the third adjustment speed gradually becomes smaller. Still taking the left turn ahead as an example, combined with the rearview mirror opening and closing curve shown in Figure 5, during the return phase, the steering wheel rotates clockwise, and the rotation angle gradually decreases, and the angle between the rearview mirror and the body gradually decreases. is small, and the rate of change of the angle between the rearview mirror and the vehicle body (i.e., the third adjustment speed) changes from large to small.

The third adjustment speed can also be positively related to the driving speed of the vehicle indicated by the vehicle speed signal. In other words, the faster the vehicle is driving, the greater the adjustment speed of the rearview mirror, so that the adjustment speed of the rearview mirror can adapt to the driving speed of the vehicle. . As shown in the rearview mirror opening and closing curve shown in Figure 5, the first driving speed is greater than the second driving speed, and the third adjustment speed at the first driving speed is greater than the third adjustment speed at the second driving speed.

During the reverse steering process of the vehicle, the above three stages are also satisfied, and in the above three stages, the vehicle's control device determines the adjustment direction and speed of the rearview mirror and is similar to the forward steering scheme. The following is an example of reversing and turning right.

In the initial stage of the vehicle reversing and turning right, the steering wheel turns to the right (or clockwise turn) to control the vehicle to start reversing and turning right; in the intermediate stage, the steering wheel remains at a certain angle of rotation in the initial stage, and the vehicle rotates according to the steering wheel at this time. Continue to reverse and turn right at the maintained angle; in the back-to-right phase, the steering wheel turns left (or counterclockwise) to control the vehicle to turn left at a gradually decreasing angle until the steering wheel returns to straight (that is, the steering wheel returns to before the steering started) (initial position), the vehicle ends its steering state.

In the above-mentioned initial stage, the angle of the vehicle's reverse right turn is gradually increasing. In order to enable the rearview mirror to provide a better viewing angle, the vehicle's control device can adjust the rearview mirror in the opening direction so that the distance between the rearview mirror and the body is The included angle is larger; during the above-mentioned back-to-alignment stage, the angle at which the vehicle reverses and turns right is gradually decreasing, and the vehicle's control device can adjust the rearview mirror in the closing direction to gradually reduce the angle between the rearview mirror and the vehicle body, thus preventing The rearview image provided by the rearview mirror is not useful for driving; in the above-mentioned intermediate stage, considering that the angle of reversing and turning right is still large, the vehicle's control device can continue to adjust the rearview mirror in the opening direction to make it in line with the body. The angle between them is larger.

Combined with the rearview mirror opening and closing curve shown in Figure 6, in the initial stage, the steering wheel turns clockwise, and the rotation angle gradually increases, the angle between the rearview mirror and the vehicle body gradually increases, and the angle between the rearview mirror and the vehicle body gradually increases. The change rate of the included angle (i.e. the first adjustment speed) changes from large to small.

Combined with the rearview mirror opening and closing curve shown in Figure 6, the first driving speed is greater than the second driving speed, and the first adjustment speed at the first driving speed is greater than the first adjustment speed at the second driving speed.

Combined with the rearview mirror opening and closing curve shown in Figure 6, when the steering wheel's rotation angle is maintained at angle λ, the vehicle's control device adjusts the rearview mirror at a constant speed in the opening direction so that the angle between it and the body gradually increases to the angle θ.

Combined with the rearview mirror opening and closing curve shown in Figure 6, during the back-to-center phase, the steering wheel rotates counterclockwise, and the rotation angle of the steering wheel gradually decreases, the angle between the rearview mirror and the vehicle body gradually decreases, and the rearview mirror The angle change rate between the vehicle body and the vehicle body (ie, the third adjustment speed) changes from large to small.

Combined with the rearview mirror opening and closing curve shown in Figure 6, the first driving speed is greater than the second driving speed, and the third adjustment speed at the first driving speed is greater than the third adjustment speed at the second driving speed.

It should be noted that in the embodiment of the present application, the vehicle control device can control the vehicle interior rearview mirror (123 in Figure 1), the vehicle left rearview mirror (121 in Figure 1), the vehicle right rearview mirror One or more of the rearview mirrors (122 in Figure 1) perform the lateral adjustment in any of the above embodiments.

In some embodiments, the control device of the vehicle adjusts the rearview mirror longitudinally and/or laterally, which may include the control device of the vehicle directly adjusting the rearview mirror longitudinally and/or laterally according to the method in the above embodiment; In other embodiments, the vehicle's control device performs longitudinal adjustment and/or lateral adjustment of the rearview mirror, which may also include the vehicle's control device sending an adjustment instruction to the rearview mirror's adjustment device, and the rearview mirror's adjustment device responds to the received The adjustment command is received to control the rotation of itself (the mechanical structure of the rearview mirror).

The adjustment instructions may include longitudinal adjustment instructions and/or lateral adjustment instructions. The longitudinal adjustment instructions are used to indicate the longitudinal adjustment angle of the rearview mirror, and the lateral adjustment instructions are used to indicate the adjustment direction and adjustment speed of the rearview mirror. The adjustment instruction is associated with the driving data during the driving process of the vehicle. The driving data has been described in the previous embodiment and will not be described again here.

