CN113370901A - Rearview mirror adjusting method, device, equipment and storage medium - Google Patents
Rearview mirror adjusting method, device, equipment and storage medium Download PDFInfo
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- CN113370901A CN113370901A CN202110829338.8A CN202110829338A CN113370901A CN 113370901 A CN113370901 A CN 113370901A CN 202110829338 A CN202110829338 A CN 202110829338A CN 113370901 A CN113370901 A CN 113370901A
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- 230000001815 facial effect Effects 0.000 claims abstract description 25
- 210000001508 eye Anatomy 0.000 claims description 105
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- 239000013598 vector Substances 0.000 claims description 34
- 210000005252 bulbus oculi Anatomy 0.000 claims description 33
- 238000004590 computer program Methods 0.000 claims description 10
- 230000002596 correlated effect Effects 0.000 claims description 2
- 230000004438 eyesight Effects 0.000 description 25
- 239000011159 matrix material Substances 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/02—Rear-view mirror arrangements
- B60R1/06—Rear-view mirror arrangements mounted on vehicle exterior
- B60R1/062—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position
- B60R1/07—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators
- B60R1/072—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators for adjusting the mirror relative to its housing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
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- Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
The invention discloses a rearview mirror adjusting method, device, equipment and storage medium. The method comprises the following steps: if the driver enters for the first time according to the facial information of the driver, acquiring the eye coordinate information of the driver; inquiring a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information; according to the technical scheme, the rearview mirror can be adjusted more conveniently, the driving safety is improved, and the outer rearview mirror is always in the best observation area of a driver.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a rearview mirror adjusting method, device, equipment and storage medium.
Background
At present, the rearview mirror is adjusted by an electric mode generally, but the rearview mirrors on the left and right sides of a driver can not be adjusted to the best sight position frequently, and basically, the rearview mirrors can not be adjusted in place at one time, and the adjusting mode is time-consuming and labor-consuming. Moreover, the family car generally has a plurality of drivers, and if the drivers are replaced, the positions of the rearview mirrors need to be adjusted again, so that inconvenience is brought to driving.
Disclosure of Invention
The embodiment of the invention provides a rearview mirror adjusting method, a rearview mirror adjusting device, rearview mirror adjusting equipment and a storage medium, so that the rearview mirror can be adjusted more conveniently, the driving safety is improved, and the outer rearview mirror is always in the best observation area of a driver.
In a first aspect, an embodiment of the present invention provides a rearview mirror adjustment method, including:
if the driver enters for the first time according to the facial information of the driver, acquiring the eye coordinate information of the driver;
inquiring a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information;
and adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information.
In a second aspect, an embodiment of the present invention further provides a rearview mirror adjustment apparatus, including:
the acquisition module is used for acquiring the eye coordinate information of the driver if the driver enters for the first time according to the facial information of the driver;
the query module is used for querying a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information;
and the adjusting module is used for adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the rearview mirror adjusting method according to any one of the embodiments of the present invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the rearview mirror adjusting method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, if the driver enters for the first time according to the facial information of the driver, the eye coordinate information of the driver is obtained; inquiring a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information; according to the rearview mirror position information, the rearview mirror is adjusted to the position corresponding to the rearview mirror position information, so that the rearview mirror can be adjusted more conveniently, the driving safety is improved, and the outer rearview mirror is always in the best observation area of a driver.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a rearview mirror adjustment method in an embodiment of the present invention;
FIG. 1a is a schematic view of a rearview mirror adjustment in an embodiment of the present invention;
FIG. 1b is a schematic diagram of a face recognition device placement location in an embodiment of the present invention;
FIG. 1c is a schematic view of a rearview mirror adjustment in an embodiment of the present invention;
FIG. 1d is a schematic diagram of a space vector perpendicular to an eyeball in an embodiment of the present invention;
FIG. 1e is a schematic view of a rear view mirror in an embodiment of the present invention;
FIG. 1f is a schematic view of lens adjustment in an embodiment of the invention;
FIG. 2 is a schematic view of a rearview mirror adjustment assembly in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer-readable storage medium containing a computer program in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
The term "include" and variations thereof as used herein are intended to be open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment".
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Fig. 1 is a flowchart of a rearview mirror adjusting method provided in an embodiment of the present invention, where the present embodiment is applicable to a rearview mirror adjusting situation, and the method may be executed by a rearview mirror adjusting device in an embodiment of the present invention, where the device may be implemented in a software and/or hardware manner, as shown in fig. 1, the rearview mirror adjusting method specifically includes the following steps:
and S110, if the driver enters for the first time according to the face information of the driver, acquiring the eye coordinate information of the driver.
