CN114212027A - Vehicle rearview mirror adjusting method, mechanism, system, device and storage medium - Google Patents
Vehicle rearview mirror adjusting method, mechanism, system, device and storage medium Download PDFInfo
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- CN114212027A CN114212027A CN202111522297.4A CN202111522297A CN114212027A CN 114212027 A CN114212027 A CN 114212027A CN 202111522297 A CN202111522297 A CN 202111522297A CN 114212027 A CN114212027 A CN 114212027A
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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
- B60R1/04—Rear-view mirror arrangements mounted inside vehicle
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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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Abstract
The application discloses a vehicle rearview mirror adjusting method, a mechanism, a system, a device and a storage medium, wherein the method comprises the following steps: acquiring position information of eyes of a driver and position information of a rearview mirror; determining the position information of the eye virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and the mirror symmetry principle; the position information based on the virtual image controls the rearview mirror adjusting mechanism to adjust the position of the rearview mirror, so that the eye virtual image is intersected with the central area of the rear window by the extension line of the central point connecting line of the rearview mirror. So, adjust the position of rear-view mirror through the position based on the nodical of extension line and rear-view mirror door window of eyes virtual image and rear-view mirror central point line, it is regional to be in rear-view mirror door window central point until the nodical, can guarantee that the driver can see complete and rear-view mirror placed in the middle through interior rear-view mirror, and the rear view field observation position that is best promptly, and whole adjustment process need not manual operation, can promote the intelligent degree of vehicle.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle rearview mirror adjusting method, mechanism, system, device and storage medium.
Background
The vehicle interior rear view mirror is one of the necessary configurations of a vehicle for a driver to observe the situation of a vehicle or a road surface behind. When the rearview mirror is used, due to different heights, different riding positions, different individual statures and the like of drivers, the rearview mirror is often required to be adjusted before driving so as to observe the rear view. However, in the market at present, most of the adjusting methods of the inside rear view mirror are manual adjustment, and the degree of intelligence is low.
Disclosure of Invention
In order to solve the above technical problems, embodiments of the present application desirably provide a vehicle rearview mirror adjustment method, mechanism, system, device, and storage medium.
The technical scheme of the application is realized as follows:
in a first aspect, a vehicle rearview mirror adjustment method is provided, the method comprising:
acquiring position information of eyes of a driver and position information of a rearview mirror;
determining position information of an eye virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and a mirror symmetry principle;
and controlling a rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image so as to enable the eye virtual image to be intersected with the central area of the rear window along the extension line of the central point connecting line of the rearview mirror.
In the foregoing solution, the acquiring the position information of the eyes of the driver includes: acquiring a face image of the driver acquired by an image acquisition device; identifying a face image and determining original position information of the eyes of the driver; and determining the position information of the eyes of the driver based on the position information of at least one preset marking point and the original position information.
In the foregoing solution, the recognizing the facial image to determine the original position information of the eyes of the driver includes: identifying the face image, and determining left eye position information and right eye position information of a driver; determining position information of a midpoint of an eye based on the left eye position information and the right eye position information; and taking the position information of the center point of the eyes as the original position information of the eyes of the driver.
In the above aspect, the controlling a rearview mirror adjustment mechanism to adjust the position of the rearview mirror based on the position information of the virtual image includes: determining position information of an intersection point of an extension line of a connecting line of the eye virtual image and a central point of the rearview mirror and the rear window based on the position information of the virtual image and the position information of the rearview mirror; and determining that the intersection point is not located in the central area of the rear window based on the position information of the intersection point, controlling the rearview mirror adjusting mechanism to adjust the position of the rearview mirror, and updating the position information of the rearview mirror and the position information of the virtual image until the intersection point is located in the central area of the rear window.
In the above scheme, the controlling the rearview mirror adjusting mechanism to adjust the position of the rearview mirror includes: controlling the rearview mirror adjusting mechanism to drive the rearview mirror to rotate around a first axial direction and/or a second axial direction; the position relation between the first axial direction and the second axial direction is that the different surfaces are vertical or are intersected and vertical.