As an example of longitudinal adjustment, the adjustment device of the rearview mirror can control the rearview mirror itself to rotate to a longitudinal adjustment angle according to the longitudinal adjustment instruction, wherein the longitudinal adjustment instruction is combined with the second characteristic and/or the inclination signal in the vehicle driving signal. Associated.

As an example of lateral adjustment, the adjustment device of the rearview mirror can control the rotation of the rearview mirror in the adjustment direction according to the adjustment speed according to the lateral adjustment instruction. The adjustment speed and adjustment direction are as mentioned above and will not be described again here.

Continuing from the above example of lateral adjustment, the lateral adjustment instruction may include a first adjustment instruction, the first adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is the opening direction, and the adjustment speed is the first adjustment speed.

In some embodiments, the lateral adjustment instruction further includes a second adjustment instruction, the second adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is the opening direction, and the adjustment speed is the second adjustment speed.

In some embodiments, the lateral adjustment instruction further includes a third adjustment instruction, the third adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is the closing direction, and the adjustment speed is the third adjustment speed.

Generally speaking, the first adjustment instruction, the second adjustment instruction and the third adjustment instruction in the lateral adjustment instructions are not executed at the same time. That is, the lateral adjustment instructions sent by the control device of the vehicle to the adjustment device of the rearview mirror at the same time include one of the first adjustment instruction, the second adjustment instruction and the third adjustment instruction.

FIG. 7 is a schematic flowchart of another rearview mirror adjustment method 400 provided by an embodiment of the present application. The method may include some or all of the following processes from S410 to S450:

S410: Obtain driving data during vehicle driving.

S420, determine whether the vehicle is in a steering state.

For example, the vehicle's control device may determine whether the vehicle is in a steering state based on the driving characteristics (eg, the first characteristics) and the vehicle driving signal. The vehicle driving signal may include at least one of a vehicle speed signal, a steering signal and a steering wheel angle signal. Generally speaking, when a vehicle is turning, the speed of the vehicle indicated by the speed signal may decrease. The turn signal will turn on the turn signal (including the left turn signal or the right turn signal) based on the driver's operation, indicating that the vehicle turns on the corresponding turn signal. The steering angle indicated by the steering wheel angle signal is non-zero, and the driver's steering intention represented by the first feature can reflect the driver's sight direction, whether it is left or right, etc. Therefore, a weighted operation can be performed based on the first characteristic of the driving characteristics and the above-mentioned vehicle driving signal to determine whether the vehicle is in a steering state.

Optionally, the vehicle driving signal may also include a reverse signal to identify the vehicle's steering state as forward steering or reverse steering.

The weight values corresponding to the vehicle speed signal, the steering signal, the steering wheel angle signal and the first feature respectively are different. For example, it can be preset that the steering wheel angle signal has the highest weight value, the vehicle speed signal has the second highest weight value, the first feature has the lowest weight value, and so on.

If it is determined that the vehicle is in a steering state, S430 is executed; if it is determined that the vehicle is not in a steering state, S410 and S420 are repeatedly executed to monitor the steering of the vehicle.

S430: longitudinally adjust the rearview mirror of the vehicle according to the inclination signal and the driving characteristics (for example, the second characteristic).

S440, adjust the vehicle's rearview mirror laterally based on the vehicle speed signal, steering wheel angle signal and driving characteristics (such as the first characteristic).

S450: Determine the vehicle's completed steering state.

This embodiment does not limit the execution order of S430 and S440.

For example, the vehicle driving signal may include at least one of a vehicle speed signal, a steering signal, and a steering wheel angle signal. Generally speaking, when the vehicle is turning, the speed of the vehicle indicated by the speed signal will increase. The turn signal will turn off the turn signal (including the left turn signal or the right turn signal) based on the driver's operation to indicate that there is no turn signal on. The steering wheel The turning angle indicated by the turning angle signal is zero, and the driver's steering intention represented by the first feature can reflect that the driver's sight direction is the front-facing direction, and so on. Therefore, a weighted operation can be performed based on the first characteristic of the driving characteristics and the above-mentioned vehicle driving signal to determine whether the vehicle ends the steering state.

Optionally, the vehicle driving signal may also include a reversing signal. When the vehicle ends reverse steering, the reversing signal indicates that the vehicle is not in a reversing state.

For example, when it is determined that the vehicle has completed the steering state, the rearview mirror of the vehicle is adjusted to the initial position.

The embodiment shown in Figure 7 is based on the embodiment shown in Figure 4, and provides a specific implementation method for adjusting the rearview mirror based on driving data, realizing automatic identification of whether the vehicle is in a steering state and whether to end the steering state. . The convenience of rearview mirror adjustment is further improved.

FIG. 8 is a schematic flowchart of another rearview mirror adjustment method 500 provided by an embodiment of the present application. As shown in Figure 5, the method 500 may include at least one of the following S510 and S520:

S510, obtain the vehicle's speed signal and steering wheel angle signal;

S520, based on the vehicle speed signal and steering wheel angle signal, performs lateral adjustment of the vehicle's rearview mirror.