The method for determining the first entering of the driver according to the facial information of the driver can be as follows: the method comprises the steps that facial information of a driver is acquired based on a facial recognition device, a driver facial information list corresponding to a current vehicle is inquired according to the facial information of the driver, if the facial information of the current driver exists in the list, the fact that the driver does not enter the vehicle for the first time is indicated, and if the facial information of the current driver does not exist in the list, the fact that the driver enters the vehicle for the first time is indicated.
The method for acquiring the eye coordinate information of the driver may be as follows: the coordinates of the eyes of the driver are determined according to the facial information of the driver, which is not limited by the embodiment of the present invention.
And S120, inquiring a database according to the driver eye coordinate information to obtain the rearview mirror position information corresponding to the driver eye coordinate information.
Wherein the rear view mirror may be an exterior rear view mirror.
The database stores a corresponding relationship list of the driver eye coordinate information and the rearview mirror position information, for example, the driver eye coordinate information a corresponds to the rearview mirror position information a, and the driver eye coordinate information B corresponds to the rearview mirror position information B.
For example, a spatial range which the eyes of the driver may reach in the cab is calculated by using an ergonomic principle, a spatial dot matrix is set in the spatial range, the dot matrix corresponds to the coordinates of the eyes of the driver, each dot is preset with a recommended position for up-down adjustment and left-right adjustment of the rearview mirror in advance, the dot matrix and the corresponding recommended position are set into a database, when the driver sits in the driving position for the first time, the face recognition device records the face information of the driver, and then the position information of the rearview mirror corresponding to the coordinates of the eyes of the driver is obtained according to the coordinates of the eyes of the driver and the preset click database.
S130, adjusting the rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information.
For example, if it is determined that the driver enters for the first time based on the face information of the driver, the eye coordinate information of the driver is acquired. And inquiring a database according to the driver eye coordinate information to obtain the rearview mirror position information corresponding to the driver eye coordinate information. And adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information. For example, when a driver sits at a driving position for the first time, the face recognition device can record face information of the driver, then the external rear view mirror is adjusted to a recommended position according to coordinates of eyes of the driver and a preset click database, at the moment, the central control screen or the instrument screen can remind the driver, or the driver is reminded through voice in the vehicle, if the recommended position of the external rear view mirror is not satisfied, manual adjustment can be carried out, after adjustment, the controller can store the optimal position and the face information of the driver in an associated mode, and when the driver sits at the driving position for the next time, the face recognition device recognizes the face and then directly adjusts the external rear view mirror to the optimal position stored last time.
In a specific example, the purpose of the embodiment of the invention is to ensure that the external rearview mirror is always in the best position when a driver watches the external rearview mirror in the automobile cab, improve the safety sense of the driver in the driving process and improve the intelligence sense and the technological sense of the automobile cabin.
The key point of the invention is the algorithm of rearview mirror adjustment.
The face recognition device may recognize coordinate information of a facial feature point of the driver, eye coordinate information, and space vector coordinate information perpendicular to the eyeball, which are coordinate information with respect to the face recognition device.
The face recognition device sends coordinate information of recognized face, eye and eyeball space vectors (main light ray directions of eyes) to the controller in a serial port data mode through a special data line, so that real-time performance of data is guaranteed, and the controller performs matrix operation on the coordinate information in combination with the coordinate position of the face recognition device on the whole vehicle to convert the coordinate information into the coordinate position of a whole vehicle coordinate system.
The space range which the eyes of a driver can reach in a cab is counted by utilizing a man-machine engineering principle, a space lattice is arranged in the space range, the lattice corresponds to the coordinates of the eyes of the driver, each point is preset with a recommended position for up-down adjustment and left-right adjustment of a rearview mirror in advance, the lattice and the corresponding recommended position are set into a database, when the driver sits at the driving position for the first time, a face recognition device records the face information of the driver, then the outer rearview mirror is adjusted to the recommended position according to the coordinates of the eyes of the driver and the preset adjustment database, a central control screen or an instrument screen reminds the driver, or reminds the driver through voice in the vehicle, if the recommended position of the outer rearview mirror is unsatisfied and can be manually adjusted, after adjustment, the controller can store the optimal position and the face information of the driver in a correlation manner, when the driver sits at the driving position next time, the face recognition device recognizes the face and directly adjusts the outer rearview mirror to the last stored optimal position.
The face recognition device can recognize a space vector of the driver perpendicular to the eyeball, and the space vector represents the eye sight direction of the driver; the method is characterized in that a face recognition device recognizes the space vector (eye sight direction) of the eyeball of the driver in real time, and when the space vector (eye sight direction) of the eyeball of the driver enters the adjusting space range of the rearview mirror, the positions of the upper part, the lower part and the left part of the rearview mirror are adjusted according to the position of the intersection point of the sight lines of the two eyes of the driver on the outer rearview mirror, so that the optimal view field of the driver is met.
