CN103661365B - A kind of method improving vehicle meeting security - Google Patents

Abstract

The invention belongs to the technical field of car meeting safety and discloses a device and method for improving the safety of meeting cars. The device for improving the safety of passing vehicles includes: vehicle-mounted CAN bus, single-chip microcomputer, data processing unit, rearview mirror, vehicle speed sensor, steering wheel angle sensor, brake pedal stroke sensor, and a laser scanning device fixedly installed in the center of the front bumper of the vehicle. Radar, a camera used to collect images of the driver's head, and a rotating motor used to rotate the rearview mirror; the laser scanning radar faces the front of the vehicle; the output end of the vehicle speed sensor is electrically connected to the vehicle CAN bus, and the signal input end of the data processing unit Respectively electrically connect the vehicle CAN bus, laser scanning radar, the I/O interface of the single-chip microcomputer, the output end of the steering wheel angle sensor and the brake pedal travel sensor; the signal output end of the data processing unit is electrically connected to the control end of the rotating motor; Connect the video cable of the camera.

Description

A method for improving the safety of passing vehicles

technical field

The invention belongs to the technical field of vehicle meeting safety, and in particular relates to a device and method for improving the vehicle meeting safety.

Background technique

When a car suddenly encounters an oncoming car on a narrow road, the driver usually brakes to slow down and turns right to give way and meet cars safely. At this time, the driver usually judges the position of the vehicle and estimates the space on the right side of the road by observing the right rearview mirror and the front view, so as to determine whether the direction to the right is appropriate, and constantly adjust in the process . However, since the right side rearview mirror is mainly used to help the driver observe the lane conditions on the right rear side of the vehicle during normal driving, it is not possible to obtain the road boundary information corresponding to the vehicle body. At this time, because of the narrow road and the need for passing cars, the distance between the right side of the vehicle body and the right side of the road is already very small, and the driver has to turn right to reduce the distance between the right side of the vehicle body and the right side of the road. The space on the boundary is used to free up the space on the left side of the road, so as to realize the safe meeting between the vehicle and the oncoming vehicle. Therefore, at this time, the driver often misjudges and misoperates because the driver cannot obtain the information on the distance between the right side of the vehicle body and the right boundary of the lane. , unable to achieve safe car meeting; second, the vehicle leans too far to the right, causing the vehicle to cross the right boundary of the road, ride on the right curb of the road, or even rush out of the road. This just makes meeting cars dangerous and inefficient in this kind of situation.

Contents of the invention

The object of the present invention is to propose a device and method for improving the safety of vehicles meeting. A device for improving the safety of meeting vehicles in the present invention can help the driver obtain information such as the distance from the vehicle body to the right side of the road, and automatically adjust the right side rearview mirror (rotate at a certain angle in the vertical plane) to achieve Meeting cars safely and efficiently.

In order to achieve the above-mentioned technical purpose, the present invention adopts the following technical solutions to achieve.

Technical solution one:

A device for improving the safety of passing vehicles, comprising: a vehicle-mounted CAN bus 1, a single-chip microcomputer, a data processing unit, a rearview mirror located on the right side of the vehicle body, a vehicle speed sensor installed on the gearbox, and a vehicle fixedly installed on the front bumper of the vehicle. The laser scanning radar in the center, the steering wheel angle sensor installed on the steering wheel of the vehicle, the brake pedal stroke sensor installed under the brake pedal, the camera used to collect the image of the driver's head, and the rotation sensor used to rotate the rearview mirror motor; the laser scanning radar faces the front of the vehicle, and the camera is installed on the vehicle console;

The output terminal of the vehicle speed sensor is electrically connected to the vehicle CAN bus, and the signal input terminal of the data processing unit is electrically connected to the vehicle CAN bus, the output terminal of the laser scanning radar, the I/O interface of the single-chip microcomputer, and the steering wheel angle sensor respectively. The output end and the output end of the brake pedal travel sensor; the signal output end of the data processing unit is electrically connected to the control end of the rotating motor; the single-chip microcomputer is electrically connected to the video line of the camera through a USB interface.