In the above S510, the vehicle's control device may obtain driving data through sensors deployed in the vehicle. As mentioned before, the vehicle control device can collect the vehicle speed signal through the wheel speed sensor and the steering wheel angle signal through the steering wheel angular speed sensor. Alternatively, the vehicle's control device can receive vehicle speed signals and steering wheel angle signals sent by other devices. Alternatively, the vehicle's control device may receive vehicle speed signals and steering wheel angle signals input by the user. This application does not limit this.

As mentioned before, the steering wheel angle signal can reflect the steering wheel rotation angle of the vehicle at the current moment, and the steering wheel rotation angle can be related to the adjustment speed of the rearview mirror.

Among them, the vehicle speed signal and the steering wheel angle signal have been described in the previous embodiments and will not be described again here.

In the above S520, the vehicle's control device can adjust the vehicle's rearview mirror laterally based on the driving state of the vehicle during the steering process reflected by the vehicle speed signal and the steering wheel angle signal, so that the adjustment of the rearview mirror can adapt to the situation. The movement of the vehicle provides the driver with a better perspective.

As a first example, the vehicle's control device can determine the adjustment speed of the rearview mirror based on the vehicle speed signal and the steering wheel angle signal, and adjust the vehicle's rearview mirror laterally according to the adjustment speed. For example, the driving speed of the vehicle indicated by the vehicle speed signal is positively related to the adjustment speed. That is, the faster the vehicle is driving, the faster the vehicle's control device adjusts the rearview mirror. The slower the vehicle's driving speed, the faster the vehicle's control device adjusts the rearview mirror. The device adjusts the rearview mirror at a slower adjustment speed; for another example, the vehicle has different adjustment speeds at different stages of the steering state, and the different stages of the vehicle's steering state can be determined based on the steering wheel angle signal.

As a second example, the vehicle's control device can determine the adjustment direction of the rearview mirror based on the steering wheel angle signal, and combine the adjustment speed determined in the first example to adjust the rearview mirror based on the adjustment direction and adjustment speed.

For example, if the vehicle's control device determines that the steering wheel's rotation direction is consistent with the vehicle's steering direction based on the steering wheel angle signal, then the vehicle's control device determines that the adjustment direction of the rearview mirror is the opening direction; The rotation angle and vehicle speed signals determine the first adjustment speed.

Continuing with the above example, optionally, the vehicle's control device can perform a first adjustment operation on the rearview mirror. When the angle between the rearview mirror and the vehicle body is equal to a preset angle, the first adjustment operation is stopped. The first adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the first adjustment speed. Alternatively, the vehicle's control device performs a first adjustment operation on the rearview mirror. When the rotation angle of the steering wheel remains unchanged, a second adjustment operation is performed on the rearview mirror until the angle between the rearview mirror and the vehicle body is reached. When it is equal to the preset angle, the second adjustment operation is stopped. The second adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the second adjustment speed. The second adjustment speed is different from the first adjustment speed, and the second adjustment speed may be non-dynamically determined, for example, it may be a preset fixed value.

If the vehicle's control device determines that the steering wheel's rotation direction is inconsistent with the vehicle's steering direction based on the steering wheel angle signal, the vehicle's control device determines that the rearview mirror adjustment direction is the closing direction; the vehicle's control device can determine the steering wheel's rotation angle and vehicle speed based on the steering wheel's rotation angle and vehicle speed. The signal determines the third adjustment speed.

Optionally, the vehicle's control device can perform a third adjustment operation on the rearview mirror, and stop the third adjustment operation when the vehicle ends the steering state; wherein, the third adjustment operation is performed at the above-mentioned third adjustment speed. , adjust the angle between the rearview mirror and the vehicle body in the closing direction, and when the vehicle ends the steering state, the rearview mirror is adjusted to the initial position.

Generally speaking, in the initial stage of vehicle steering, the turning direction of the steering wheel is consistent with the steering direction of the vehicle. In the returning stage of vehicle steering, the turning direction of the steering wheel is inconsistent with the steering direction of the vehicle. That is, the vehicle control device can First adjust the rearview mirror at the first adjustment speed in the opening direction, and then adjust the rearview mirror at the third adjustment speed in the closing direction. Of course, the embodiment of the present application does not exclude adjusting the rearview mirror in the closing direction at the third adjustment speed without adjusting the rearview mirror in the opening direction at the first adjustment speed. For example, the vehicle stays in the steering state. , the rearview mirror has been opened to the preset angle, and when the vehicle is started, it enters the return phase. The steering state of the vehicle also includes an intermediate stage, in which the control device of the vehicle adjusts the rearview mirror in the opening direction at the second adjustment speed.

The adjustment process of the rearview mirror by the vehicle control device in the initial stage, intermediate stage, and return stage can be referred to the description in the previous embodiment, and will not be described again here.

The correlation between the first adjustment speed, the vehicle speed signal, and the steering wheel angle signal, and the correlation between the third adjustment speed, the vehicle speed signal, and the steering wheel angle signal are all the same or similar to those in the previous embodiments, and are not discussed here. Again.