Pressure sensor of driver seat: for detecting whether there is a driver in the driver's seat and transmitting a signal to the controller, the driver's seat being occupied is one of the conditions for starting the automatic adjustment mode of the exterior mirror.
The left side rearview mirror is taken as an example to explain an automatic adjustment algorithm of the outer rearview mirror, a face recognition device monitors a space vector (an eye sight line direction) of a driver perpendicular to eyeballs in real time, when the driver looks at the left side outer rearview mirror, the eye sight line direction of the driver enters a left side outer rearview mirror adjustment space, a controller can control the left side outer rearview mirror to enter an automatic adjustment mode, the space vector (the eye sight line direction) of the driver perpendicular to the eyeballs can be converged at a point on a mirror surface of the left side outer rearview mirror, the point can be called a sight line intersection point, a lens of the outer rearview mirror is established as a three-dimensional coordinate system, the lens is located on a plane where XY axes are located, the lens rotates around the X axis when being adjusted up and down, the lens rotates around the Y axis when being adjusted left and right, the intersection point of the X axis and the Y axis is an origin O, and the Z axis passes through the origin O and is perpendicular to the XY axes. The value of the upper edge of the mirror on the Y axis is Ymax, the value of the lower edge of the mirror on the Y axis is Ymin, the value of the left edge of the mirror on the X axis is Xmin, the value of the right edge of the mirror on the X axis is Xmax, the intersection point coordinate of the sight lines of the two eyes of the driver is (X1, Y1), when Y1 is Ymax, the mirror is upturned to the limit angle, when Y1 is Ymin, the mirror is upturned to the limit angle, when Y1 is 0, the angle of the mirror which is upturned up and down is 0, when Y1 is Ymax is more than or equal to Y1 more than or equal to 0, the angle is upturned upwards according to the proportion from 0 to the upturned limit angle, and when Y1 is more than or equal to Y1 more than or equal to Ymin, the angle is upturned according to the proportion from 0 to the downturned limit angle. When X1 is Xmax, the mirror lens is turned right to the limit angle, when X1 is Xmin, the mirror lens is turned left to the limit angle, when X1 is 0, the mirror is turned left and right by 0, when X1 is Xmax is not less than X1 and not less than 0, the mirror lens is turned right by the angle from 0 to the limit angle of right turning, when X1 is 0 and not less than X1 is not less than Xmin, the mirror lens is turned left by the angle from 0 to the limit angle of left turning. Therefore, when the intersection point of the two eyes of the driver is at the coordinates (X1, Y1) of the left outer mirror, the lens of the left outer mirror is adjusted to the corresponding position.
The controller adjusts the speed of the rearview mirror according to different vehicle speeds in the process of adjusting the rearview mirror, when the vehicle speed is high, the speed of the rearview mirror is high, when the vehicle speed is low, the speed of the rearview mirror is relatively low, and the speed of the motor is adjusted by adjusting the duty ratio of the PWM wave of the motor. (the speed of the rearview mirror is adjusted according to the vehicle speed, and the specific method is to adjust the duty ratio of the PWM wave and adjust the duty ratio to change the speed of the motor by the PWM wave.)
Optionally, before querying a database according to the driver eye coordinate information to obtain the rearview mirror position information corresponding to the driver eye coordinate information, the method further includes:
acquiring the space range of the eyes of a driver in a cab;
setting a space lattice in the space range;
and establishing a database according to the space lattice and the rearview mirror position information corresponding to the space lattice.
Illustratively, the spatial range of the eyes of the driver in the cab is acquired; setting a space lattice in the space range; the method comprises the steps of establishing a database according to the space dot matrix and rearview mirror position information corresponding to the space dot matrix, for example, calculating a space range which can be reached by eyes of a driver in a cab by utilizing a human-machine engineering principle, setting a space dot matrix in the space range, enabling the dot matrix to correspond to the coordinates of the eyes of the driver, presetting a recommended position for up-down adjustment and left-right adjustment of the rearview mirror in each point in advance, and setting the dot matrix and the corresponding recommended position into the database.
Optionally, the driver eye coordinate information includes: a spatial vector perpendicular to the eyeball;
correspondingly, after adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information, the method further comprises the following steps:
determining a target space according to the coordinate information of the eyes of the driver and the coordinate information of the rearview mirror;
and if the space vector vertical to the eyeball is in the target space, adjusting the position of the rearview mirror according to the position information of the intersection point of the sight lines of the driver.