The vehicle speed sensor is used to collect the real-time speed of the vehicle, and is used to send the real-time speed of the vehicle to the data processing unit through the vehicle-mounted CAN bus; The road width, the distance of the oncoming car from the car, the angle of the oncoming car and the car, and the relative speed between the oncoming car and the car are sent to the data processing unit; the camera is used to collect the driver's head image ( Including head rotation and line-of-sight transfer images), used to send the collected driver's head image to the single-chip microcomputer in real time, and the single-chip microcomputer is used to preprocess the image data, and is used to send the preprocessed signal to the data processing unit The square wheel angle sensor is used to collect steering wheel angle parameters, and is used to send the steering wheel angle parameters to the data processing unit in real time; the brake pedal stroke sensor is used to collect brake pedal stroke parameters, and is used to real-time brake pedal The stroke parameters are sent to the data processing unit; the data processing unit is used to send the rearview mirror rotation signal to the rotation motor according to the received data; the rotation motor is used to control the rotation of the rearview mirror under the trigger of the rearview mirror rotation signal .

The characteristics and further improvement of this technical solution are:

The vehicle speed sensor is a magnetoelectric vehicle speed sensor, and the sampling accuracy of the vehicle speed sensor is 0.01km/h.

The laser scanning radar is a SICK safety laser scanner, the specific model of the SICK safety laser scanner is S3000, the scanning angle of the SICK safety laser scanner is 190 degrees, and the protection area range of the SICK safety laser scanner 7m, the 120ms resolution of the SICK safety laser scanner is 30-150mm.

The camera is Zhongxing YJS-01USB2.0 camera.

The single-chip microcomputer is a Freescale series single-chip microcomputer, and the model of the single-chip microcomputer is S12.

The steering wheel angle sensor is a CHHK brand 89245-0N020 steering wheel angle sensor.

The brake pedal travel sensor is a Bosch PWG series brake pedal travel sensor, and the specific model of the Bosch PWG series brake pedal travel sensor is PWG13.

Technical solution two:

A method for improving the safety of passing vehicles, based on the above-mentioned device for improving the safety of passing vehicles, is characterized in that it includes the following steps:

S1: When the vehicle is driving, the laser scanning radar obtains the distance between the vehicle and the left road boundary and the vehicle and the right road boundary in real time through scanning, and then sends the distance between the vehicle and the left road boundary and the distance between the vehicle and the right road boundary To the data processing unit, the data processing unit obtains the road width according to the distance between the vehicle and the left road boundary, the distance between the vehicle and the right road boundary, and the width of the vehicle itself. When the road width is less than the set road width threshold, execute Step S2;

S2: The laser scanning radar detects in real time the relative speed of the oncoming vehicle and the own vehicle, the relative longitudinal distance between the oncoming vehicle and the own vehicle, and the angle between the central line connecting the front ends of the two vehicles and the horizontal direction. The center of the front end of the oncoming vehicle is connected with the center of the front end of the own vehicle; the relative speed of the oncoming vehicle and the own vehicle, the relative longitudinal distance between the oncoming vehicle and the own vehicle, and the angle between the center line of the front ends of the two vehicles and the horizontal direction are sent in real time to the data processing unit;

At the same time, the vehicle speed sensor detects the vehicle speed in real time, and sends the real-time vehicle speed data to the data processing unit through the vehicle-mounted CAN bus; the data processing unit obtains vehicle acceleration data according to the real-time vehicle speed data, and the vehicle acceleration data is braking deceleration or vehicle acceleration;

When the relative longitudinal distance between the oncoming vehicle and the own vehicle is less than the relative longitudinal distance threshold, and the angle between the central line connecting the front ends of the two vehicles and the horizontal direction is less than the set angle threshold, step S3 is executed; when the braking deceleration is less than the braking deceleration When the speed threshold is set and the relative speed of the oncoming vehicle and the vehicle is less than the relative speed threshold, step S3 is executed;

S3: The data processing unit sends the camera start-up trigger signal to the single-chip microcomputer, and the single-chip microcomputer controls the camera to turn on after receiving the camera start-up trigger signal; the camera captures the driver's head in real time, and sends the driver's head image to the single-chip microcomputer, and the single-chip microcomputer controls the driver's head After the driver's head image is filtered, the filtered driver's head image is sent to the data processing unit;