Therefore, in the embodiment of the present application, the vehicle control device acquires the driving characteristics and vehicle driving signals during the driving of the vehicle, so that the vehicle control device can control the vehicle based on the driver's steering intention, longitudinal observation intention, and the driving state of the vehicle. During the steering process, the rearview mirror is controlled to dynamically adjust as the vehicle turns. On the one hand, it improves the accuracy of adjustment so that the rearview mirror can always provide the driver with a better perspective during vehicle steering; on the other hand, it automatically adjusts the rearview mirror based on driving characteristics and vehicle driving signals. The driver does not need to manually turn on the rearview mirror adjustment function, which improves the convenience of rearview mirror adjustment.

In the various embodiments of this application, if there is no special explanation or logical conflict, the terms and/or descriptions between the various embodiments are consistent and can be referenced to each other. The technical features in different embodiments are based on their inherent logic. Relationships can be combined to form new embodiments.

The method embodiments of the present application are described in detail above with reference to Figures 4 to 8. The device embodiments of the present application are described in detail below with reference to Figures 9 to 10. It should be understood that the device embodiments and the method embodiments correspond to each other, and are similar to The description may refer to the method embodiments.

FIG. 9 is a schematic block diagram of a vehicle control device 600 provided by an embodiment of the present application. As shown in FIG. 9 , the vehicle control device 600 includes at least an acquisition unit 610 and a control unit 620 . The device 600 may correspond to the vehicle control device in the above method embodiment, such as the control device 110 in FIG. 1 or 2 and the CPU 201 in FIG. 3 .

The acquisition unit 610 may be used to acquire driving data during vehicle driving. The driving data includes driving characteristics and vehicle driving signals. The driving characteristics include first characteristics and/or second characteristics. The first characteristics are used to characterize the driver's characteristics. Steering intention, the second feature is used to characterize the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle; the control unit 620 can be used to control the vehicle according to the driving process when the vehicle is in the steering state. The data enables longitudinal and/or lateral adjustment of the vehicle's rearview mirrors.

Optionally, the control unit 620 is specifically configured to: longitudinally adjust the rearview mirror of the vehicle according to the second characteristic and/or the inclination signal in the vehicle driving signal, where the inclination signal is used to indicate the relative position of the vehicle. The angle of inclination of the ground plane

Optionally, the control unit 620 is specifically configured to: adjust the rearview mirror of the vehicle laterally according to the driving characteristics and the steering wheel angle signal in the vehicle driving signal. The steering wheel angle signal is at least used to indicate the rotation angle of the steering wheel. .

Optionally, the control unit 620 is specifically configured to: adjust the rearview mirror in the adjustment direction of the rearview mirror as the rotation angle of the steering wheel changes; wherein the adjustment direction of the rearview mirror is consistent with the rotation angle of the steering wheel. The signals are associated and include an opening direction that increases the angle between the rearview mirror and the vehicle body, and/or a closing direction that decreases the angle between the rearview mirror and the vehicle body.

Optionally, when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is the opening direction, and the vehicle driving signal includes a vehicle speed signal, and the vehicle speed signal is used to indicate the driving speed of the vehicle; The control unit 620 is specifically configured to: perform a first adjustment operation on the rearview mirror, and stop the first adjustment operation when the angle between the rearview mirror and the vehicle body is equal to a preset angle; or, perform a first adjustment operation on the rearview mirror. The mirror performs the first adjustment operation. When the rotation angle of the steering wheel remains unchanged, the second adjustment operation is performed on the rearview mirror. When the angle between the rearview mirror and the vehicle body is equal to the preset angle, the second adjustment operation is stopped. Adjustment operation; wherein, the first adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to a first adjustment speed, which is based on the rotation angle of the steering wheel and the vehicle speed. The signal is dynamically determined, and the second adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the second adjustment speed.

Optionally, when the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is a closing direction; the control unit 620 is specifically configured to: perform a third adjustment operation on the rearview mirror, to When the vehicle ends the steering state, the third adjustment operation is stopped; wherein, the third adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the closing direction according to the third adjustment speed. The adjustment speed is dynamically determined based on the rotation angle of the steering wheel and the vehicle speed signal. When the vehicle ends the steering state, the rearview mirror is adjusted to the initial position. The initial position is the position of the rearview mirror when the vehicle starts the steering state. Location.

Optionally, the control unit 620 is specifically configured to: longitudinally adjust the rearview mirror of the vehicle according to the weighted calculation result of the first inclination angle and the inclination angle; wherein the first inclination angle is determined by the The second characteristic is determined.

Optionally, the device 600 further includes: a processing unit 630, configured to perform a weighted operation on the first feature and the vehicle driving signal to determine whether the vehicle is in a steering state; wherein the vehicle driving signal includes: vehicle speed signal, steering signal At least one of the signal and the steering wheel angle signal.

Optionally, the processing unit 630 is also configured to: perform a weighted operation on the first feature and the vehicle driving signal to determine whether the vehicle ends the steering state; wherein the vehicle driving signal includes: vehicle speed signal, steering signal, steering wheel At least one of the corner signals.