For example, the target space is determined according to the eye coordinate information of the driver and the coordinate information of the rearview mirror, for example, a vertebral body space formed by the eye coordinate of the driver and the elliptic outer edge of the outer rearview mirror shell can be defined as an outer rearview mirror adjustment space range.
For example, if the space vector perpendicular to the eyeball is in the target space, the position of the rearview mirror is adjusted according to the position information of the intersection point of the sight lines of the driver, for example, when the eyes of the driver look at the outer rearview mirror, the space vector (the eye sight line direction) of the driver vertical to the eyeballs enters the adjusting space range of the outer rearview mirror, and the outer rearview mirror can be adjusted up and down and left and right according to the sight line of the driver, the specific method is that the face recognition device recognizes the space vector (the eye sight line direction) of the driver vertical to the eyeballs in real time, when the driver enters the rearview mirror accommodation space range perpendicular to the spatial vector of the eyeball (eye sight direction), according to the positions of the sight lines of the two eyes of the driver at the intersection point of the outer rearview mirror, the positions of the rearview mirror in the vertical direction and the horizontal direction are adjusted to meet the optimal visual field of the driver.
Optionally, adjusting the position of the rearview mirror according to the position information of the intersection point of the rearview mirror of the sight lines of the two eyes of the driver includes:
acquiring the abscissa and the ordinate of the sight focus of the driver;
determining the left turning angle or the right turning angle of the rearview mirror according to the abscissa of the sight focus of the driver, and adjusting the position of the rearview mirror according to the left turning angle or the right turning angle of the rearview mirror;
and determining the upward turning angle or the downward turning angle of the rearview mirror according to the ordinate of the sight focus of the driver, and adjusting the position of the rearview mirror according to the upward turning angle or the downward turning angle of the rearview mirror.
Optionally, determining an upward turning angle or a downward turning angle of the rearview mirror according to the ordinate of the driver sight line focus includes:
if the ordinate of the driver sight line focus is equal to a first threshold value, turning up the lens of the rearview mirror to a maximum angle;
if the ordinate of the driver sight line focus is equal to a second threshold value, turning down the lens of the rearview mirror to a maximum angle, wherein the first threshold value is larger than zero, and the second threshold value is smaller than zero;
if the ordinate of the driver sight line focus is larger than zero and smaller than a first threshold, determining a target upward turning angle according to the ordinate of the driver sight line focus and the maximum upward turning angle of a lens of the rearview mirror;
and if the ordinate of the driver sight line focus is smaller than zero and larger than a second threshold, determining a target downward turning angle according to the ordinate of the driver sight line focus and the maximum downward turning angle of the lens of the rearview mirror.
Wherein the first threshold may be Ymax, and the second threshold may be Ymin.
Optionally, determining a left turning angle or a right turning angle of the rearview mirror according to the abscissa of the driver sight line focus includes:
if the abscissa of the driver sight line focus is equal to a third threshold value, turning the lens of the rearview mirror to the right to a maximum angle;
if the abscissa of the driver sight line focus is equal to a fourth threshold value, turning the lens of the rearview mirror to the left to a maximum angle, wherein the third threshold value is larger than zero, and the fourth threshold value is smaller than zero;
if the abscissa of the driver sight line focus is larger than zero and smaller than a third threshold, determining a target rightward turning angle according to the abscissa of the driver sight line focus and the maximum angle of rightward turning of the lens of the rearview mirror;
and if the abscissa of the driver sight line focus is smaller than zero and larger than a fourth threshold, determining a target left-turning angle according to the abscissa of the driver sight line focus and the maximum left-turning angle of the lens of the rearview mirror.
Wherein the third threshold may be Xmax, and the fourth threshold may be Xmin.
Optionally, after adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information, the method further includes:
acquiring adjustment information of a user for a rearview mirror;
and storing the adjustment information and the face information of the driver in a correlated manner.
Optionally, the driver eye coordinates are spatial coordinates of the middle position of the two eyes of the driver.
In a specific example, the embodiment of the invention utilizes a face recognition technology to recognize the face of a driver, the face recognition device is positioned at a fixed position in a vehicle, the coordinates of the face recognition device in a coordinate system of the whole vehicle are fixed, the face recognition device can recognize the eye coordinate information relative to the position of the face recognition device and a space vector (an eye sight line direction) vertical to an eyeball, and the eye coordinate information and the space vector (the eye sight line direction) vertical to the eyeball can be converted into the coordinate system of the whole vehicle by using a matrix for coordinate transformation; the space range that the driver's eyes may reach in the driver's cabin is counted out to utilize the ergonomic principle, and when driver's eye coordinate is in this space range, the seat sensor of check-up driver position has someone simultaneously, alright entering outside rear-view mirror automatically regulated mode this moment.
