CN116901841A - Control method and device for preventing rearview mirror from transverse collision and automobile - Google Patents
Control method and device for preventing rearview mirror from transverse collision and automobile Download PDFInfo
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- CN116901841A CN116901841A CN202311085016.2A CN202311085016A CN116901841A CN 116901841 A CN116901841 A CN 116901841A CN 202311085016 A CN202311085016 A CN 202311085016A CN 116901841 A CN116901841 A CN 116901841A
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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
- B60R1/074—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators for retracting the mirror arrangements to a non-use position alongside the vehicle
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Abstract
The application relates to the technical field of automobile control, and provides a control method and device for preventing a rearview mirror from transversely colliding and an automobile. The method comprises the following steps: when an obstacle is detected to exist around the vehicle, acquiring a running track of the vehicle; determining the time urgency of the rearview mirror approaching the obstacle in the first direction according to the type of the driving track, wherein the first direction is the driving direction of the vehicle, calculating the transverse distance between the rearview mirror and the obstacle in the second direction in real time, wherein the second direction is perpendicular to the first direction, and judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value or not under the condition that the transverse distance is smaller than or equal to a preset first threshold value; if yes, the corresponding rearview mirror is controlled to be retracted. The application intelligently controls the rearview mirror to retract according to the obstacle condition, reduces the dependence on subjective judgment and driving experience of a driver, and effectively reduces the probability of transverse collision of the rearview mirror.
Description
Technical Field
The application relates to the technical field of automobile control, in particular to a control method and device for preventing a rearview mirror from transversely colliding and an automobile.
Background
Because the driver generally looks at the width of the automobile body through observing the rearview mirror, and neglects the width of the rearview mirror easily, the rearview mirror is impacted by obstacles or other moving objects in the driving process, the rearview mirror is damaged, and certain financial loss is brought to the automobile owner.
Currently, some rearview mirrors of automobiles can be folded automatically, and when a driver actively finds that the rearview mirrors possibly collide, the driver actively decelerates or parks the automobile and manually controls the rearview mirrors to retract so as to avoid the collision of the rearview mirrors. However, this requires a certain experience of the driver and an active fold control of the mirror, which can also cause the mirror to be bumped once the driver fails to find or stow the mirror in time. Therefore, the automatic folding function of the rearview mirror is too dependent on subjective judgment and experience of a driver, lacks intelligence and cannot effectively prevent the rearview mirror from collision.
Disclosure of Invention
In view of the above, the embodiment of the application provides a control method, a control device and an automobile for preventing a rearview mirror from being collided transversely, so as to solve the problems that in the prior art, a means for preventing collision by controlling the rearview mirror to be collected is not intelligent enough, and subjective judgment and driving experience of a driver are too dependent.
In a first aspect of an embodiment of the present application, a control method for preventing a rearview mirror from a lateral collision is provided, including: when an obstacle is detected to exist around the vehicle, acquiring a running track of the vehicle; determining the time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, wherein the first direction is the driving direction of the vehicle; calculating the transverse distance between the rearview mirror and the obstacle in a second direction in real time, and judging whether the transverse distance is smaller than or equal to a preset first threshold value, wherein the second direction is perpendicular to the first direction; judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value under the condition that the transverse distance is smaller than or equal to a preset first threshold value; if yes, the corresponding rearview mirror is controlled to be retracted.
In a second aspect of the embodiment of the present application, there is provided a control device for preventing a rear view mirror from being collided laterally, comprising: an acquisition module configured to acquire a travel track of a vehicle when an obstacle around the vehicle is detected; the determining module is configured to determine the time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the running track, wherein the first direction is the running direction of the vehicle; the first judging module is configured to calculate the transverse distance between the rearview mirror and the obstacle in a second direction in real time and judge whether the transverse distance is smaller than or equal to a preset first threshold value, and the second direction is perpendicular to the first direction; a second judging module configured to judge whether a time urgency of approaching the obstacle by the rearview mirror in the first direction is less than or equal to a preset second threshold value, in a case that the lateral distance is less than or equal to a preset first threshold value; and the control module is configured to control the corresponding rearview mirror to be retracted if the rearview mirror is in the on state.