Optionally, the acquisition unit 610 is specifically configured to: dynamically collect driver images through a vehicle-mounted image acquisition device; identify the driver's steering intention and longitudinal observation intention according to the driver image, and obtain the driving characteristics; wherein, The driving characteristics include: at least one of the driver's sight direction, head rotation direction, and limb movement direction.

It should be understood that the specific process of each unit performing the above corresponding steps has been described in detail in the above method embodiments, and will not be described again for the sake of brevity.

The division of each unit in the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or it can also be physically separated.

The acquisition unit 610 in the device 600 can be implemented by a transceiver, for example, it can correspond to the I/O control device 208 shown in Figure 3 , and the control unit 620 in the device 600 can be implemented by a processor, such as the CPU in Figure 3 201. The processing unit 630 in the device 600 can be implemented by a processor, such as the CPU 201 in Figure 3.

FIG. 10 is a schematic block diagram of a rearview mirror adjustment device 700 provided by an embodiment of the present application. As shown in FIG. 10 , the device 700 at least includes an acquisition unit 710 and a control unit 720 . The device 700 may correspond to the control device of the rearview mirror in the above method embodiment, and may be implemented as a chip in the rearview mirror, for example.

The acquisition unit 710 may be used to acquire an adjustment instruction, which includes a longitudinal adjustment instruction and/or a lateral adjustment instruction. The longitudinal adjustment instruction is used to indicate the longitudinal adjustment angle of the rearview mirror. The lateral adjustment instruction is used to indicate the rearview mirror. The adjustment direction and adjustment speed of the mirror; the control unit 720 can be used to control the rotation of the rearview mirror according to the adjustment instruction; wherein the adjustment instruction is associated with driving data during the driving of the vehicle, and the driving data includes driving characteristics and vehicle The driving signal includes a first characteristic and/or a second characteristic. The first characteristic is used to characterize the driver's steering intention. The second characteristic is used to characterize the driver's longitudinal observation intention. The vehicle driving signal is used to Reflects the driving status of the vehicle.

Optionally, the control unit 720 is specifically configured to: control the rearview mirror to rotate to the longitudinal adjustment angle according to the longitudinal adjustment instruction, wherein the longitudinal adjustment instruction is related to the second characteristic and/or the inclination angle in the vehicle driving signal. Signals are associated.

Optionally, the control unit 720 is specifically configured to: control the rearview mirror to rotate in the adjustment direction according to the adjustment speed according to the lateral adjustment instruction. The adjustment direction includes an opening direction or a closing direction, and the opening direction is an increasing direction. The direction of the angle between the large rearview mirror and the vehicle body. The closing direction is the direction of reducing the angle between the rearview mirror and the vehicle body.

Optionally, the lateral adjustment instruction includes a first adjustment instruction, the first adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is an opening direction, and the adjustment speed is a first adjustment speed, and the first adjustment speed is It is dynamically determined based on the rotation angle of the steering wheel in the rotation direction of the steering wheel and the vehicle speed signal.

Optionally, the lateral adjustment instruction also includes a second adjustment instruction, the second adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is an opening direction, and the adjustment speed is a second adjustment speed.

Optionally, the lateral adjustment instruction also includes a third adjustment instruction, the third adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is a closing direction, and the adjustment speed is a third adjustment speed, and the third adjustment speed It is dynamically determined based on the rotation angle of the steering wheel in the rotation direction of the steering wheel and the vehicle speed signal.

The acquisition unit 710 in the device 700 may be implemented by a transceiver, for example, may correspond to the transceiver 810 in the electronic device 800 shown in FIG. 11 , and the control unit 720 in the device 700 may be implemented by a processor, such as in FIG. 11 Processor 820 in electronic device 800 is shown.

FIG. 11 is a schematic structural diagram of an electronic device 800 provided by an embodiment of the present application. The electronic device 800 shown in FIG. 11 can be implemented as a rearview mirror or a chip in the rearview mirror, and is used to implement the steps performed by the rearview mirror adjustment device in the above method embodiment. The electronic device 800 includes a processor 820, and the processor 820 can call and run a computer program from the memory to implement the method in the embodiment of the present application.

In some embodiments, as shown in FIG. 11 , the electronic device 800 may also include a memory 830 . The processor 820 can call and run the computer program from the memory 830 to implement the method in the embodiment of the present application.

The memory 830 may be a separate device independent of the processor 820 , or may be integrated into the processor 820 .

In some embodiments, as shown in Figure 11, the electronic device 800 may also include a transceiver 810, and the processor 820 may control the transceiver 810 to communicate with other devices such as smart vehicles. Specifically, the electronic device 800 may send information to other devices or data, or receive information or data from other devices.

Among them, the transceiver 830 may include a transmitter and a receiver. The transceiver 830 may further include an antenna, and the number of antennas may be one or more.

In some embodiments, the electronic device 800 can implement the corresponding processes of each method on the rearview mirror side in the embodiments of the present application. For the sake of brevity, details are not repeated here.

