CN-122009087-A - Automobile, electronic rearview mirror with cleaning function and control method of electronic rearview mirror

CN122009087ACN 122009087 ACN122009087 ACN 122009087ACN-122009087-A

Abstract

An automobile, an electronic rearview mirror with a cleaning function and a control method thereof relate to the technical field of electronic rearview mirrors. The control method comprises the steps of acquiring image frames shot by the electronic rearview mirror and vehicle running state data. And judging the current illumination scene according to the illumination condition and the gain parameter, and pre-judging the tunnel or the entrance of the ground library to generate a scene zone bit. And carrying out region of interest identification processing and brightness normalization processing on the image frame. Based on the preprocessed data and the vehicle running state data, a multidimensional feature index is calculated. And performing interference locking judgment. If the vehicle is unlocked, distinguishing a fog state or a dirty state according to the scene zone bit and the multidimensional characteristic index, and generating a control instruction by combining the vehicle running state. And executing corresponding heating defogging or blowing cleaning actions according to the control instruction. After the action is executed, the image is collected again to calculate the image quality score and the improvement amount, and whether the action is stopped, the execution dosage is adjusted or the reference standard parameter is updated is determined according to the acceptance result.

Inventors

LIU QUNLI
ZHANG GANG
ZHANG WENCHAO
CHEN JUNSHENG
LIU YANGE

Assignees

厦门金龙旅行车有限公司

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (10)