In a third aspect of the embodiments of the present application there is provided an automobile comprising an automatically stowable rear view mirror and a controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
Compared with the prior art, the embodiment of the application has the beneficial effects that: the control method for preventing the rearview mirror from transverse collision is characterized in that when an obstacle is detected around a vehicle, the running track of the vehicle is obtained; determining the time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, wherein the first direction is the driving direction of the vehicle; calculating the transverse distance between the rearview mirror and the obstacle in a second direction in real time, and judging whether the transverse distance is smaller than or equal to a preset first threshold value, wherein the second direction is perpendicular to the first direction; judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value under the condition that the transverse distance is smaller than or equal to a preset first threshold value; if yes, the corresponding rearview mirror is controlled to be retracted, so that the rearview mirror of the vehicle is automatically retracted under the condition that the rearview mirror is possibly collided with an obstacle in the transverse direction, the collision with the obstacle is actively avoided, and compared with the existing manual control mode for automatically retracting the rearview mirror, the method is more intelligent, the dependence on subjective judgment and driving experience of a driver is reduced, and the probability of the transverse collision of the rearview mirror is effectively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a control method for preventing a rearview mirror from being collided transversely according to an embodiment of the present application;
fig. 2 is a first diagram of a positional relationship between a left rearview mirror and an obstacle of an automobile according to an embodiment of the present application;
FIG. 3 is a top view of an automobile and an obstacle according to an embodiment of the present application;
fig. 4 is a second diagram of a positional relationship between a left rearview mirror and an obstacle of an automobile according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of another control method for preventing a rearview mirror from lateral collision according to an embodiment of the application;
FIG. 6 is a flow chart of another control method for preventing a rearview mirror from lateral collision according to an embodiment of the application;
fig. 7 is a schematic structural view of a control device for preventing a rearview mirror from being impacted laterally according to an embodiment of the present application;
FIG. 8 is a schematic view of an automobile according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a controller according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
Fig. 1 is a schematic flow chart of a control method for preventing a rearview mirror from being collided transversely according to an embodiment of the present application. In practical applications, the control method for preventing the rear view mirror from collision in the lateral direction of fig. 1 may be applied to an automobile having an automatic folding function of the rear view mirror and a corresponding controller, and executed by the controller, so as to reduce the probability of collision of the rear view mirror with an obstacle in the lateral direction.
As shown in fig. 1, the control method for preventing the rear view mirror from being collided transversely comprises the following steps:
S101, when an obstacle is detected around the vehicle, acquiring a running track of the vehicle;
s102, determining the time urgency of the rearview mirror approaching an obstacle in a first direction according to the type of the driving track, wherein the first direction is the driving direction of the vehicle;
s103, calculating the transverse distance between the rearview mirror and the obstacle in a second direction in real time, and judging whether the transverse distance is smaller than or equal to a preset first threshold value, wherein the second direction is perpendicular to the first direction;
s104, judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value under the condition that the transverse distance is smaller than or equal to a preset first threshold value;
and S105, if yes, controlling the corresponding rearview mirror to be retracted.
According to the technical scheme provided by the embodiment of the application, when the obstacle around the vehicle is detected, the running track of the vehicle is obtained; determining the time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, wherein the first direction is the driving direction of the vehicle; calculating the transverse distance between the rearview mirror and the obstacle in a second direction in real time, and judging whether the transverse distance is smaller than or equal to a preset first threshold value, wherein the second direction is perpendicular to the first direction; judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value under the condition that the transverse distance is smaller than or equal to a preset first threshold value; if yes, the corresponding rearview mirror is controlled to be retracted, so that the rearview mirror of the vehicle is automatically retracted under the condition that the rearview mirror is possibly collided with an obstacle in the transverse direction, the collision with the obstacle is actively avoided, and compared with the existing manual control mode for automatically retracting the rearview mirror, the method is more intelligent, the dependence on subjective judgment and driving experience of a driver is reduced, and the probability of the transverse collision of the rearview mirror is effectively reduced.
In the above step S101, the specific embodiment of detecting whether there is an obstacle around the vehicle is not limited, and includes but is not limited to visual detection, radar detection, and the like. For example, in one embodiment of the present application, a vehicle has a vision detection system, a surrounding image of the vehicle is acquired by the vision detection system, and the surrounding image is identified to determine whether there is an obstacle around the vehicle, and the embodiment can remotely detect the obstacle around the vehicle by using the vision detection method. Alternatively, in another embodiment of the present application, the vehicle is provided with a radar monitoring system, and the radar system is used to detect the position of the obstacle in a short distance by transmitting radar signals to the periphery of the vehicle and then identifying whether the periphery has the obstacle according to the reflected radar signals, so that the distance between the obstacle and the rearview mirror of the vehicle can be accurately identified. Or in another embodiment of the application, the vision detection system of the vehicle can be utilized to acquire the surrounding image of the vehicle, then the surrounding image is identified, if the surrounding image is identified to have an obstacle around the vehicle, then the radar system is utilized to transmit radar signals to detect the distance between the rearview mirror and the obstacle, and the range and the accuracy of the obstacle detection can be effectively improved through the combination of the two detection modes.
In the present embodiment, if no obstacle is detected around the vehicle, the detection of the obstacle may be continued to be performed with a hold or interval. If an obstacle is detected around the vehicle, a travel track of the vehicle is acquired.
The travel track of the vehicle may be the current travel track of the vehicle or a predicted track of the vehicle. In this embodiment, the driving track of the vehicle is preferably a predicted track, where the predicted track is not acquired in a unique manner. For example, in some automobiles with autopilot functionality, the vehicle includes an autopilot system, and when the vehicle is in an autopilot mode, the vehicle's autopilot system is utilized to calculate a predicted trajectory of the vehicle in real time; when the vehicle is not in the automatic driving mode, a predicted trajectory of the vehicle may be calculated according to the current direction of the vehicle. Of course, other means may be used in practical applications to obtain the driving track of the vehicle, which is not limited by the present application.