It should be understood that the processor in the embodiment of the present application may be an integrated circuit chip and has signal processing capabilities. During the implementation process, each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software. The above-mentioned processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other available processors. Programmed logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

It can be understood that the memory in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory may be Random Access Memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (Direct Rambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

It should be understood that the above memory is an exemplary but not restrictive description. For example, the memory in the embodiment of the present application can also be a static random access memory (static RAM, SRAM), a dynamic random access memory (dynamic RAM, DRAM), Synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection Dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM) and so on. That is, memories in embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

Embodiments of the present application also provide a computer-readable storage medium for storing computer programs.

In some embodiments, the computer-readable storage medium can be applied to the vehicle control device or the rearview mirror adjustment device in the embodiments of the present application, and the computer program causes the computer to perform corresponding steps in the various methods of the embodiments of the present application. The process, for the sake of brevity, will not be repeated here.

An embodiment of the present application also provides a computer program product, including computer program instructions.

In some embodiments, the computer program product can be applied to the vehicle control device or the rearview mirror adjustment device in the embodiments of the present application, and the computer program instructions cause the computer to execute the corresponding processes in the various methods of the embodiments of the present application. , for the sake of brevity, will not be repeated here.

An embodiment of the present application also provides a computer program.

In some embodiments, the computer program can be applied to the vehicle control device or the rearview mirror adjustment device in the embodiments of the present application. When the computer program is run on the computer, it causes the computer to execute the various methods of the embodiments of the present application. The corresponding process in , for the sake of brevity, will not be repeated here.

An embodiment of the present application also provides an intelligent vehicle.

In some embodiments, the smart vehicle includes the vehicle control device in the embodiments of the present application.

In some embodiments, the smart vehicle further includes the rearview mirror adjustment device in the embodiment of the present application.

In some embodiments, the smart vehicle includes the vehicle control device and the rearview mirror in the embodiment of the present application. Further, the rearview mirror may also be a rearview mirror equipped with the adjustment device of the rearview mirror in the embodiment of the present application. rearview mirror.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention. should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

A method for adjusting rearview mirrors, characterized in that the method includes:

Obtaining driving data during vehicle driving, the driving data includes driving characteristics and vehicle driving signals, the driving characteristics include first characteristics and/or second characteristics, the first characteristics are used to characterize the driver's steering intention, The second feature is used to characterize the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle;

During driving when the vehicle is in a steering state, the rearview mirror of the vehicle is adjusted longitudinally and/or laterally according to the driving data.
The method according to claim 1, wherein the longitudinal adjustment and/or lateral adjustment of the rearview mirror of the vehicle according to the driving data includes:

The rearview mirror of the vehicle is longitudinally adjusted according to the second characteristic and/or the inclination signal in the vehicle driving signal, the inclination signal being used to indicate the inclination angle of the vehicle relative to the ground plane.
The method according to claim 1, characterized in that the vehicle driving signal includes a steering wheel angle signal, the steering wheel angle signal is at least used to indicate the rotation angle of the steering wheel, and the rear direction of the vehicle is measured based on the driving data. The sight glass can be dynamically adjusted vertically and/or horizontally, including:

According to the driving characteristics and the steering wheel angle signal, the rearview mirror of the vehicle is laterally adjusted.
The method according to claim 3, characterized in that, adjusting the rearview mirror of the vehicle laterally according to the driving characteristics and the steering wheel angle signal includes:

As the rotation angle of the steering wheel changes, the rearview mirror is adjusted in the adjustment direction of the rearview mirror; wherein the adjustment direction of the rearview mirror is associated with the steering wheel angle signal and includes opening direction and/or closing direction, the opening direction is the direction to increase the angle between the rearview mirror and the vehicle body, and the closing direction is the direction to decrease the angle between the rearview mirror and the vehicle body.
The method according to claim 4, characterized in that when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is an opening direction, and the vehicle driving signal includes a vehicle speed signal. , the vehicle speed signal is used to indicate the driving speed of the vehicle;

Adjusting the rearview mirror in the adjustment direction of the rearview mirror as the rotation angle of the steering wheel changes includes:

Perform a first adjustment operation on the rearview mirror, and stop the first adjustment operation when the angle between the rearview mirror and the vehicle body is equal to a preset angle; or,

Perform a first adjustment operation on the rearview mirror. When the rotation angle of the steering wheel remains unchanged, perform a second adjustment operation on the rearview mirror until the angle between the rearview mirror and the vehicle body is equal to the predetermined angle. When the angle is set, stop the second adjustment operation;

Wherein, the first adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to a first adjustment speed, and the first adjustment speed is based on the rotation angle of the steering wheel and the The vehicle speed signal is dynamically determined, and the second adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the second adjustment speed.
The method according to claim 4 or 5, characterized in that when the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is a closing direction, and the vehicle driving signal includes Vehicle speed signal, the vehicle speed signal is used to indicate the driving speed of the vehicle;

Adjusting the rearview mirror in the adjustment direction of the rearview mirror as the rotation angle of the steering wheel changes includes:

Perform a third adjustment operation on the rearview mirror, and stop the third adjustment operation when the vehicle ends the steering state;