The space range which the eyes of a driver can reach in a cab is counted by utilizing a man-machine engineering principle, a space lattice is arranged in the space range, the lattice corresponds to the coordinates of the eyes of the driver, each point is preset with a recommended position for up-down adjustment and left-right adjustment of a rearview mirror in advance, the lattice and the corresponding recommended position are set into a database, when the driver sits at the driving position for the first time, a face recognition device records the face information of the driver, then the outer rearview mirror is adjusted to the recommended position according to the coordinates of the eyes of the driver and the preset adjustment database, a central control screen or an instrument screen reminds the driver, or reminds the driver through voice in the vehicle, if the recommended position of the outer rearview mirror is unsatisfied and can be manually adjusted, after adjustment, the controller can store the optimal position and the face information of the driver in a correlation manner, when the driver sits at the driving position next time, the face recognition device recognizes the face and directly adjusts the outer rearview mirror to the last stored optimal position.
On the basis, the face recognition device can recognize a space vector of the driver, which is vertical to the eyeball, and the space vector represents the eye sight direction of the driver; the centrum space formed by the coordinates of the eyes of the driver and the elliptic outer edge of the outer rearview mirror shell is defined as the adjusting space range of the outer rearview mirror, when the eyes of the driver look at the outer rearview mirror, the space vector (the eye sight line direction) of the driver vertical to the eyeballs enters the adjusting space range of the outer rearview mirror, and the outer rearview mirror can be adjusted up and down and left and right according to the sight line of the driver, the specific method is that the face recognition device recognizes the space vector (the eye sight line direction) of the driver vertical to the eyeballs in real time, when the driver enters the rearview mirror accommodation space range perpendicular to the spatial vector of the eyeball (eye sight direction), the up, down, left and right positions of the rearview mirror are adjusted according to the positions of the sight lines of the two eyes of the driver at the intersection point of the external rearview mirror so as to meet the optimal visual field of the driver (the specific adjusting method is described in detail in the following figures). Compare with the traditional scheme that adjusts through camera in the car and preset the database, can just can adjust the more intelligent of outside rear-view mirror like this through driver's eyes sight direction, the adjustment is more accurate, especially the driver is at the in-process of driving, when seeing the outside rear-view mirror sometimes, the change of eye position and facial position is very little, just go to see an eye rear-view mirror through the motion of eyeball, like this, the traditional scheme through camera and preset the database can not discern the driver at all and observe the outside rear-view mirror, can not go to adjust the outside rear-view mirror more, can lead to driver's field of vision not good like this.
Compared with the existing scheme, the scheme is more intelligent, and has a more detailed facial recognition coordinate transformation algorithm and a rearview mirror adjustment algorithm.
In another embodiment, the invention is aimed at keeping the external mirror in an optimal view all the time when the driver is inside the vehicle, and adjusting the mirror according to the driver's intention to ensure the driver has an optimal view inside the vehicle when driving. In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings used in the description will be described in detail, obviously, the drawings in the following description are only used for more clearly illustrating the embodiment of the present invention or the technical solution in the prior art, and the drawings used in the description of the prior art will be described in the following.
The device system comprises:
1. the face recognition device: the facial feature recognition of the driver, the facial coordinates of the driver, the eye coordinates and the coordinates of a space vector (the eye sight line direction) space perpendicular to eyeballs can be realized, the original point of the coordinate data is the position of the facial recognition device and the coordinates of a non-whole vehicle coordinate system, the coordinates can be converted into whole vehicle coordinates through a matrix at the coordinate position of the whole vehicle coordinate system through the facial recognition device, and the coordinate transformation is carried out in the controller.
2. Pressure sensor of driver seat: the controller is used for detecting whether a driver is in the driving position or not and transmitting a signal to the controller.
3. The structure and the driving motor of the outer rear view mirror up-down adjusting device and the up-down adjusting motor, the outer rear view mirror left-right adjusting device and the left-right adjusting motor are common in the present vehicles and are not particularly described here.
As shown in fig. 1a, the face recognition device is mounted above the dashboard of the automobile, or can be mounted on the a-pillar, on the left side (driver side) of the center control screen, above the front windshield on the driver side, and after the face recognition device is mounted and fixed, the coordinate position of the face recognition device in the whole automobile coordinate system is fixed.
In fig. 1a, 1b and 1c the face recognition means can recognize the facial features of the driver and the coordinate information of the face, the eye coordinate information, and the coordinate information of the space vector perpendicular to the eyeball, which are coordinate information with respect to the face recognition means, that is, the coordinate information is coordinates in a coordinate system with the face recognition means as the origin.