The travel locus of the vehicle may be divided into a straight travel locus and a turning locus.
In some embodiments, when the type of the driving track is a straight track, in the step S102, determining, according to the type of the driving track, a time urgency of the rearview mirror approaching the obstacle in the first direction includes:
Determining a time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, including: calculating the vertical distance between the topmost end of the rearview mirror and the foremost end of the obstacle in the running direction; calculating the vertical relative speed of the rearview mirror and the obstacle in the driving direction; a first ratio of the vertical distance to the vertical relative velocity is calculated, the time urgency comprising the first ratio.
In particular, the topmost end of the mirror may be a position right in the middle above the mirror, or may be a position on the left or right of the mirror, which is not limited by the embodiment of the application.
For example, referring to fig. 2, fig. 2 is a diagram of a positional relationship between a left side rearview mirror of an automobile and an obstacle 1 according to an embodiment of the present application, where the rearview mirror in fig. 2 is the left side rearview mirror of the automobile, a coordinate system is established at the topmost end of the rearview mirror, the X direction is a driving direction of the automobile, i.e., an axial direction, the Y direction is a direction perpendicular to the driving direction, i.e., a transverse direction, and the Z direction is a direction perpendicular to a plane in which XY is located, i.e., a gravity direction. As shown in fig. 2, assuming that the distance from the origin of coordinates to the forefront of the obstacle 1 is L, and the angle between L and the X direction is α, the vertical distance between the forefront of the rearview mirror and the forefront of the obstacle 1 in the traveling direction is l×cos α.
The forefront of the obstacle 1 refers to a position closest to the origin of coordinates shown in fig. 2, for example, a position where the distance L is near the end point on the obstacle 1 side in fig. 2, and the obstacle 1 may be in a moving state or a stationary state with respect to the vehicle. Referring to fig. 3, fig. 3 is a top view position relationship diagram of an automobile and an obstacle 1 according to an embodiment of the present application, and in combination with fig. 3, when the obstacle 1 is in a moving state, assuming that the speed of the automobile is V1 and the speed of the obstacle 1 is V2, the vertical relative speed of the rearview mirror and the obstacle 1 in the driving direction is V1-V2X cos β=v1-V2X. Thus, the time urgency in this embodiment may be expressed as L.times.cos.alpha/(V1-V2.times.cos.beta.). When the obstacle 1 is in a stationary state, the speed of the automobile is assumed to be V1, the speed of the obstacle 1 is assumed to be 0, the vertical relative speed of the rearview mirror and the obstacle 1 in the driving direction is assumed to be V1, and the time urgency is expressed as l×cos α/V1.
Next, in the step S103, the lateral distance between the rearview mirror and the obstacle 1 in the second direction is calculated in real time, and it is determined whether the lateral distance is less than or equal to a preset first threshold value, including: calculating a first distance between the topmost end of the rearview mirror and the foremost end of the obstacle 1, which is the smallest in the second direction, wherein the transverse distance comprises the first distance; determining whether the first distance is less than or equal to zero, the first threshold including zero.
Specifically, the lateral distance refers to the shortest distance between the mirror and the obstacle 1 in the second direction. As shown in fig. 2, assuming that the distance from the origin of coordinates to the forefront of the obstacle 1 is L, and the included angle between L and the X direction is α, the first distance between the forefront of the rearview mirror and the forefront of the obstacle 1 in the second direction can be calculated as l×sin α, that is, the lateral distance when the vehicle driving track is a straight track. In this embodiment, if the first distance is greater than the first threshold, it means that there is a gap between the top end of the rearview mirror and the front end of the obstacle 1 according to the current predicted track (i.e., straight track) of the vehicle, so that no collision occurs, and at this time, whether the lateral distance is less than or equal to the first threshold can be continuously monitored. If the first distance is less than or equal to the first threshold, it means that there is no gap between the topmost end of the rearview mirror and the frontmost end of the obstacle 1 according to the current predicted track of the vehicle, and a collision occurs, and at this time, the rearview mirror needs to be controlled to retract in advance according to the time urgency to avoid the collision between the obstacle 1 and the rearview mirror. The first threshold is a distance threshold preset by the user, wherein the first threshold is preferably zero, and of course, in practical application, the first threshold can be other distance thresholds larger or smaller than zero, which is not limited by the application.
Next, in the step S104, it is determined whether the time urgency of the rearview mirror approaching the obstacle 1 in the first direction is less than or equal to a preset second threshold, including: and judging whether the first threshold value is smaller than or equal to the stowage time of the rearview mirror, wherein the second threshold value comprises the stowage time of the rearview mirror.