In the foregoing solution, the acquiring the position information of the eyes of the driver includes: when a trigger event is detected, acquiring the position information of the eyes of the driver; wherein the triggering event comprises at least one of: the driver sits in the seat, adjusts the seat and ignites the vehicle.
In a second aspect, there is provided a vehicle mirror adjustment mechanism, the mechanism comprising: the first connecting rod, the second connecting rod, the first connecting shaft, the second connecting shaft, the first driving motor and the second driving motor; one end of the first connecting rod is fixed in the vehicle, the other end of the first connecting rod is connected with one end of the second connecting rod through the first connecting shaft, and the other end of the second connecting rod is connected with the rearview mirror through the second connecting shaft; the first driving motor drives the first connecting shaft to rotate, so that the rearview mirror rotates around the first axial direction, and the second driving motor drives the second connecting shaft to rotate, so that the rearview mirror rotates around the second axial direction.
In a third aspect, there is provided a vehicle mirror adjustment system, comprising: the device comprises an image acquisition device, a vehicle rearview mirror adjusting mechanism and a rearview mirror adjusting device; the image acquisition device is used for acquiring a face image of the driver; the vehicle rearview mirror adjusting mechanism is used for adjusting the position of a rearview mirror; the rearview mirror adjusting device is used for determining the position information of the eyes of the driver based on the face image of the driver; acquiring position information of a rearview mirror; determining position information of an eye virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and a mirror symmetry principle; and controlling a rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image so as to enable the eye virtual image to be intersected with the central area of the rear window along the extension line of the central point connecting line of the rearview mirror.
In the scheme, the image acquisition device is positioned in front of the driving seat; the vehicle rearview mirror adjusting mechanism comprises the first connecting rod, the second connecting rod, the first connecting shaft, the second connecting shaft, the first driving motor and the second driving motor in the vehicle rearview mirror adjusting mechanism; the rearview mirror adjusting device is electrically connected with the vehicle rearview mirror adjusting mechanism.
In a fourth aspect, there is provided a vehicle mirror adjustment device, the device comprising: the acquisition module is used for acquiring the position information of the eyes of the driver and the position information of the rearview mirror; the processing module is used for determining the position information of the virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and a mirror symmetry principle; and the control module is used for controlling the rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image so as to enable the eye virtual image to be intersected with the central area of the rear window along the extension line of the central point connecting line of the rearview mirror.
In a fifth aspect, there is provided another vehicle mirror adjusting apparatus, the apparatus comprising: a processor and a memory configured to store a computer program operable on the processor, wherein the processor is configured to perform the steps of any of the preceding methods when the computer program is executed.
In a sixth aspect, a computer storage medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the aforementioned method.
The application discloses vehicle rearview mirror adjusting method, this method is through the position determination eye virtual image's position by driver's eyes and rear-view mirror position, adjust the position of rear-view mirror based on the extension line of eye virtual image and rear-view mirror central point line and the nodical position of rear window, be in rear window central zone until the nodical, so, can guarantee that each driver can both see complete and middle rear window region through interior rear-view mirror, the position is observed in the best rear view, and whole adjustment process need not manual operation, can promote the intelligent degree of vehicle.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for adjusting a rearview mirror of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a vehicle mirror adjustment mechanism according to an embodiment of the present application;
FIG. 3 is a schematic diagram of the vehicle mirror adjustment system according to an embodiment of the present application;
FIG. 4 is a schematic adjustment diagram of a vehicle mirror adjustment system according to an embodiment of the present application;
FIG. 5 is a flow chart illustrating the use of the mirror adjustment system in an embodiment of the present application;
FIG. 6 is a schematic view of a first component of an adjusting device for a rearview mirror of a vehicle according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a second component of an adjusting device for a rearview mirror of a vehicle according to an embodiment of the present application;
Detailed Description
So that the manner in which the features and elements of the present embodiments can be understood in detail, a more particular description of the embodiments, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings.
Fig. 1 is a schematic flow chart of a vehicle rearview mirror adjusting method in an embodiment of the present application. As shown in fig. 1, the vehicle mirror adjusting method may specifically include:
step 101: acquiring position information of eyes of a driver and position information of a rearview mirror;
here, the position information of the eyes of the driver may be coordinates representing the positions of the eyes of the driver, and in practical application, may be the position of the middle point between the two eyes of the driver. Here, the rear view mirror may be specifically a mirror surface of the rear view mirror, and the position information of the rear view mirror may be a position of a plane in which the mirror surface of the rear view mirror is located.