1. A control method of an electronic rearview mirror with a cleaning function, comprising the steps of: Acquiring an image frame shot by an electronic rearview mirror and vehicle running state data; judging the current illumination scene according to the illumination condition and the gain parameter, and pre-judging the tunnel or the entrance of the ground library to generate a scene zone bit; carrying out region of interest identification processing and brightness normalization processing on the image frame; calculating multidimensional characteristic indexes based on the preprocessed data and the vehicle running state data, wherein the indexes at least comprise contrast and definition reflecting image details, halation index reflecting night scattering, dew point margin reflecting physical hazing risk, stable spot characteristics reflecting lens dirt, noise intensity reflecting image quality interference and uniform image quality score; If not, distinguishing a fog state or a dirty state according to a scene zone bit and a multidimensional characteristic index, and generating a control instruction by combining a vehicle running state; And after the action is executed, re-collecting the image to calculate the image quality score and the improvement amount, and determining whether to stop the action, adjust the execution dosage or update the reference standard parameters according to the checking result.
2. The method for controlling an electronic rearview mirror with a cleaning function according to claim 1, wherein the vehicle driving state data includes an illumination value, an image sensor gain, and an identification of a point of entry into a tunnel or a ground garage; Setting a night mode mark when the illumination value is lower than a night illumination threshold value or the gain of the image sensor is higher than a preset gain threshold value; ; In the middle of Is a night mode flag; for the indication function, the condition is true to be 1, otherwise, 0 is taken; for the moment of time Is a lighting value of (a); is a night illumination threshold; for the moment of time Is a gain of the image sensor of (a); Is a gain threshold; Is a logical OR; Setting a tunnel pre-judging mark when a tunnel or a ground warehouse is about to enter or an illumination value is suddenly changed in an adjacent period, wherein when the tunnel pre-judging mark is set, an active anti-fog maintaining mode is entered, and heating is started in advance to increase a dew point margin; ; In the middle of Pre-judging marks for tunnels or ground libraries; An identification of the impending tunnel or ground library; for the moment of time Is a lighting value of (a); Is the illumination mutation threshold.
3. The control method of an electronic rearview mirror with a cleaning function according to claim 1, characterized in that the identification process of the region of interest is as follows; when the illumination scene is daytime, removing the overexposure region and the region with gradient amplitude or texture energy lower than a threshold value to obtain a region of interest; When the illumination scene is at night, identifying pixel points with brightness exceeding a threshold value, taking the pixel points as the center of a point light source, and taking the peripheral annular area into the region of interest; the specific brightness normalization processing is as follows; ; In the middle of Representing normalized pixels Is a value of (2); representing the original input frame in pixels Is a luminance value of (1); is shown in the region of interest Internally-paired original input frame Calculating an average value; To prevent the number of zeros from being removed.
4. The control method of an electronic rearview mirror with a cleaning function according to claim 1, characterized in that the contrast is calculated as follows; ; ; In the middle of For the moment of time RMS contrast of (a); For normalized contrast; for the moment of time Is a region of interest of (2); The average brightness in the region of interest; Normalizing the image for brightness; Bucket for putting in position Is a reference contrast ratio of (2); Indexing for a scene bucket; Representing normalized pixels Is a value of (2); To prevent the number of zeros from being removed; the definition index is calculated as follows; ; ; In the middle of For the moment of time A sharpness index of (2); For normalized sharpness; a variance operator in the region of interest; Is a Laplacian operator; The reference definition of the scene bucket b; Night halation index calculation is achieved by extracting a point light source set and calculating halation energy ratio of each point light source; ; ; In the middle of Is a point light source Is a halo index of (2); Indexing for pixel positions; To take the following measures Is the center and radius To the point of Is a ring-shaped region of (2); To take the following measures Is the center and radius Is a core region of (1); for the moment of time Is a global halation index of (2); representing a set of pairs All of (3) An operator for calculating the mean value; for the moment of time Point light source set; the multidimensional characteristic index also comprises a daytime fogging index and a night fusion fogging index; ; ; In the middle of Is a daytime fogging index; Is a first daytime weight coefficient; Is a second daytime weight coefficient; Is a night hazing index; Is a first night weight coefficient; Is the second night weight coefficient.
5. The control method of an electronic rear view mirror with a cleaning function according to claim 1, wherein the dew point margin and the dew point temperature are calculated based on a magnus formula; ; ; ; In the middle of Is a magnus formula intermediate variable; Is a first magnus constant; is a second magnus constant; Is ambient temperature; Is natural logarithm; is relative humidity; is the dew point temperature; the temperature of the module is set; Is the dew point margin; Extracting a background reference by utilizing time median filtering, calculating the difference between the current frame and the background reference, and generating stable spot characteristics reflecting lens dirt based on the difference amplitude; ; ; In the middle of For the moment of time Is in pixels Is a value of (2); Is a median operation; Is that Time normalized pixel Values of (2) Representing normalized pixels Is a value of (2); is the magnitude of the difference.
6. The control method of an electronic rear view mirror with a cleaning function according to claim 1, wherein the calculation of the noise intensity reflecting the image quality disturbance is as follows; ; ; In the middle of Noise intensity after being compensated for ISO; to take the maximum value operator; Is a region of interest Solving the variance; Is a region of interest; Normalizing the image for brightness; to smooth the denoised reference image; is a noise-ISO coefficient; for the moment of time Is a gain of the image sensor of (a); image sensor gain as a reference; The jump index is used for exposure; an average operator of the region of interest; for the moment of time Is a region of interest of (2); Is that Normalizing the image by the brightness at the moment; The unified image quality score is calculated as follows; In the middle of For the moment of time Is a picture quality score of (2); For normalized sharpness; For normalized contrast; Is the overexposure interference index; Noise intensity after being compensated for ISO; Is that Weight coefficient of (2); Is that Weight coefficient of (2); Is that Weight coefficient of (2); Is that Weight coefficient of (c) in the above-mentioned formula (c).
7. The method for controlling an electronic rearview mirror with a cleaning function according to any one of claims 1-5, wherein the method is characterized in that interference locking judgment is performed according to noise intensity, if not, a fog state or a dirty state is distinguished according to a scene zone bit and a multidimensional characteristic index, and a control instruction is generated by combining a vehicle running state, and specifically comprises the following steps: Overexposure interference index Intensity of noise Or jump in exposure When the threshold value is exceeded, judging that the frame is in an interference state, entering an interference locking state, and only selecting the frame for output; if tunnel prejudging sign Setting, executing an anti-fog action, and keeping the temperature of the module higher than the dew point temperature by at least one dew point margin; based on daytime fogging confidence Confidence of night hazing And dew point margin If the fog generation judgment is true, executing the fog generation action; Based on the confidence of the dirt Judging whether the sewage is dirty or not; if the dirt discrimination is established and the vehicle speed is high If the speed is greater than the minimum effective speed threshold, executing air blowing cleaning action; daytime haze confidence: ; night hazing confidence: ; In the middle of Confidence for daytime fogging; Confidence for night hazing; a fogging weight that is a fogging confidence; Fogging weight for dew point margin; is a daytime fogging index; Is a night hazing index; a daytime fogging index threshold; is a night fogging threshold; Is the dew point margin; Is a dew point margin threshold; for the indication function, the condition is true to be 1, otherwise, 0 is taken; the calculation of the soil confidence is as follows; ; ; In the middle of Is a soil confidence; For normalized sharpness; Is a sharpness degradation threshold; Is the confidence of the spot; Is the overexposure interference index; Noise intensity after being compensated for ISO; Is that Is a soil weight coefficient of (a); Is that Is a soil weight coefficient of (a); Is that Is a soil weight coefficient of (a); Is that Is a soil weight coefficient of (a); A vehicle speed gating mark; The vehicle speed is the vehicle speed; Is the lowest effective vehicle speed threshold.
8. The method for controlling an electronic rearview mirror with a cleaning function according to claim 7, characterized in that the anti-fog action and the defogging action adjust the heating power by adopting a closed-loop proportional and hysteresis control strategy To stabilize the dew point margin above a safety threshold; the defogging action adopts closed loop acceptance, and the image quality improvement quantity meets the requirement And is also provided with Or a maximum heating period is reached Stopping heating when the temperature is lower than the preset temperature; In the middle of Is the quality improvement amount of the picture; for the moment of time Is a picture quality score of (2); to start the moment of strong defogging Is a picture quality score of (2); Is the image quality standard threshold; Is the dew point margin; Is a safe dew point margin threshold; the blowing cleaning action adopts variable frequency sweep frequency pulse and performs closed-loop dosage adjustment; Interval of blowing pulse With the number of times Decreasing progressively; ; if the image quality is improved after single blowing The next blowing dosage is increased without reaching the target and exceeding the maximum number : ; ; In the middle of Is the first A secondary short blowing interval; is the minimum interval; is an initial interval; Index for short blow times; Is the interval stepping amount; is the first A secondary blowing dose; Is the maximum blowing dose; is the first A secondary blowing dose; is a parameter adjusting coefficient; Is the lowest improvement threshold; is the first Image quality improvement amount of the secondary air blowing; Scoring the image quality after blowing; the image quality before blowing was scored.
9. An electronic rearview mirror with a cleaning function is characterized by comprising a camera with a heating function and a cleaning assembly which is configured to blow air towards a lens of the camera; The electronic rear view mirror is adapted to perform a control method of an electronic rear view mirror with a cleaning function according to any one of claims 1 to 8.
10. An automobile, characterized in that an electronic rear view mirror with a cleaning function as claimed in claim 9 is provided.