Specifically, the time urgency is a tendency of the rearview mirror of the vehicle to approach the obstacle 1, and if the first ratio is smaller, it means that the tendency of the vehicle to approach the obstacle 1 is stronger or more pronounced, whereas if the first ratio is larger, it means that the tendency of the vehicle to approach the obstacle 1 is weaker or less pronounced. When the time urgency of the rearview mirror approaching the obstacle 1 in the first direction is less than or equal to a preset second threshold value, controlling the rearview mirror to retract; when the time urgency of the mirror approaching the obstacle 1 in the first direction is greater than a preset second threshold, the mirror retraction is temporarily not controlled. In this embodiment, the second threshold is preferably the retraction time of the rearview mirror, so that when the time urgency of the rearview mirror approaching the obstacle 1 in the first direction is less than or equal to the preset second threshold, the retraction of the rearview mirror is controlled, so that the retraction of the rearview mirror can be completed before the rearview mirror reaches the forefront end of the obstacle 1, and the situation that the rearview mirror is not fully retracted and collides with the obstacle 1 is avoided.
In some embodiments, when the type of the driving track is a turning track, in the step S102, determining the time urgency of the rearview mirror approaching the obstacle 1 in the first direction according to the type of the driving track includes: calculating a central angle formed by the topmost end of the rearview mirror and the circle center of the foremost end of the obstacle 1 relative to the turning track; calculating the relative angular speed of the rearview mirror and the obstacle 1; a second ratio of the central angle to the relative angular velocity is calculated, the time urgency comprising the second ratio.
Specifically, referring to fig. 4, fig. 4 is a diagram of a positional relationship between a left side rearview mirror of an automobile and an obstacle 1 according to an embodiment of the present application, as shown in fig. 4, a turning track of a vehicle is represented by a curve or an arc, as shown in an arc S in fig. 4, a circle center of the arc S where the turning track is located is O, according to positions of the obstacle 1 and the rearview mirror, a circle center angle formed by a topmost end of the rearview mirror and a foremost end of the obstacle 1 relative to the circle center where the turning track is located is γ, the rearview mirror follows the vehicle at different positions of the turning track, and the corresponding arc S, circle center O and circle center angle γ may all change, where in practical application, the circle center angle γ may be calculated in real time according to a predicted track.
In addition, when the travel locus is a turning locus, the obstacle 1 may be in a stationary state or a moving state as well. In connection with fig. 4, when the obstacle 1 is in a moving state, if the angular velocity of the obstacle 1 is ω1 and the angular velocity of the rearview mirror is ω2, the relative angular velocity of the rearview mirror and the obstacle 1 is ω2- ω1, and then the second ratio may be expressed as γ/(ω2- ω1), where the angular velocity is calculated as ω=Δθ/Δt, that is, the angle rotated in Δt is Δθ. Alternatively, the relative angular velocity of the mirror and the obstacle 1 may be calculated as Δγ/Δt, that is, the angle Δγ of change of the central angle γ during Δt, and then the second ratio may be expressed as γ/(Δγ/Δt). And when the obstacle 1 is in a stationary state, if the angular velocity of the obstacle 1 is 0 and the angular velocity of the rearview mirror is ω2, then the relative angular velocity of the rearview mirror and the obstacle 1 is ω2, and then the second ratio may be expressed as γ/ω2, where the angular velocity is calculated in such a manner that ω=Δθ/Δt. The time urgency in this embodiment is preferably expressed using a second ratio.
Next, in the step S103, the lateral distance between the rearview mirror and the obstacle 1 in the second direction is calculated in real time, and it is determined whether the lateral distance is less than or equal to a preset first threshold value, including: calculating a first distance from the obstacle 1 to the circle center of the turning track, wherein the transverse distance comprises the first distance; calculating a second distance from the rearview mirror to the circle center where the turning track is located; and judging whether the first distance is smaller than or equal to the second distance or not, wherein the first threshold value comprises the second distance.
Specifically, the lateral spacing here includes a first distance from the obstacle 1 to the center of the circle where the turn is located. Referring to fig. 4, in fig. 4, a first distance from the forefront of the obstacle 1 to the center of the turning track is D1, and a second distance from the forefront of the rearview mirror to the center of the turning track is D2. When the first distance D1 is greater than the second distance D2, this means that the mirror will not collide with the obstacle 1 when it is moved along the turning trajectory, at which time it can be continued to monitor whether the lateral distance is less than or equal to the first threshold value. When the first distance D1 is smaller than or equal to the second distance D2, this means that the rearview mirror will collide with the obstacle 1 when moving along the turning track, and the rearview mirror needs to be controlled to retract in advance according to the time urgency to avoid the collision between the obstacle 1 and the rearview mirror. In this embodiment, the first threshold is preferably D2, which is the second distance from the top of the rearview mirror to the center of the circle where the turning track is located, although other distance thresholds may be selected as the first threshold in practical application, which is not limited in the present application.
Next, in the step S104, it is determined whether the time urgency of the rearview mirror approaching the obstacle 1 in the first direction is less than or equal to a preset second threshold, including: and judging whether the second ratio is smaller than or equal to the retraction time of the rearview mirror, wherein the second threshold value comprises the retraction time of the rearview mirror.