For example, in some embodiments, the obtaining of the position information of the eyes of the driver includes: acquiring a face image of the driver acquired by an image acquisition device; identifying a face image and determining original position information of the eyes of the driver; and determining the position information of the eyes of the driver based on the position information of at least one preset marking point and the original position information.
Here, the image pickup device may be a three-dimensional camera with an infrared ranging function, may be disposed at a-pillars or other positions on both sides of the vehicle.
For example, the original position information of the eyes of the driver may be the relative positions of the eyes of the driver and the preset mark points in the vehicle, and the preset mark points may be located on the seat of the vehicle, the windows beside the driver seat, and the like. The image of the face of the driver collected by the image collecting device needs to include preset mark points, so that the relative positions of the eyes of the driver and the preset mark points in the vehicle can be determined based on the face image. The position information of the at least one preset marking point may be coordinates of the preset marking point in a vehicle coordinate system. The position information of the eyes of the driver is the coordinates of the eyes of the driver in the vehicle coordinate system. For example, the preset mark point may also be a camera of the image acquisition device, so that the position information of the eyes of the driver is determined based on the face image of the driver and the position information on the camera.
For example, in some embodiments, the recognizing the face image and determining the original position information of the eyes of the driver include: identifying the face image, and determining left eye position information and right eye position information of a driver; determining position information of a midpoint of an eye based on the left eye position information and the right eye position information; and taking the position information of the center point of the eyes as the original position information of the eyes of the driver.
Here, the position information of the middle point of the eye may be understood as a relative position with respect to a preset mark point in the vehicle after simplifying the position information of both eyes of the driver.
For example, in practical applications, the obtaining of the position information of the rear view mirror may be obtaining coordinate information of at least three points on a mirror surface of the rear view mirror, so as to determine the position information of the rear view mirror. For example, the acquisition of the position information of at least three points on the mirror surface of the rear-view mirror may be determined directly by a positioning device fixed to each point. The position information of the mirror is the position information of the mirror surface of the mirror in the vehicle coordinate system.
For example, in some embodiments, the obtaining of the position information of the eyes of the driver includes: when a trigger event is detected, acquiring the position information of the eyes of the driver; wherein the triggering event comprises at least one of: the driver sits in the seat, adjusts the seat and ignites the vehicle.
Step 102: determining position information of an eye virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and a mirror symmetry principle;
here, the position information of the eyes of the driver and the position information of the mirror are both position coordinates in the same vehicle coordinate system, and the position information of the virtual eye image is also position coordinates in the vehicle coordinate system.
The position information of the rearview mirror is the mirror surface position, and the position information of the virtual image of the eyes of the driver in the rearview mirror can be determined by combining the mirror surface symmetry principle and the position information of the eyes of the driver.
Step 103: and controlling a rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image so as to enable the eye virtual image to be intersected with the central area of the rear window along the extension line of the central point connecting line of the rearview mirror.
Here, the mirror adjustment mechanism is configured to be capable of adjusting the position of the mirror. The central point of the rearview mirror can be the geometric center of the mirror surface, and the coordinates of the point can be determined according to the three-dimensional data of the rearview mirror and the position information of the rearview mirror.
Here, the rear window may be a rear window surface in which the thickness of the window glass is ignored. Illustratively, the method further comprises: and acquiring the position information of the rear window relative to a vehicle coordinate system and the three-dimensional data of the rear window. The position information of the rear window and the three-dimensional data of the rear window can be used for determining the position information of the intersection point of the extension line of the virtual image of the eyes of the rearview mirror and the central point connecting line of the rearview mirror.
For example, in some embodiments, the central region of the rear window may be a region on the rear window where the geometric center of the rear window is a circular point and the predetermined length is determined by a radius. For example, in some embodiments, the preset length may be 0, that is, the central region of the rear window is the geometric center of the rear window. In practical applications, the shape of the central area of the rear window may also be other shapes such as a rectangle, a triangle, etc., and is not limited herein. When the virtual eye image is intersected with the central area of the rear window by the extension line of the central point connecting line of the rearview mirror, the representation rearview mirror is adjusted to the optimal angle position under the eye point of the driver, and the driver can see a complete and centered rear windshield transparent area (namely the rear window area) through the inner rearview mirror.