In the data processing unit, according to the filtered image of the driver's head, the driver's head rotation angle and line of sight transfer time are obtained; when the driver's head rotation angle is greater than the head rotation angle threshold, and the driver's line of sight transfer time When it is greater than the line-of-sight transition time threshold, execute step S4;

S4: The steering wheel angle sensor transmits the steering wheel angle data to the data processing unit, and the data processing unit judges whether the steering wheel angle direction is rightward according to the steering wheel angle data; when the steering wheel angle direction is rightward, execute step S5;

S5: The data processing unit sends the corresponding rearview mirror rotation signal to the rotation motor according to the set rearview mirror rotation direction and the set rotation angle, and the rotation motor controls the rearview mirror to the vehicle after receiving the corresponding rearview mirror rotation signal When the rear is rotated, the rotation angle of the rearview mirror is the set rotation angle.

The characteristics and further improvement of this technical solution are:

After step S5, the data processing unit judges whether the real-time value of the included angle between the central connection line of the front ends of the two vehicles and the horizontal direction is less than the lower limit value of the set angle, and judges whether the real-time vehicle acceleration is greater than zero; When the real-time value of the included angle in the horizontal direction is less than the lower limit of the set angle, and the real-time vehicle acceleration is greater than zero, the corresponding rearview mirror recovery signal is sent to the rotating motor, and the rotating motor is controlled by the corresponding rearview mirror rotation signal. The mirror returns to its original position.

The beneficial effect of the present invention is: it can help the driver to obtain information such as the distance from the vehicle body to the right boundary of the road, and automatically adjust the right side rearview mirror (rotating at a certain angle in the vertical plane), so as to realize safe and efficient car meeting.

Description of drawings

Fig. 1 is a schematic diagram of the circuit structure of a device for improving the safety of meeting vehicles according to the present invention;

Fig. 2 is a schematic flow chart of a method for improving the safety of passing vehicles according to the present invention;

Fig. 3 is a schematic diagram of detection of the motion state of an oncoming vehicle when a device for improving the safety of passing vehicles of the present invention works;

Fig. 4 is a schematic diagram of the rotation angle of the rearview mirror of a device for improving the safety of passing vehicles according to the present invention.

detailed description

The present invention will be further described below in conjunction with accompanying drawing:

Referring to FIG. 1 , it is a schematic diagram of a circuit structure of a device for improving the safety of meeting vehicles according to the present invention. In the device for improving the safety of passing vehicles, a laser scanning radar is installed in the center of the front bumper of the vehicle. The direction of the laser scanning radar is facing forward, and is used to measure the road width and the motion state parameters of oncoming vehicles. The laser scanning radar is a SICK safety laser scanner, the specific model is S3000, the scanning angle is 190 degrees, the protection area range is 7m, and the resolution is 30-150mm in 120 milliseconds. A camera is installed on the console of the vehicle, and the camera is used to collect images of the driver's head (including images of head rotation and line of sight transfer). The camera adopts Zhongxing YJS-01USB2.0 camera. A vehicle speed sensor is arranged on the gearbox of the vehicle, and the vehicle speed sensor is used to collect the vehicle speed of the vehicle. The vehicle speed sensor is a magnetoelectric vehicle speed sensor, and the sampling accuracy of the vehicle speed sensor is 0.01 km/h. A steering wheel angle sensor is installed on the steering wheel of the vehicle. The steering wheel angle sensor is used to collect steering wheel angle parameters. The steering wheel angle sensor adopts a CHHK brand 89245-0N020 steering wheel angle sensor. A brake pedal travel sensor is installed under the brake pedal of the vehicle. The brake pedal travel sensor is used to collect brake pedal travel parameters. The brake pedal travel sensor adopts the Bosch PWG series brake pedal travel sensor, and its specific model is PWG13 . On the vehicle right side rear view mirror, also be connected with rotating motor, this rotating motor is used to make rear view mirror rotate. The vehicle is also provided with a vehicle-mounted CAN bus 1, a single-chip microcomputer, and a data processing unit. Among them, the single-chip microcomputer is a Freescale series single-chip microcomputer, and its specific model is S12; the data processing unit is an ARM9 processor.