Specifically, the time urgency refers to the tendency of the rearview mirror of the vehicle to approach the obstacle 1, and if the second ratio is smaller, it means that the tendency of the vehicle to approach the obstacle 1 is stronger or more pronounced, whereas if the second ratio is larger, it means that the tendency of the vehicle to approach the obstacle 1 is weaker or less pronounced. When the second ratio is smaller than or equal to the retraction time of the rearview mirror, controlling the retraction of the rearview mirror; the second ratio is greater than the stowage time of the mirror, and the mirror stowage is temporarily not controlled. In this embodiment, the second threshold is preferably the retraction time of the rearview mirror, so that when the time urgency of the rearview mirror approaching the obstacle 1 in the first direction is less than or equal to the preset second threshold, the retraction of the rearview mirror is controlled, so that the retraction of the rearview mirror can be completed before the rearview mirror reaches the forefront end of the obstacle 1, and the situation that the rearview mirror is not fully retracted and collides with the obstacle 1 is avoided.
In step S105, there are two general rearview mirrors of the vehicle, namely, a left rearview mirror and a right rearview mirror, and in each embodiment, the specific implementation is mainly described by taking the left rearview mirror as an example, and since the control manner of the right rearview mirror is the same as that of the left rearview mirror, the description is omitted here.
When an obstacle is detected around the vehicle, the position of the obstacle can be judged firstly, and if the obstacle is arranged on one side of the left rearview mirror, a coordinate system is established by the left rearview mirror to calculate the time urgency and the transverse distance; if an obstacle exists on one side of the right rearview mirror, establishing a coordinate system by the right rearview mirror to calculate time urgency and transverse distance; if the two sides of the right rearview mirror and the left rearview mirror are provided with barriers, the time urgency and the transverse distance are calculated by establishing a coordinate system of the right rearview mirror and the left rearview mirror respectively, or the time urgency and the transverse distance are calculated by establishing a coordinate system of the right rearview mirror or the left rearview mirror. And then, judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value or not under the condition that the transverse distance is smaller than or equal to the preset first threshold value, and if so, controlling the corresponding rearview mirror to retract. In addition, when the lateral distance is smaller than or equal to the preset first threshold, it is determined whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to the preset second threshold, and if not, the step S101 is returned to continue monitoring.
In addition, referring to fig. 5, fig. 5 is a flow chart of another control method for preventing a lateral collision of a rearview mirror according to an embodiment of the application. As shown in fig. 5, the control method for preventing the rear view mirror from being collided transversely comprises the following steps:
s501, when an obstacle is detected around the vehicle, the following calculations are performed:
a first vertical height of the lowermost end of the obstacle relative to a road surface on which the vehicle is traveling;
the topmost end of the rearview mirror is at a second vertical height relative to the running road surface of the vehicle;
s502, judging whether the first vertical height is smaller than or equal to the second vertical height;
s503, when the first vertical height is smaller than or equal to the second vertical height, sending out prompt information of collision in the vehicle, and returning to the step S501;
s504, acquiring a running track of the vehicle under the condition that the first vertical height is larger than the second vertical height;
s505, determining the time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, wherein the first direction is the driving direction of the vehicle;
s506, calculating the transverse distance between the rearview mirror and the obstacle in a second direction in real time, and judging whether the transverse distance is smaller than or equal to a preset first threshold value, wherein the second direction is perpendicular to the first direction;
S507, judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value under the condition that the transverse distance is smaller than or equal to a preset first threshold value;
and S508, if yes, controlling the corresponding rearview mirror to be retracted.
The specific embodiment of calculating the first vertical height of the bottommost of the obstacle with respect to the vehicle running road surface is not limited, for example, in some automobiles with a visual perception system, the visual perception system may be used to obtain a target image containing the obstacle and the running road surface, and then the target image is processed to automatically calculate the first vertical height of the bottommost of the obstacle with respect to the vehicle running road surface. It can be understood that the algorithm for automatically calculating the first vertical height of the lowermost end of the obstacle relative to the vehicle running road surface by processing the target image may be some conventional algorithm, or may be an algorithm obtained by improving the conventional algorithm according to a specific application scenario, which is not limited in the embodiment of the present application.
Furthermore, the embodiment of calculating the second vertical height of the topmost end of the rear-view mirror with respect to the road surface on which the vehicle is traveling is not exclusive, for example, in some automobiles having radar systems, radar signals may be transmitted to the ground to detect the second vertical height of the topmost end of the rear-view mirror with respect to the road surface on which the vehicle is traveling; in addition, a second vertical height of the topmost end of the rear-view mirror with respect to the road surface on which the vehicle is traveling may also be detected on the rear-view mirror in accordance with the distance measuring sensor.
Specifically, since the obstacle hanging down above the rear view mirror is a small probability event in actual driving, the warning information of the collision is issued in the vehicle in the case where the first vertical height is less than or equal to the second vertical height. The prompt information can be information sent in a voice, text, image or lamplight mode, so that a user can timely take corresponding countermeasures when the prompt information is acquired, and collision of the rearview mirror and an obstacle is avoided. It will be appreciated that the handling of obstructions hanging above the mirror is not a contribution of the present application to the prior art and will not be described or illustrated in detail herein.