For example, in some embodiments, controlling a rearview mirror adjustment mechanism to adjust the position of the rearview mirror based on the position information of the virtual image includes: determining position information of an intersection point of an extension line of a connecting line of the eye virtual image and a central point of the rearview mirror and the rear window based on the position information of the virtual image and the position information of the rearview mirror; and determining that the intersection point is not located in the central area of the rear window based on the position information of the intersection point, controlling the rearview mirror adjusting mechanism to adjust the position of the rearview mirror, and updating the position information of the rearview mirror and the position information of the virtual image until the intersection point is located in the central area of the rear window.
Illustratively, in some embodiments, the controlling a mirror adjustment mechanism to adjust the position of the mirror comprises: controlling the rearview mirror adjusting mechanism to drive the rearview mirror to rotate around a first axial direction and/or a second axial direction; the position relation between the first axial direction and the second axial direction is that the different surfaces are vertical or are intersected and vertical.
Here, the execution subject of steps 101 to 103 may be a processor of the vehicle mirror adjusting apparatus.
The technical scheme of this application, through the position of the virtual image of eyes of confirming by the position of driver eyes and rear-view mirror, adjust the position of rear-view mirror based on the virtual image of eyes and the extension line of rear-view mirror central point line and the position of rear-view mirror nodical point, it is regional to be in rear-view mirror central point until nodical point, so, can guarantee that each driver can both see complete and rear-view window placed in the middle through interior rear-view mirror regional, best rear field of vision observation position promptly. And the whole adjusting process does not need manual operation, and the intelligent degree of the vehicle can be improved.
To further illustrate the object of the present application, a vehicle mirror adjusting mechanism is provided on the basis of the embodiments of the present application.
The vehicle mirror adjusting mechanism may specifically include: the first connecting rod, the second connecting rod, the first connecting shaft, the second connecting shaft, the first driving motor and the second driving motor; one end of the first connecting rod is fixed in the vehicle, the other end of the first connecting rod is connected with one end of the second connecting rod through the first connecting shaft, and the other end of the second connecting rod is connected with the rearview mirror through the second connecting shaft; the first driving motor drives the first connecting shaft to rotate, so that the rearview mirror rotates around the first axial direction, and the second driving motor drives the second connecting shaft to rotate, so that the rearview mirror rotates around the second axial direction.
Illustratively, the first driving motor is an up-and-down rotation driving motor, and drives the first connecting shaft to rotate, so that the rearview mirror rotates up and down around a first axis; the second driving motor is a left-right rotation driving motor and drives the second connecting shaft to rotate, so that the rearview mirror rotates left and right around the second axial direction. The first axial direction and the second axial direction are perpendicular to each other in terms of different surfaces, the first axial direction is the axial direction of the first connecting shaft, and the second axial direction is the axial direction of the second connecting shaft.
The shapes of the first connecting rod, the second connecting rod, the first connecting shaft and the second connecting shaft and the positions of the first driving motor and the second driving motor are not specifically limited, and can be adjusted according to actual conditions.
For example, in some embodiments, the structure of the vehicle mirror adjustment mechanism may be as shown in FIG. 2. Fig. 2 is a schematic structural diagram of a vehicle mirror adjusting mechanism in an embodiment of the present application. As shown in fig. 2, one end of the first connecting rod 20 is a fixed plane, which can be fixed in the vehicle, and the other end is a hollow cylinder. One end of the second connecting rod 21 is a hollow cylinder, the other end is also a hollow cylinder, and the rearview mirror 24 comprises a connecting shell 240 and a rearview mirror surface 241 which are fixedly connected; the first driving motor can be fixed in the hollow cylinder of the first connecting rod, and the second driving motor can be fixed in the hollow cylinder of the second connecting rod and the second connecting shaft.
For example, in practical application, the fixing plane fixes the rearview mirror adjusting mechanism to the front windshield glass in a bonding or clamping manner.