As shown in fig. 1a, 1b, 1c and 1d, the face recognition device transmits coordinate information of the recognized face, eye and eyeball space vectors (the principal ray directions of the eyes) (coordinates in a coordinate system with the face recognition device as an origin) to the controller through a data line, and the controller performs coordinate transformation by combining the coordinate information with the coordinate position of the face recognition device in the coordinate system of the whole vehicle to convert the coordinate information of the face, eye and eyeball space vectors (the principal ray directions of the eyes) into the coordinate position of the whole vehicle.
As shown in fig. 1a, 1b and 1c, a spatial range which can be reached by the eyes of a driver in a cab is counted through an ergonomic principle, a spatial dot matrix is arranged in the spatial range, the dot matrix corresponds to the coordinates of the eyes of the driver, each point is provided with a recommended position for up-down adjustment and left-right adjustment of a rearview mirror in advance, the dot matrix and the corresponding recommended position are arranged into a database, when the driver sits at the driving position for the first time, a face recognition device records the face information of the driver, then the external rearview mirror is adjusted to the recommended position according to the coordinates of the eyes of the driver and a preset pointing database, a central control screen or an instrument screen or a voice system reminds the driver, if the recommended position of the external rearview mirror is unsatisfied and can be manually adjusted, after the adjustment, a controller stores the optimal position and the face information of the driver in a related manner, when the driver sits at the driving position next time, the face recognition device recognizes the face and directly adjusts the outer rearview mirror to the last stored optimal position.
As shown in fig. 1c, the vertebral body space formed by the coordinates of the driver's eyes and the elliptical outer edge of the housing of the exterior rear view mirror is defined as the adjustment space range of the exterior rear view mirror, when the driver's eyes look at the exterior rear view mirror, the space vector (the eye sight direction) of the driver perpendicular to the eyeballs can enter the adjustment space range of the exterior rear view mirror, and only when the eye sight direction of the driver enters the adjustment space range of the exterior rear view mirror, the controller can control the exterior rear view mirror to adjust up and down and left and right according to the driver's sight. When the driver views the front of the automobile, the space vector (the eye sight direction) of the driver perpendicular to the eyeballs is not in the adjusting space range of the outer rearview mirror, and the controller is not activated to enter the automatic adjusting mode of the rearview mirror. That is, the outer mirror on that side is adjusted only when the driver is looking at that side.
Taking the left side rearview mirror as an example to explain the automatic adjustment algorithm of the outer rearview mirror, as shown in fig. 1c, fig. 1d, fig. 1e and fig. 1f, the face recognition device monitors the space vector (eye sight direction) of the driver perpendicular to the eyeball in real time, when the driver looks at the left side outer rearview mirror, the eye sight direction of the driver enters the adjustment space of the left side outer rearview mirror, the controller controls the left side outer rearview mirror to enter the automatic adjustment mode, the space vector (eye sight direction) of the driver perpendicular to the eyeball, the two eyes of the driver meet at a point on the mirror surface of the left side outer rearview mirror, the point can be called as the intersection point of the sight, as shown in fig. 1e, the lens of the outer rearview mirror is established as a three-dimensional coordinate system, the lens is on the plane where the XY axis is located, the lens rotates around the X axis when adjusting up and down, the lens rotates around the Y axis when adjusting left and right, the intersection point of the X axis and the Y axis is the origin O, the Z axis passes through the origin O and is perpendicular to the XY axes. The value of the upper edge of the mirror on the Y axis is Ymax, the value of the lower edge of the mirror on the Y axis is Ymin, the value of the left edge of the mirror on the X axis is Xmin, the value of the right edge of the mirror on the X axis is Xmax, the intersection point coordinate of the sight lines of the two eyes of the driver is (X1, Y1), when Y1 is Ymax, the mirror is upturned to the limit angle, when Y1 is Ymin, the mirror is upturned to the limit angle, when Y1 is 0, the angle of the mirror which is upturned up and down is 0, when Y1 is Ymax is more than or equal to Y1 more than or equal to 0, the angle is upturned upwards according to the proportion from 0 to the upturned limit angle, and when Y1 is more than or equal to Y1 more than or equal to Ymin, the angle is upturned according to the proportion from 0 to the downturned limit angle. When X1 is Xmax, the mirror lens is turned right to the limit angle, when X1 is Xmin, the mirror lens is turned left to the limit angle, when X1 is 0, the mirror is turned left and right by 0, when X1 is Xmax is not less than X1 and not less than 0, the mirror lens is turned right by the angle from 0 to the limit angle of right turning, when X1 is 0 and not less than X1 is not less than Xmin, the mirror lens is turned left by the angle from 0 to the limit angle of left turning. Therefore, when the intersection point of the two eyes of the driver is at the coordinates (X1, Y1) of the left outer mirror, the lens of the left outer mirror is adjusted to the corresponding position.