In some embodiments, referring to fig. 6 again, fig. 6 is a flow chart of another control method for preventing a lateral collision of a rearview mirror according to an embodiment of the present application. As shown in fig. 6, the control method for preventing the rear view mirror from being collided transversely comprises the following steps:
s601, when an obstacle is detected around the vehicle, acquiring a running track of the vehicle, wherein the type of the running track comprises a straight track and a turning track;
s602, when the driving track is a straight driving track, calculating the vertical distance between the topmost end of the rearview mirror and the foremost end of the obstacle in the driving direction, calculating the vertical relative speed of the rearview mirror and the obstacle in the driving direction, and calculating a first ratio of the vertical distance to the vertical relative speed; calculating the minimum first distance between the rearview mirror and the obstacle in the second direction, and judging whether the first ratio is smaller than or equal to the retraction time of the rearview mirror or not under the condition that the first distance is smaller than or equal to zero, if so, controlling the retraction of the corresponding rearview mirror;
S603, when the driving track is the turning track, calculating a central angle formed by the topmost end of the rearview mirror and the foremost end of the obstacle relative to the circle center where the turning track is located, calculating the relative angular speed of the rearview mirror and the obstacle, and calculating a second ratio of the central angle to the relative angular speed; calculating a first distance from the obstacle to the circle center where the turning track is located, wherein the transverse distance comprises the first distance, calculating a second distance from the rearview mirror to the circle center where the turning track is located, and judging whether the second ratio is smaller than or equal to the folding time of the rearview mirror or not under the condition that the first distance is smaller than or equal to the second distance, if so, controlling the folding of the corresponding rearview mirror.
According to the technical scheme provided by the embodiment of the application, when the obstacle around the vehicle is detected, the running track of the vehicle is obtained, wherein the type of the running track comprises a straight track and a turning track; when the running track is a straight running track, calculating the vertical distance between the topmost end of the rearview mirror and the foremost end of the obstacle in the running direction, calculating the vertical relative speed of the rearview mirror and the obstacle in the running direction, and calculating a first ratio of the vertical distance to the vertical relative speed; calculating the minimum first distance between the rearview mirror and the obstacle in the second direction, and judging whether the first ratio is smaller than or equal to the retraction time of the rearview mirror or not under the condition that the first distance is smaller than or equal to zero, if so, controlling the retraction of the corresponding rearview mirror; when the driving track is a turning track, calculating a central angle formed by the topmost end of the rearview mirror and the foremost end of the obstacle relative to the circle center where the turning track is positioned, calculating the relative angular speed of the rearview mirror and the obstacle, and calculating a second ratio of the central angle to the relative angular speed; calculating a first distance from an obstacle to a circle center where a turning track is located, wherein the transverse distance comprises the first distance, calculating a second distance from a rearview mirror to the circle center where the turning track is located, judging whether the second ratio is smaller than or equal to the folding time of the rearview mirror under the condition that the first distance is smaller than or equal to the second distance, if so, controlling the folding of the corresponding rearview mirror, enabling the rearview mirror of a vehicle to be automatically folded under the condition that the rearview mirror is possibly collided with the obstacle in the transverse direction, actively avoiding collision with the obstacle, and compared with the existing manual control mode of automatically folding the rearview mirror, the method is more intelligent, subjective judgment of a driver and dependence on driving experience are reduced, and the probability of transverse collision of the rearview mirror is effectively reduced.
Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Fig. 7 is a schematic view of a control device for preventing a rearview mirror from being impacted laterally according to an embodiment of the present application. As shown in fig. 7, the control device for preventing a lateral collision of a rear view mirror includes:
an acquisition module 701 configured to acquire a travel track of a vehicle when an obstacle around the vehicle is detected;
a determining module 702 configured to determine, according to a type of a driving track, a time urgency of the rear view mirror approaching the obstacle in a first direction, the first direction being a driving direction of the vehicle;
a first judging module 703 configured to calculate, in real time, a lateral distance between the rearview mirror and the obstacle in a second direction, and judge whether the lateral distance is smaller than or equal to a preset first threshold, where the second direction is perpendicular to the first direction;
a second judging module 704 configured to judge whether a time urgency of approaching the obstacle by the rearview mirror in the first direction is less than or equal to a preset second threshold value, in a case where the lateral distance is less than or equal to a preset first threshold value;
And the control module 705 is configured to control the corresponding rearview mirror to be retracted if yes.
According to the technical scheme provided by the embodiment of the application, when the obstacle around the vehicle is detected, the running track of the vehicle is obtained; determining the time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, wherein the first direction is the driving direction of the vehicle; calculating the transverse distance between the rearview mirror and the obstacle in a second direction in real time, and judging whether the transverse distance is smaller than or equal to a preset first threshold value, wherein the second direction is perpendicular to the first direction; judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value under the condition that the transverse distance is smaller than or equal to a preset first threshold value; if yes, the corresponding rearview mirror is controlled to be retracted, so that the rearview mirror of the vehicle is automatically retracted under the condition that the rearview mirror is possibly collided with an obstacle in the transverse direction, the collision with the obstacle is actively avoided, and compared with the existing manual control mode for automatically retracting the rearview mirror, the method is more intelligent, the dependence on subjective judgment and driving experience of a driver is reduced, and the probability of the transverse collision of the rearview mirror is effectively reduced.