The technical scheme of this application, through rotate by two driving motor and drive first connecting axle and second connecting axle and rotate, and then drive rear-view mirror tilting and control the rotation, realize the automatic adjustment of rear-view mirror position.
To further illustrate the object of the present application, a vehicle mirror adjusting system is provided on the basis of the embodiments of the present application. The vehicle rearview mirror adjustment system may specifically include: the device comprises an image acquisition device, a vehicle rearview mirror adjusting mechanism and a rearview mirror adjusting device;
the image acquisition device is used for acquiring a face image of the driver;
the vehicle rearview mirror adjusting mechanism is used for adjusting the position of a rearview mirror;
the rearview mirror adjusting device is used for determining the position information of the eyes of the driver based on the face image of the driver; acquiring position information of a rearview mirror; determining position information of an eye virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and a mirror symmetry principle; and controlling a rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image so as to enable the eye virtual image to be intersected with the central area of the rear window along the extension line of the central point connecting line of the rearview mirror.
Illustratively, in some embodiments, the vehicle mirror adjustment system is shown in FIG. 3. Fig. 3 is a schematic composition diagram of a vehicle mirror adjustment system according to an embodiment of the present application. As shown in fig. 3, the vehicle mirror adjustment system may specifically include: an image acquisition device 30, a vehicle mirror adjustment mechanism 31, and a mirror adjustment device 32 (also referred to herein as a central processing unit 32). Other numbers in fig. 3 indicate: driver 33, driver eyes 34, rear window 35.
Specifically, the image capturing device 30 includes two cameras, which can be arranged on the a-pillars on both sides or other positions to photograph and three-coordinate locate the driver 33 (determine the eye position).
The rearview mirror adjusting device 32 is electrically connected with the image acquisition device 30 and the vehicle rearview mirror adjusting mechanism 31, and is used for acquiring information acquired by the image acquisition device 30 and controlling the rearview mirror adjusting mechanism 31 to adjust the position of the rearview mirror. Specifically, the rearview mirror adjustment device 32 prestores the coordinate system of the vehicle, and 3D data of relevant components such as an interior rearview mirror, a transparent area of a rear windshield glass, and the like. After a driver sits in the seat and adjusts the position, the rearview mirror adjusting device 32 sends a signal, the camera is started to shoot the eyepoint of the driver, and relevant eyepoint information is collected; meanwhile, the mirror adjusting device 32 is also connected to a drive motor of the mirror adjusting mechanism 31 for vehicle, and controls the motor drive thereof.
The vehicle mirror adjusting mechanism 31 is connected to a mirror for adjusting the position of the mirror. The structure is shown in fig. 2. Furthermore, the up-and-down angle rotation of the inner rearview mirror adjusting device is realized by the driving of the up-and-down rotation driving motor; the left and right angle rotation of the inner rear-view mirror adjusting device is realized through the driving of the left and right rotation driving motor.
Fig. 4 is a schematic adjustment diagram of a vehicle mirror adjustment system according to an embodiment of the present application. First, as shown in fig. 4, eyepoint information (also referred to as eye position information in the present application) is determined based on the image captured by the image capturing device 30, and in this embodiment, the left and right eyepoints of the driver are simplified to a middle eyepoint 40 (the middle eyepoint may be a point at the middle position between two eyes); secondly, determining a middle eyepoint virtual image 41 of the middle eyepoint 40 on the inner rearview mirror surface based on the mirror surface imaging principle; thirdly, connecting and extending the middle eyepoint virtual image 41 with the geometric center 42 of the mirror surface of the interior rearview mirror until the middle eyepoint virtual image intersects with the transparent area of the rear windshield glass; fourthly, the up-down angle rotation of the inner rearview mirror is realized by the driving of the up-down rotation driving motor in the vehicle rearview mirror adjusting mechanism 31 until the intersection point is positioned on the Y-direction central line 43 of the transparent area of the rear windshield glass; fifthly, the left and right angle rotation of the inner rearview mirror is realized by the driving of the left and right rotation driving motor in the vehicle rearview mirror adjusting mechanism 31 until the intersection completely coincides with the geometric central point 44 of the transparent area of the rear windshield glass. At this point, the interior mirror is adjusted to the optimal angular position under the driver's eye point. In practical application, the positions of each point, the extension line and the window are realized based on a vehicle coordinate system.