Description

Automobile, electronic rearview mirror with cleaning function and control method of electronic rearview mirror Technical Field The invention relates to the technical field of electronic rearview mirrors, in particular to an electronic rearview mirror with a cleaning function for an automobile and a control method thereof. Background The electronic rearview mirror system is used as an important auxiliary device for safe driving of a vehicle, captures the environment outside the vehicle through the camera and displays images on the screen in the vehicle, can provide a wider visual field for a driver, effectively reduces the blind area problem of the traditional optical rearview mirror, and is increasingly widely applied to the fields of commercial vehicles and passenger vehicles. With the intelligent development of automobiles, drivers have raised higher requirements on the reliability of electronic rearview mirror systems under various severe environmental conditions such as rain, snow, wind and sand, and the like, and keeping clear vision becomes a key premise for guaranteeing driving safety. In the actual use process, the camera lens of the electronic rearview mirror is easily affected by external environment, water vapor and frost fog can be covered in rainy and snowy weather, dust is easily accumulated in a sand-blown environment, and the imaging quality of the pollutants can be seriously reduced or even completely disabled, so that a driver cannot acquire clear vehicle external environment information in time, and the running risk is obviously increased. To cope with this problem, some of the prior art have provided cleaning functions for electronic rearview mirrors, but there are significant limitations in the manner of triggering the related cleaning operations. The cleaning function of the existing electronic rearview mirror lacks of active recognition capability for picture definition, can not automatically detect whether a lens is polluted or not and whether imaging quality is reduced or not, and can only trigger cleaning operation manually by a driver. The mode of relying on manual judgment and operation can not respond to the pollution condition of the lens in time, so that the problem of fuzzy vision can not be solved quickly, the attention of a driver can be dispersed, extra operation inconvenience and potential safety hazards are brought, particularly, under complex road conditions, the hysteresis and operation risk of manual triggering are more outstanding, and the requirement of a vehicle on continuous clear vision under various working conditions is difficult to meet. Disclosure of Invention The invention provides an automobile, an electronic rearview mirror with a cleaning function and a control method thereof, so as to improve at least one of the technical problems. In a first aspect, the present invention provides a control method for an electronic rearview mirror with a cleaning function, which includes steps S1 to S6. S1, acquiring an image frame shot by the electronic rearview mirror and vehicle running state data. S2, judging the current illumination scene according to the illumination condition and the gain parameter, and pre-judging the tunnel or the entrance of the ground library to generate a scene zone bit. S3, carrying out region of interest identification processing and brightness normalization processing on the image frame. And S4, calculating a multidimensional characteristic index based on the preprocessed data and the vehicle running state data. The indexes at least comprise contrast and definition of image details, halation index reflecting night scattering, dew point margin reflecting physical fogging risk, stable spot characteristics reflecting lens dirt, noise intensity reflecting image quality interference and uniform image quality score. S5, performing interference locking judgment according to the noise intensity. If the vehicle is not locked, distinguishing a fog state or a dirty state according to the scene zone bit and the multidimensional characteristic index, and generating a control instruction by combining the vehicle running state. And S6, executing corresponding heating defogging or blowing cleaning actions according to the control instruction. After the action is executed, the image is acquired again to calculate the image quality score and the improvement amount, and whether the action is stopped, the execution dosage is adjusted or the reference standard parameter is updated is determined according to the acceptance result. In a second aspect, the present invention provides an electronic rearview mirror with a cleaning function, comprising a camera with a heating function, and a cleaning assembly configured to blow air towards a lens of the camera. The electronic rear view mirror is adapted to perform a control method of an electronic rear view mirror with a cleaning function according to any one of the paragraphs of the first aspect. In a third aspect,