In some embodiments, the type of travel track comprises a straight travel track, and the determination module 702 in fig. 7 described above is specifically configured to calculate a vertical distance of the topmost end of the rearview mirror from the forwardmost end of the obstacle in the travel direction; calculating the vertical relative speed of the rearview mirror and the obstacle in the driving direction; a first ratio of the vertical distance to the vertical relative velocity is calculated, the time urgency comprising the first ratio.
In some embodiments, the first determining module 703 in fig. 7 is specifically configured to calculate a first minimum distance between the rearview mirror and the obstacle in the second direction, where the lateral distance includes the first distance; determining whether the first distance is less than or equal to zero, the first threshold including zero.
In some embodiments, the second determining module 704 in fig. 7 is specifically configured to determine whether the first ratio is less than or equal to a stow time of the rearview mirror, and the second threshold includes the stow time of the rearview mirror.
In some embodiments, the type of travel track includes a turn track; the determining module 702 in fig. 7 is specifically configured to calculate a central angle formed by the topmost end of the rearview mirror and the foremost end of the obstacle relative to the center of the circle where the turning track is located; calculating the relative angular speed of the rearview mirror and the obstacle; a second ratio of the central angle to the relative angular velocity is calculated, the time urgency comprising the second ratio.
In some embodiments, the first determining module 703 in fig. 7 is specifically configured to calculate a first distance from the obstacle to a center of a circle where the turning track is located, where the lateral distance includes the first distance; calculating a second distance from the rearview mirror to the circle center where the turning track is located; and judging whether the first distance is smaller than or equal to the second distance or not, wherein the first threshold value comprises the second distance.
In some embodiments, the second determining module 704 in fig. 7 is specifically configured to determine whether the second ratio is less than or equal to a stow time of the rear view mirror, where the second threshold includes the stow time of the rear view mirror.
In some embodiments, the control device for preventing a lateral collision of a rearview mirror further includes:
a first calculation module 706 configured to calculate a first vertical height of a lowermost end of the obstacle relative to a road surface on which the vehicle is traveling;
a second calculation module 707 configured to calculate a second vertical height of a topmost end of the rearview mirror relative to a road surface on which the vehicle is traveling;
a third determination module 708 configured to determine whether the first vertical height is less than or equal to the second vertical height;
the prompting module 709 is configured to send out prompt information of collision in the vehicle if the collision is detected.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Fig. 8 is a schematic structural diagram of an automobile according to an embodiment of the present application, as shown in fig. 8, the automobile 8 includes an automatically retractable rearview mirror 81 and a controller 82, and the controller 82 is connected to the rearview mirror 81 and can control the retraction or deployment of the corresponding rearview mirror. In this embodiment, the vehicle 8 is preferably a new energy vehicle, such as an extended range vehicle or a pure electric vehicle.
In particular, the principle of operation of the automatically stowable rear view mirror 81 is to control the movement of the rear view mirror by using a motor and a transmission system. When the vehicle starts or stops, the sensor senses the state of the vehicle and sends a signal to the controller. The controller controls folding or unfolding of the rearview mirror through the motor according to signals of the vehicle state. The motor drives the transmission system to enable the support or the arm of the rearview mirror to be unfolded or folded, so that the automatic folding or unfolding function of the rearview mirror is realized. It will be appreciated that the automatically stowable rear view mirror is not a contribution of the present application to the prior art and will not be described in detail herein.
In addition, referring to fig. 9, fig. 9 is a schematic diagram of a controller according to an embodiment of the present application. As shown in fig. 9, the controller 82 includes: a processor 821, a memory 822, and a computer program 823 stored in the memory 822 and executable on the processor 821. The steps of the various method embodiments described above are implemented when the processor 821 executes the computer program 823. Alternatively, the processor 821, when executing the computer program 823, implements the functions of the modules in the above-described respective apparatus embodiments.
The controller 82 may be a control unit for controlling a rearview mirror, or may be a control device such as a master control device, a vehicle control unit, or a vehicle body computer of an automobile. The controller 82 may include, but is not limited to, a processor 821 and a memory 822. It will be appreciated by those skilled in the art that fig. 9 is merely an example of the controller 82 and is not limiting of the controller 82 and may include more or fewer components than shown, or different components.
The processor 821 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.
The memory 822 may be an internal storage unit of the controller 82, such as a hard disk or memory of the controller 82. The memory 822 may also be an external storage device of the controller 82, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, which are provided on the controller 82. Memory 822 may also include both internal storage units and external storage devices for controller 82. Memory 822 is used to store computer programs and other programs and data needed for the electronic device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.