The following describes in detail the method of use of the mirror adjustment system. Illustratively, fig. 5 is a flow chart illustrating the use of the mirror adjustment system in the embodiment of the present application. The use process comprises the following steps:
step 501: presetting a mark point and prestoring related 3D data information;
specifically, a plurality of in-vehicle coordinate system mark points are preset in the central processing unit 32, so that comparison and calculation can be conveniently performed after the eyepoints are shot by the camera; the central processing unit is also preset with a vehicle coordinate system and 3D data related to an inside rear view mirror, a transparent area of a rear windshield glass and the like, and has the calculation capability of position change of a characteristic point line surface, including mirror surface virtual images, angle rotation calculation and the like.
Step 502: photographing and calculating the eyepoint of the driver;
specifically, after the driver is seated, the central processing unit 32 receives the vehicle ignition information, starts the dual cameras to photograph the face of the driver, sends the photographed eyepoint and the preset in-vehicle coordinate system mark point to the central processing unit for comparison and calculation, obtains the coordinate systems of the left and right eyepoints of the driver in the vehicle, and simplifies the coordinate systems into the center eyepoint coordinate.
Step 503: obtaining a connecting line between a virtual image of the eyepoint of the driver and the center point of the inner rearview mirror;
specifically, the central processing unit performs mirror symmetry on the central eye point by the inner rearview mirror to obtain a virtual image point; and connecting the virtual image point with the geometric center point of the mirror surface of the inner rearview mirror, extending the virtual image point to the transparent area of the rear windshield to be intersected, and obtaining a corresponding intersection point.
Step 504: driving the rearview mirror to rotate up and down;
specifically, when the intersection point is located below the Y-direction center line of the glass transparent region, the vertical rotation driving motor is driven to rotate counterclockwise (in the side view direction), and when the intersection point is located above the Y-direction center line of the glass transparent region, the vertical rotation driving motor is driven to rotate clockwise (in the side view direction), and when the intersection point overlaps the Y-direction center line of the glass transparent region, the rotation of the vertical rotation driving motor is stopped.
Step 505: the rearview mirror is driven to rotate left and right.
Specifically, if the intersection point is located on the left side of the geometric center point of the glass transparent region, the vertical rotation driving motor is driven to rotate clockwise (in the top view direction), if the intersection point is located on the right side of the geometric center point of the glass transparent region, the vertical rotation driving motor is driven to rotate counterclockwise (in the top view direction), and if the intersection point is overlapped with the geometric center point of the glass transparent region, the rotation of the vertical rotation driving motor is stopped.
In the above, for each driver, it is possible to ensure that he sees a complete and central transparent zone of the rear windshield, i.e. the optimal rear view viewing position, through the above adjustment process by means of the interior rear-view mirror.
According to the technical scheme, the eyepoint of the driver in the automobile is photographed, analyzed and calculated, the eyepoint virtual image of the inner rear-view mirror system is constructed and centered, the self-adaptive adjusting device is driven to rotate left and right and rotate up and down, and the driver can see the transparent region of the rear windshield which is complete and placed in the middle through the inner rear-view mirror, namely the best rear view field observation position. The measuring system has the advantages that: on one hand, the laborious manual adjustment step of the inner rearview mirror by each driver is avoided; on the other hand, the intelligent degree of the vehicle is greatly improved, and the product competitiveness is improved.
Fig. 6 is a schematic diagram of a first component structure of an adjusting device for a vehicle rearview mirror in an embodiment of the present application, and illustrates an implementing device 60 of a method for adjusting a vehicle rearview mirror, where the device 60 specifically includes:
an obtaining module 601, configured to obtain position information of eyes of a driver and position information of a rearview mirror;
a processing module 602, configured to determine position information of a virtual image of the driver's eyes in the rearview mirror based on the position information of the driver's eyes, the position information of the rearview mirror, and a mirror symmetry principle;
and the control module 603 is configured to control the rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image, so that the virtual image of the eyes and an extension line of a central point connecting line of the rearview mirror intersect with the central area of the rear window.