The controller adjusts the speed of the rearview mirror according to different vehicle speeds in the process of adjusting the rearview mirror, when the vehicle speed is high, the speed of the rearview mirror is high, when the vehicle speed is low, the speed of the rearview mirror is relatively low, and the speed of the motor is adjusted by adjusting the duty ratio of the PWM wave.
The embodiment of the invention discloses a brand-new automatic adjusting device and a control algorithm for an automobile exterior rearview mirror. The embodiment of the invention is completely different from the traditional manual adjustment automobile exterior mirror, the embodiment of the invention calculates the eye coordinates of the driver identified by the face identification technology and the space vector (the eye sight direction) vertical to the eyeball of the driver, and adjusts the exterior mirror to the optimal position after calculation, and the whole adjustment process completely realizes intelligent, rapid and automatic adjustment. Compare with traditional manual regulation of rear-view mirror, more convenient promotes driving safety nature, makes outside rear-view mirror be in the best observation zone of driver all the time. The driving safety of a driver is improved, and the technological sense of an automobile cabin is improved.
The embodiment of the invention aims to ensure that the outer rearview mirror is in the best visual field position when a driver watches the outer rearview mirror in the automobile cab, and improve the safety of the driver in the driving process. The embodiment of the invention calculates the eye coordinates of the driver identified by the face identification technology and the space vector (the eye sight direction) vertical to the eyeball, adjusts the outer rearview mirror to the optimal position after calculation, and completely realizes intelligent, rapid and automatic adjustment in the whole adjustment process.
According to the technical scheme of the embodiment, if the driver enters for the first time according to the face information of the driver, the eye coordinate information of the driver is acquired; inquiring a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information; according to the rearview mirror position information, the rearview mirror is adjusted to the position corresponding to the rearview mirror position information, so that the rearview mirror can be adjusted more conveniently, the driving safety is improved, and the outer rearview mirror is always in the best observation area of a driver.
Fig. 2 is a schematic structural diagram of a rearview mirror adjustment apparatus according to an embodiment of the present invention. The present embodiment can be applied to the case of adjusting a rearview mirror, and the device can be implemented in a software and/or hardware manner, and the rearview mirror adjusting device can be integrated into any device providing a rearview mirror adjusting function, as shown in fig. 2, and specifically includes: an acquisition module 210, a query module 220, and an adjustment module 230.
The acquisition module is used for acquiring the eye coordinate information of the driver if the driver enters for the first time according to the facial information of the driver;
the query module is used for querying a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information;
and the adjusting module is used for adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, if the driver enters for the first time according to the face information of the driver, the eye coordinate information of the driver is acquired; inquiring a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information; according to the rearview mirror position information, the rearview mirror is adjusted to the position corresponding to the rearview mirror position information, so that the rearview mirror can be adjusted more conveniently, the driving safety is improved, and the outer rearview mirror is always in the best observation area of a driver.
Fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the present invention. FIG. 3 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 3 is only an example and should not bring any limitations to the function and scope of use of the embodiments of the present invention.
As shown in FIG. 3, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (a Compact disk-Read Only Memory (CD-ROM)), Digital Video disk (DVD-ROM), or other optical media may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing a rearview mirror adjustment method provided by an embodiment of the present invention:
if the driver enters for the first time according to the facial information of the driver, acquiring the eye coordinate information of the driver;
inquiring a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information;
and adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information.
Fig. 4 is a schematic structural diagram of a computer-readable storage medium containing a computer program according to an embodiment of the present invention. Embodiments of the present invention provide a computer-readable storage medium 61 having stored thereon a computer program 610, which when executed by one or more processors, implements a rearview mirror adjustment method as provided by all of the inventive embodiments of the present application:
if the driver enters for the first time according to the facial information of the driver, acquiring the eye coordinate information of the driver;
inquiring a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information;
and adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (Hyper Text Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A rearview mirror adjustment method, comprising:
if the driver enters for the first time according to the facial information of the driver, acquiring the eye coordinate information of the driver;
inquiring a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information;
and adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information.
2. The method according to claim 1, before querying a database according to the driver eye coordinate information to obtain the rearview mirror position information corresponding to the driver eye coordinate information, further comprising:
acquiring the space range of the eyes of a driver in a cab;
setting a space lattice in the space range;
and establishing a database according to the space lattice and the rearview mirror position information corresponding to the space lattice.
3. The method of claim 1, wherein the driver eye coordinate information comprises: a spatial vector perpendicular to the eyeball;
correspondingly, after adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information, the method further comprises the following steps:
determining a target space according to the coordinate information of the eyes of the driver and the coordinate information of the rearview mirror;
and if the space vector vertical to the eyeball is in the target space, adjusting the position of the rearview mirror according to the position information of the intersection point of the sight lines of the driver.