Wherein, the third adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the closing direction according to a third adjustment speed, and the third adjustment speed is based on the rotation angle of the steering wheel and the The vehicle speed signal is determined dynamically. When the vehicle ends the steering state, the rearview mirror is adjusted to an initial position. The initial position is the position of the rearview mirror when the vehicle starts the steering state.
The method according to claim 5, characterized in that when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the rotation angle of the steering wheel is negatively correlated with the first adjustment speed; and/or,

The driving speed of the vehicle indicated by the vehicle speed signal is positively related to the first adjusted speed.
The method according to claim 6, wherein when the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the rotation angle of the steering wheel is positively related to the third adjustment speed; and/or,

The driving speed of the vehicle indicated by the vehicle speed signal is positively related to the third adjusted speed.
A method for adjusting rearview mirrors, which is characterized by including:

Obtain adjustment instructions, the adjustment instructions include longitudinal adjustment instructions and/or lateral adjustment instructions, the longitudinal adjustment instructions are used to indicate the longitudinal adjustment angle of the rearview mirror, and the lateral adjustment instructions are used to indicate the rearview mirror. The adjustment direction and speed;

Control the rotation of the rearview mirror according to the adjustment instruction;

Wherein, the adjustment instruction is associated with driving data during vehicle driving, the driving data includes driving characteristics and vehicle driving signals, the driving characteristics include first characteristics and/or second characteristics, and the first characteristics are In order to represent the driver's steering intention, the second feature is used to represent the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle.
The method according to claim 9, characterized in that, controlling the rotation of the rearview mirror according to the adjustment instruction includes:

The rearview mirror is controlled to rotate to the longitudinal adjustment angle according to the longitudinal adjustment instruction, wherein the longitudinal adjustment instruction is associated with the second characteristic and/or the inclination signal in the vehicle driving signal.
The method according to claim 9 or 10, characterized in that, controlling the rotation of the rearview mirror according to the adjustment instruction includes:

According to the lateral adjustment instruction, according to the adjustment speed, the rearview mirror is controlled to rotate in the adjustment direction. The adjustment direction includes an opening direction or a closing direction. The opening direction is to increase the distance between the rearview mirror and the vehicle body. The direction of the angle, the closing direction is the direction of reducing the angle between the rearview mirror and the vehicle body.
The method of claim 11, wherein the lateral adjustment instruction includes a first adjustment instruction, the first adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is an opening direction, and, the adjustment The speed is a first adjustment speed, which is dynamically determined based on the rotation angle of the steering wheel in the rotation direction of the steering wheel and the vehicle speed signal in the vehicle driving signal.
The method according to claim 12, characterized in that the lateral adjustment instruction further includes a second adjustment instruction, the second adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is an opening direction, and, The adjustment speed is the second adjustment speed.
The method according to claim 12 or 13, characterized in that the lateral adjustment instruction further includes a third adjustment instruction, the third adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is a closing direction, and, The adjustment speed is a third adjustment speed, and the third adjustment speed is dynamically determined based on the rotation angle of the steering wheel in the rotation direction of the steering wheel and the vehicle speed signal.
A vehicle control device, characterized by including:

An acquisition unit is used to acquire driving data during vehicle driving. The driving data includes driving characteristics and vehicle driving signals. The driving characteristics include first characteristics and/or second characteristics. The first characteristics are used to characterize driving. The driver's steering intention, the second feature is used to characterize the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle;

A control unit configured to perform longitudinal adjustment and/or lateral adjustment of the rearview mirror of the vehicle according to the driving data while the vehicle is in a steering state.
The device according to claim 15, characterized in that the control unit is specifically used for:

The rearview mirror of the vehicle is longitudinally adjusted according to the second characteristic and/or the inclination signal in the vehicle driving signal, the inclination signal being used to indicate the inclination angle of the vehicle relative to the ground plane.
The device according to claim 15, characterized in that the control unit is specifically used for:

The rearview mirror of the vehicle is laterally adjusted according to the driving characteristics and the steering wheel angle signal in the vehicle driving signal, and the steering wheel angle signal is at least used to indicate the rotation angle of the steering wheel.
The device according to claim 17, characterized in that the control unit is specifically used for:

As the rotation angle of the steering wheel changes, the rearview mirror is adjusted in the adjustment direction of the rearview mirror; wherein the adjustment direction of the rearview mirror is associated with the steering wheel angle signal and includes opening direction and/or closing direction, the opening direction is the direction to increase the angle between the rearview mirror and the vehicle body, and the closing direction is the direction to decrease the angle between the rearview mirror and the vehicle body.
The device according to claim 18, wherein when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is an opening direction, and the vehicle driving signal includes a vehicle speed signal. , the vehicle speed signal is used to indicate the driving speed of the vehicle;

The control unit is specifically used for:

Perform a first adjustment operation on the rearview mirror, and stop the first adjustment operation when the angle between the rearview mirror and the vehicle body is equal to a preset angle; or,