In some embodiments, the obtaining module 601 is configured to obtain an image of the face of the driver captured by the image capturing device; identifying a face image and determining original position information of the eyes of the driver; and determining the position information of the eyes of the driver based on the position information of at least one preset marking point and the original position information.
In some embodiments, the obtaining module 601 is configured to identify a face image, and determine left eye position information and right eye position information of a driver; determining position information of a midpoint of an eye based on the left eye position information and the right eye position information; and taking the position information of the center point of the eyes as the original position information of the eyes of the driver.
In some embodiments, the control module 603 is configured to determine, based on the position information of the virtual image and the position information of the rearview mirror, position information of an intersection point of an extension line of the virtual image of the eyes and a center point connecting line of the rearview mirror and the rear window; and determining that the intersection point is not located in the central area of the rear window based on the position information of the intersection point, controlling the rearview mirror adjusting mechanism to adjust the position of the rearview mirror, and updating the position information of the rearview mirror and the position information of the virtual image until the intersection point is located in the central area of the rear window.
In some embodiments, a control module 603 configured to control the mirror adjustment mechanism to drive the mirror to rotate about a first axis and/or a second axis; the position relation between the first axial direction and the second axial direction is that the different surfaces are vertical or are intersected and vertical.
In some embodiments, the obtaining module 601 is configured to obtain the position information of the eyes of the driver when a trigger event is detected; wherein the triggering event comprises at least one of: the driver sits in the seat, adjusts the seat and ignites the vehicle.
Based on the hardware implementation of each unit in the vehicle rearview mirror adjusting device, the embodiment of the present application further provides another vehicle rearview mirror adjusting device, and fig. 7 is a second schematic structural diagram of the vehicle rearview mirror adjusting device in the embodiment of the present application. As shown in fig. 7, the apparatus 70 includes: a processor 701 and a memory 702 configured to store a computer program capable of running on the processor;
wherein the processor 701 is configured to execute the method steps in the previous embodiments when running the computer program.
In practice, of course, the various components of the vehicle mirror adjustment device are coupled together by a bus system 703, as shown in fig. 7. It is understood that the bus system 703 is used to enable communications among the components. The bus system 703 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled in fig. 7 as bus system 703.
In practical applications, the processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, and a microprocessor. It is understood that the electronic device for implementing the above processor function may be other devices, and the embodiments of the present application are not limited in particular.
The Memory may be a volatile Memory (volatile Memory), such as a Random-Access Memory (RAM); or a non-volatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard Disk (HDD), or a Solid-State Drive (SSD); or a combination of the above types of memories and provides instructions and data to the processor.
In an exemplary embodiment, the present application further provides a computer readable storage medium, such as a memory, comprising a computer program, the computer program being executable by a processor of a vehicle mirror adjustment device to perform the steps of the aforementioned method.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. The expressions "having", "may have", "include" and "contain", or "may include" and "may contain" in this application may be used to indicate the presence of corresponding features (e.g. elements such as values, functions, operations or components) but does not exclude the presence of additional features.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another, and are not necessarily used to describe a particular order or sequence. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention.
The technical solutions described in the embodiments of the present application can be arbitrarily combined without conflict.
In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other ways. The above-described embodiments are merely illustrative, and for example, the division of a unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
Claims (12)
1. A vehicle rearview mirror adjustment method, comprising:
acquiring position information of eyes of a driver and position information of a rearview mirror;
determining position information of an eye virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and a mirror symmetry principle;
and controlling a rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image so as to enable the eye virtual image to be intersected with the central area of the rear window along the extension line of the central point connecting line of the rearview mirror.
2. The method of claim 1, wherein the obtaining of the position information of the eyes of the driver comprises:
acquiring a face image of the driver acquired by an image acquisition device;
identifying a face image and determining original position information of the eyes of the driver;
and determining the position information of the eyes of the driver based on the position information of at least one preset marking point and the original position information.
3. The method of claim 2, wherein the recognizing the facial image, determining original position information of the driver's eyes, comprises:
identifying the face image, and determining left eye position information and right eye position information of a driver;
determining position information of a midpoint of an eye based on the left eye position information and the right eye position information;
and taking the position information of the center point of the eyes as the original position information of the eyes of the driver.