The integrated module, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a readable storage medium (e.g., a computer readable storage medium). Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A control method for preventing a rear view mirror from a lateral collision, comprising:
when an obstacle is detected to exist around the vehicle, acquiring a running track of the vehicle;
determining the time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, wherein the first direction is the driving direction of the vehicle;
calculating the transverse distance between the rearview mirror and the obstacle in a second direction in real time, and judging whether the transverse distance is smaller than or equal to a preset first threshold value, wherein the second direction is perpendicular to the first direction;
judging whether the time urgency of the rearview mirror approaching the obstacle in the first direction is smaller than or equal to a preset second threshold value under the condition that the transverse distance is smaller than or equal to a preset first threshold value;
If yes, the corresponding rearview mirror is controlled to be retracted.
2. The method of claim 1, wherein the type of travel track comprises a straight track;
determining a time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, including:
calculating the vertical distance between the topmost end of the rearview mirror and the foremost end of the obstacle in the running direction;
calculating the vertical relative speed of the rearview mirror and the obstacle in the driving direction;
a first ratio of the vertical distance to the vertical relative velocity is calculated, the time urgency comprising the first ratio.
3. The method of claim 2, wherein calculating in real time the lateral separation of the mirror from the obstacle in the second direction and determining whether the lateral separation is less than or equal to a preset first threshold comprises:
calculating a first minimum distance between the rearview mirror and the obstacle in a second direction, wherein the transverse distance comprises the first distance;
and judging whether the first distance is smaller than or equal to zero or not, wherein the first threshold value comprises zero.
4. A method according to claim 3, wherein determining whether the time urgency of the mirror approaching the obstacle in the first direction is less than or equal to a preset second threshold comprises:
And judging whether the first threshold value is smaller than or equal to the stowing time of the rearview mirror, wherein the second threshold value comprises the stowing time of the rearview mirror.
5. The method of claim 1, wherein the type of travel track comprises a turn track;
determining a time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the driving track, including:
calculating a central angle formed by the topmost end of the rearview mirror and the foremost end of the obstacle relative to the circle center where the turning track is located;
calculating the relative angular speed of the rearview mirror and the obstacle;
and calculating a second ratio of the central angle to the relative angular velocity, wherein the time urgency comprises the second ratio.
6. The method of claim 5, wherein calculating in real time the lateral separation of the mirror from the obstacle in the second direction and determining whether the lateral separation is less than or equal to a preset first threshold comprises:
calculating a first distance from an obstacle to a circle center where a turning track is located, wherein the transverse distance comprises the first distance;
calculating a second distance from the rearview mirror to the circle center where the turning track is located;
and judging whether the first distance is smaller than or equal to a second distance or not, wherein the first threshold value comprises the second distance.
7. The method of claim 6, wherein determining whether the time urgency of the mirror approaching the obstacle in the first direction is less than or equal to a preset second threshold comprises:
and judging whether the second ratio is smaller than or equal to the retraction time of the rearview mirror, wherein the second threshold value comprises the retraction time of the rearview mirror.
8. The method according to any one of claims 1-7, further comprising:
calculating a first vertical height of the bottommost end of the obstacle relative to the vehicle running road surface;
calculating a second vertical height of the topmost end of the rearview mirror relative to the vehicle running road surface;
judging whether the first vertical height is smaller than or equal to the second vertical height;
if yes, prompt information of collision is sent out in the vehicle.
9. A control device for preventing a lateral collision of a rear view mirror, comprising:
an acquisition module configured to acquire a travel track of a vehicle when an obstacle around the vehicle is detected;
the determining module is configured to determine the time urgency of the rearview mirror approaching the obstacle in a first direction according to the type of the running track, wherein the first direction is the running direction of the vehicle;
the first judging module is configured to calculate the transverse distance between the rearview mirror and the obstacle in a second direction in real time and judge whether the transverse distance is smaller than or equal to a preset first threshold value, and the second direction is perpendicular to the first direction;
A second judging module configured to judge whether a time urgency of approaching the obstacle by the rearview mirror in the first direction is less than or equal to a preset second threshold value, in a case that the lateral distance is less than or equal to a preset first threshold value;
and the control module is configured to control the corresponding rearview mirror to be retracted if the rearview mirror is in the on state.
10. An automobile comprising an automatically stowable rear view mirror and a controller, said controller comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the method according to any one of claims 1 to 8 when said computer program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311085016.2A CN116901841A (en) | 2023-08-25 | 2023-08-25 | Control method and device for preventing rearview mirror from transverse collision and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311085016.2A CN116901841A (en) | 2023-08-25 | 2023-08-25 | Control method and device for preventing rearview mirror from transverse collision and automobile |
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| Publication Number | Publication Date |
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| CN116901841A true CN116901841A (en) | 2023-10-20 |
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| CN202311085016.2A Pending CN116901841A (en) | 2023-08-25 | 2023-08-25 | Control method and device for preventing rearview mirror from transverse collision and automobile |
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| Country | Link |
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| CN (1) | CN116901841A (en) |
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- 2023-08-25 CN CN202311085016.2A patent/CN116901841A/en active Pending
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