Perform a first adjustment operation on the rearview mirror. When the rotation angle of the steering wheel remains unchanged, perform a second adjustment operation on the rearview mirror until the angle between the rearview mirror and the vehicle body is equal to the predetermined angle. When the angle is set, stop the second adjustment operation;

Wherein, the first adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to a first adjustment speed, and the first adjustment speed is based on the rotation angle of the steering wheel and the The vehicle speed signal is dynamically determined, and the second adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the opening direction according to the second adjustment speed.
The device according to claim 18 or 19, characterized in that when the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the adjustment direction of the rearview mirror is a closing direction;

The control unit is specifically used for:

Perform a third adjustment operation on the rearview mirror, and stop the third adjustment operation when the vehicle ends the steering state;

Wherein, the third adjustment operation is to adjust the angle between the rearview mirror and the vehicle body in the closing direction according to a third adjustment speed, and the third adjustment speed is based on the rotation angle of the steering wheel and the The vehicle speed signal in the vehicle driving signal is dynamically determined. When the vehicle ends the steering state, the rearview mirror is adjusted to the initial position. The initial position is the rearview mirror when the vehicle starts the steering state. mirror position.
The device according to claim 19, wherein when the rotation direction of the steering wheel is consistent with the steering direction of the vehicle, the rotation angle of the steering wheel is negatively correlated with the first adjustment speed; and/or,

The driving speed of the vehicle indicated by the vehicle speed signal is positively related to the first adjusted speed.
The device according to claim 20, wherein when the rotation direction of the steering wheel is inconsistent with the steering direction of the vehicle, the rotation angle of the steering wheel is positively related to the third adjustment speed; and/or,

The driving speed of the vehicle indicated by the vehicle speed signal is positively related to the third adjusted speed.
A rearview mirror adjustment device, which is characterized in that it includes:

An acquisition unit, configured to acquire an adjustment instruction. The adjustment instruction includes a longitudinal adjustment instruction and/or a lateral adjustment instruction. The longitudinal adjustment instruction is used to indicate the longitudinal adjustment angle of the rearview mirror. The lateral adjustment instruction is used to indicate The adjustment direction and speed of the rearview mirror;

A control unit used to control the rotation of the rearview mirror according to the adjustment instruction;

Wherein, the adjustment instruction is associated with driving data during vehicle driving, the driving data includes driving characteristics and vehicle driving signals, the driving characteristics include first characteristics and/or second characteristics, and the first characteristics are In order to represent the driver's steering intention, the second feature is used to represent the driver's longitudinal observation intention, and the vehicle driving signal is used to reflect the driving state of the vehicle.
The device according to claim 23, characterized in that the control unit is specifically used for:

The rearview mirror is controlled to rotate to the longitudinal adjustment angle according to the longitudinal adjustment instruction, wherein the longitudinal adjustment instruction is associated with the second characteristic and/or the inclination signal in the vehicle driving signal.
The device according to claim 23 or 24, characterized in that the control unit is specifically used for:

According to the lateral adjustment instruction, according to the adjustment speed, the rearview mirror is controlled to rotate in the adjustment direction. The adjustment direction includes an opening direction or a closing direction. The opening direction is to increase the distance between the rearview mirror and the vehicle body. The direction of the angle, the closing direction is the direction of reducing the angle between the rearview mirror and the vehicle body.
The device according to claim 25, wherein the lateral adjustment instruction includes a first adjustment instruction, the first adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is an opening direction, and, the adjustment The speed is a first adjustment speed, which is dynamically determined based on the rotation angle of the steering wheel in the rotation direction of the steering wheel and the vehicle speed signal in the vehicle driving signal.
The device according to claim 26, wherein the lateral adjustment instruction further includes a second adjustment instruction, the second adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is an opening direction, and, The adjustment speed is the second adjustment speed.
The device according to claim 26 or 27, wherein the lateral adjustment instruction further includes a third adjustment instruction, the third adjustment instruction is used to indicate that the adjustment direction of the rearview mirror is a closing direction, and, The adjustment speed is a third adjustment speed, and the third adjustment speed is dynamically determined based on the rotation angle of the steering wheel in the rotation direction of the steering wheel and the vehicle speed signal.
An electronic device, characterized in that it includes: a processor and a memory, the memory is used to store a computer program, the processor is used to call and run the computer program stored in the memory, and execute any of claims 1 to 19 method described in one item.
A chip, characterized in that it includes: a processor, configured to call and run computer instructions from a memory, so that a device equipped with the chip executes the method according to any one of claims 1 to 14.
A computer-readable storage medium, characterized in that it is used to store computer program instructions, and the computer program causes the computer to execute the method according to any one of claims 1 to 14.
A computer program product, characterized by comprising computer program instructions, which cause a computer to execute the method according to any one of claims 1 to 14.
An intelligent vehicle, characterized by comprising: a vehicle control device and a rearview mirror as claimed in any one of claims 15 to 22, or a vehicle control device as claimed in any one of claims 15 to 22 And the rearview mirror adjustment device according to any one of claims 23-28.
The smart vehicle according to claim 33, wherein the rearview mirror includes the adjustment device of the rearview mirror according to any one of claims 23 to 28.