4. The method of claim 1, wherein the controlling a rearview mirror adjustment mechanism to adjust the position of the rearview mirror based on the position information of the virtual image comprises:
determining position information of an intersection point of an extension line of a connecting line of the eye virtual image and a central point of the rearview mirror and the rear window based on the position information of the virtual image and the position information of the rearview mirror;
and determining that the intersection point is not located in the central area of the rear window based on the position information of the intersection point, controlling the rearview mirror adjusting mechanism to adjust the position of the rearview mirror, and updating the position information of the rearview mirror and the position information of the virtual image until the intersection point is located in the central area of the rear window.
5. The method of claim 1, wherein controlling a rearview mirror adjustment mechanism to adjust the position of the rearview mirror comprises:
controlling the rearview mirror adjusting mechanism to drive the rearview mirror to rotate around a first axial direction and/or a second axial direction;
the position relation between the first axial direction and the second axial direction is that the different surfaces are vertical or are intersected and vertical.
6. The method of claim 1, wherein the obtaining of the position information of the eyes of the driver comprises:
when a trigger event is detected, acquiring the position information of the eyes of the driver;
wherein the triggering event comprises at least one of: the driver sits in the seat, adjusts the seat and ignites the vehicle.
7. A vehicle mirror adjustment mechanism, characterized in that the mechanism comprises: the first connecting rod, the second connecting rod, the first connecting shaft, the second connecting shaft, the first driving motor and the second driving motor;
one end of the first connecting rod is fixed in the vehicle, the other end of the first connecting rod is connected with one end of the second connecting rod through the first connecting shaft, and the other end of the second connecting rod is connected with the rearview mirror through the second connecting shaft;
the first driving motor drives the first connecting shaft to rotate, so that the rearview mirror rotates around the first axial direction, and the second driving motor drives the second connecting shaft to rotate, so that the rearview mirror rotates around the second axial direction.
8. A vehicle rearview mirror adjustment system, comprising: the device comprises an image acquisition device, a vehicle rearview mirror adjusting mechanism and a rearview mirror adjusting device;
the image acquisition device is used for acquiring a face image of the driver;
the vehicle rearview mirror adjusting mechanism is used for adjusting the position of a rearview mirror;
the rearview mirror adjusting device is used for determining the position information of the eyes of the driver based on the face image of the driver; acquiring position information of a rearview mirror; determining position information of an eye virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and a mirror symmetry principle; and controlling a rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image so as to enable the eye virtual image to be intersected with the central area of the rear window along the extension line of the central point connecting line of the rearview mirror.
9. The system of claim 8, wherein the image capture device is located forward of a driver seat;
the vehicle mirror adjustment mechanism includes the first connecting rod, the second connecting rod, the first connecting shaft, the second connecting shaft, the first drive motor, and the second drive motor in claim 8;
the rearview mirror adjusting device is electrically connected with the vehicle rearview mirror adjusting mechanism.
10. A vehicle mirror adjustment device, characterized in that the device comprises:
the acquisition module is used for acquiring the position information of the eyes of the driver and the position information of the rearview mirror;
the processing module is used for determining the position information of the virtual image of the eyes of the driver in the rearview mirror based on the position information of the eyes of the driver, the position information of the rearview mirror and a mirror symmetry principle;
and the control module is used for controlling the rearview mirror adjusting mechanism to adjust the position of the rearview mirror based on the position information of the virtual image so as to enable the eye virtual image to be intersected with the central area of the rear window along the extension line of the central point connecting line of the rearview mirror.
11. A vehicle mirror adjustment device, characterized in that the device comprises: a processor and a memory configured to store a computer program capable of running on the processor,
wherein the processor is configured to perform the steps of the method of any one of claims 1-6 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111522297.4A CN114212027A (en) | 2021-12-13 | 2021-12-13 | Vehicle rearview mirror adjusting method, mechanism, system, device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111522297.4A CN114212027A (en) | 2021-12-13 | 2021-12-13 | Vehicle rearview mirror adjusting method, mechanism, system, device and storage medium |
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Application publication date: 20220322 |