Automatically-adjusting mirror for use in vehicles
Systems and methods for a self-adjusting vehicle mirror. The mirror automatically locates the face of the driver or another passenger, and orients the mirror to provide the driver/passenger face with a desired view from the mirror. The mirror may continue to reorient itself as the driver or passenger shifts position, to continuously provide a desired field of view even as he or she changes position over time. In certain embodiments, the mirror system of the disclosure can be a self-contained system, with the mirror, mirror actuator, camera, and computing device all contained within the mirror housing as a single integrated unit.
1. A system comprising:
a mirror articulable relative to a vehicle;
one or more cameras;
an actuator capable of adjusting the mirror to a target orientation; and
control circuitry electronically coupled to the actuator, the control circuitry to:
receive, from the one or more cameras, image data depicting at least a portion of a driver of the vehicle and at least a portion of an object at a predetermined location, the object having an apparent shape in one or more views of at least one camera of the one or more cameras, the apparent shape varying with a current orientation of the mirror;
determine, from the image data, at least one position of the driver and the apparent shape of the object;
determine the current orientation of the mirror based at least on the apparent shape of the object;
determine a target orientation of the mirror based at least on the at least one position of the driver; and
cause the actuator to position the mirror based at least on the target orientation and the current orientation of the mirror.
2. The system of claim 1 , wherein the object is coupled to the mirror, and a second mirror is positioned to reflect an image of the object to the at least one camera.
3. The system of claim 2 , wherein the one or more cameras are behind the mirror to capture the image data through the mirror and the driver is in front of the mirror.
4. The system of claim 1 , wherein the object includes a static pattern affixed to the mirror.
5. The system of claim 1 , wherein the determining the includes evaluating, using computer vision, reference object features depicted by the image data.
6. The system of claim 1 , wherein
an image represented by the image data depicts the driver and depicts the object on the mirror, and
each of the at least one position of the driver and the orientation of the object is determined within the image.
7. The system of claim 1 , wherein the determining the current orientation of the mirror includes determining, based least on the apparent shape of the object, a pose of the object in three-dimensional space, and determining the current orientation of the mirror based at least on the pose of the object.
8. The system of claim 1 , wherein the object is coupled to the mirror so as to move with the mirror.
9. The system of claim 1 :
wherein the control circuitry is to cause the actuator to position the mirror in response to the at least one position of the driver being maintained for at least a predetermined period of time.
10. A method comprising:
receiving, from one or more cameras, image data depicting at least a portion of an occupant of a vehicle and at least a portion of an object at a predetermined location, the object having an apparent shape in one or more views of at least one camera of the one or more cameras, the apparent shape varying with a current orientation of a mirror of the vehicle;
determining, from the image data, at least one position of the occupant and the apparent shape of the object;
determining the current orientation of the mirror of the vehicle based at least on the apparent shape of the object;
calculating a target orientation of the mirror based at least on the at least one position of the occupant; and
causing the mirror to be oriented at the target orientation based at least on the current orientation of the mirror.
11. The method of claim 10 , wherein the image data represents a plurality of images indicative of the occupant over time.
12. The method of claim 10 , wherein the object comprises a static pattern.
13. The method of claim 10 , wherein the mirror comprises a side view mirror and the target orientation is calculated based at least on including a portion of a side of the vehicle in a field of view of the occupant.
14. The method of claim 10 , wherein the calculating the target orientation of the mirror includes determining an orientation difference between the current orientation and the target orientation, and wherein the causing is performed based at least on the orientation difference.
15. The method of claim 10 , wherein the object is reflected into one or more fields of view of the one or more cameras using a second mirror on a same mirror assembly as the mirror.
16. The method of claim 10 , wherein the target orientation is determined based at least on two or more visual reference points, one of the two or more visual reference points being on the occupant.
17. The method of claim 10 , wherein the determining further comprises determining the at least one position of the occupant without using a neural network.
18. The method of claim 10 , wherein the causing further comprises causing the mirror to be oriented at the target orientation in response to determining that the at least one position of the occupant has been maintained for at least a predetermined period of time.
19. A system comprising:
one or more circuits to control a mirror of a vehicle based at least on the one or more circuits:
receiving, from one or more cameras, image data depicting at least a portion of an occupant of the vehicle and at least a portion of an object at a predetermined location, the object having an apparent shape in one or more views of at least one camera of the one or more cameras, the apparent shape varying with a current orientation of the mirror;
determining, from the image data, at least one position of the occupant and the apparent shape of the object;
determining the current orientation of the mirror of the vehicle based at least on the apparent shape of the object;
calculating a target orientation of the mirror based at least on the at least one position of the occupant; and
causing the mirror to be oriented at the target orientation based at least on the current orientation of the mirror.
20. The system of claim 19 , wherein the calculating the target orientation of the mirror is based at least on the one or more circuits determining a threshold portion of the vehicle appears in a field of view of the occupant from the mirror.
21. The system of claim 19 , wherein the mirror is one of:
a side view mirror or a rear view mirror.
22. The system of claim 19 , wherein
a second mirror is positioned to reflect an image of the object to the one or more cameras used to generate the image data.
23. The system of claim 19 , wherein the one or more circuits includes parallel processing circuitry.
24. The system of claim 19 , wherein the one or more circuits is within the mirror of the vehicle.
25. The system of claim 19 , wherein the causing the mirror to be oriented at the target orientation includes the one or more circuits using an actuator to position the mirror based at least on the target orientation after determining that the at least one position of the occupant has been maintained for at least a predetermined period of time.