4. A method according to claim 3, wherein adjusting the position of the mirror based on the position information of the intersection of the mirror for the driver's eyes, comprises:
acquiring the abscissa and the ordinate of the sight focus of the driver;
determining the left turning angle or the right turning angle of the rearview mirror according to the abscissa of the sight focus of the driver, and adjusting the position of the rearview mirror according to the left turning angle or the right turning angle of the rearview mirror;
and determining the upward turning angle or the downward turning angle of the rearview mirror according to the ordinate of the sight focus of the driver, and adjusting the position of the rearview mirror according to the upward turning angle or the downward turning angle of the rearview mirror.
5. The method of claim 4, wherein determining a rearview mirror flip angle up or down from the ordinate of the driver's gaze focus comprises:
if the ordinate of the driver sight line focus is equal to a first threshold value, turning up the lens of the rearview mirror to a maximum angle;
if the ordinate of the driver sight line focus is equal to a second threshold value, turning down the lens of the rearview mirror to a maximum angle, wherein the first threshold value is larger than zero, and the second threshold value is smaller than zero;
if the ordinate of the driver sight line focus is larger than zero and smaller than a first threshold, determining a target upward turning angle according to the ordinate of the driver sight line focus and the maximum upward turning angle of a lens of the rearview mirror;
and if the ordinate of the driver sight line focus is smaller than zero and larger than a second threshold, determining a target downward turning angle according to the ordinate of the driver sight line focus and the maximum downward turning angle of the lens of the rearview mirror.
6. The method of claim 4, wherein determining a left or right flip angle of a rearview mirror from an abscissa of the driver's gaze focus comprises:
if the abscissa of the driver sight line focus is equal to a third threshold value, turning the lens of the rearview mirror to the right to a maximum angle;
if the abscissa of the driver sight line focus is equal to a fourth threshold value, turning the lens of the rearview mirror to the left to a maximum angle, wherein the third threshold value is larger than zero, and the fourth threshold value is smaller than zero;
if the abscissa of the driver sight line focus is larger than zero and smaller than a third threshold, determining a target rightward turning angle according to the abscissa of the driver sight line focus and the maximum angle of rightward turning of the lens of the rearview mirror;
and if the abscissa of the driver sight line focus is smaller than zero and larger than a fourth threshold, determining a target left-turning angle according to the abscissa of the driver sight line focus and the maximum left-turning angle of the lens of the rearview mirror.
7. The method according to claim 1, further comprising, after adjusting a rearview mirror to a position corresponding to the rearview mirror position information according to the rearview mirror position information:
acquiring adjustment information of a user for a rearview mirror;
and storing the adjustment information and the face information of the driver in a correlated manner.
8. A rearview mirror adjustment assembly, comprising:
the acquisition module is used for acquiring the eye coordinate information of the driver if the driver enters for the first time according to the facial information of the driver;
the query module is used for querying a database according to the driver eye coordinate information to obtain rearview mirror position information corresponding to the driver eye coordinate information;
and the adjusting module is used for adjusting the rearview mirror to the position corresponding to the rearview mirror position information according to the rearview mirror position information.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the processors to implement the method of any of claims 1-7.
10. A computer-readable storage medium containing a computer program, on which the computer program is stored, characterized in that the program, when executed by one or more processors, implements the method according to any one of claims 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110829338.8A CN113370901A (en) | 2021-07-22 | 2021-07-22 | Rearview mirror adjusting method, device, equipment and storage medium |
| PCT/CN2022/106472 WO2023001145A1 (en) | 2021-07-22 | 2022-07-19 | Rearview mirror adjustment method and apparatus, device and storage medium |
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| CN202110829338.8A CN113370901A (en) | 2021-07-22 | 2021-07-22 | Rearview mirror adjusting method, device, equipment and storage medium |
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| WO (1) | WO2023001145A1 (en) |
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| CN114906052A (en) * | 2022-05-05 | 2022-08-16 | 中国第一汽车股份有限公司 | Automatic adjusting method for interior rearview mirror, interior rearview mirror and vehicle |
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| CN114132259A (en) * | 2021-12-10 | 2022-03-04 | 东南大学 | Automobile exterior rearview mirror adjusting method and device and automobile |
| CN114906052A (en) * | 2022-05-05 | 2022-08-16 | 中国第一汽车股份有限公司 | Automatic adjusting method for interior rearview mirror, interior rearview mirror and vehicle |
| CN115571051A (en) * | 2022-10-20 | 2023-01-06 | 中国第一汽车股份有限公司 | Method and system for adjusting intelligent rearview mirror in vehicle |
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