In the embodiment of the present invention, in conjunction with Fig. 1, the output terminal of this vehicle speed sensor is electrically connected with described vehicle-mounted CAN bus 1, and the signal input terminal of this data processing unit is respectively electrically connected with the output terminal of described vehicle-mounted CAN bus, laser radar, single-chip microcomputer. The I/O interface, the output end of the steering wheel angle sensor and the output end of the brake pedal travel sensor; the signal output end of the data processing unit is electrically connected to the control end of the rotating motor; the single-chip microcomputer is electrically connected to the video line of the camera through the USB interface.

Referring to FIG. 2 , it is a schematic flow chart of a method for improving the safety of passing vehicles according to the present invention. The method for improving the safety of passing vehicles includes the following steps:

Road width detection:

When the vehicle is driving, the laser scanning radar obtains the distance (lateral distance) L _l between the vehicle and the left road boundary and the distance (lateral distance) L _r between the vehicle and the right road boundary through scanning in real time. The known vehicle width is L _v , Then there is the road width:

L＝L _l +L _r +L _v

Considering that the standard lane width is 3.75m, when the width of the road is less than twice the width of the standard lane, it may lead to difficulties in meeting vehicles. Therefore, when L<7.5m, it is judged as a narrow road, and at this time, it is judged that there will be problems in meeting vehicles. At this time, the motion state detection of the oncoming vehicle is carried out.

Detection of the motion state of oncoming vehicles:

Referring to FIG. 3 , it is a schematic diagram of the detection of the motion state of an oncoming vehicle when the device for improving the safety of passing vehicles of the present invention is in operation. When L<7.5m, the laser scanning radar detects in real time the relative longitudinal distance L _z between the oncoming vehicle and the own vehicle, and the angle θ between the central line connecting the front ends of the two vehicles and the horizontal direction, and the central line connecting the front ends of the two vehicles points to the front end of the opposing vehicle The center is connected with the center of the front end of the car. When L _z is constant (L _z = 5m when two vehicles meet each other at a short distance), the larger the angle θ is, the more overlapping parts of the fronts of the two vehicles. When meeting cars at close range on a narrow road, the two vehicles reduce θ by turning to the right, and when θ decreases to the point where the fronts of the two vehicles just do not overlap, the lateral distance L _h between the centerlines of the two vehicles is their respective The sum of half the width of the vehicle. In the embodiment of the present invention, the data processing unit receives data from the laser scanning radar in real time, and judges whether L _z is less than 5m and θ is less than the set angle threshold. For example, set the angle threshold to 68.2 degrees.

Brake deceleration detection:

The signal input end of the data processing unit is electrically connected to the vehicle CAN bus. The vehicle speed sensor sends real-time vehicle speed data to the data processing unit through the vehicle CAN bus; the brake pedal travel sensor transmits the brake pedal travel data to the data processing unit. The data processing unit obtains vehicle acceleration data according to real-time vehicle speed data, and the vehicle acceleration data is braking deceleration a or vehicle acceleration a'. In the embodiment of the present invention, the data processing unit can also obtain the braking deceleration a according to the stroke data of the brake pedal. In the embodiment of the present invention, the braking deceleration threshold is set to 1 m/s. The data processing unit judges whether the braking deceleration a is smaller than the braking deceleration threshold.

At the same time, the laser radar detects the relative speed V of the vehicle and the oncoming vehicle. After receiving the relative speed transmitted by the laser radar, the data processing unit judges whether the relative speed of the two workshops decreases rapidly. According to the experiment, the relative speed threshold is set to 5km/h. When the data processing unit obtains that the relative speed is less than 5km/h, it is judged that the own vehicle may adopt braking and deceleration measures due to the need to meet other vehicles on a narrow road.

In general, when the data processing unit judges that: L _z is less than 5m and θ is less than the set angle threshold, the driver’s head rotation and line of sight transfer detection is performed; when the braking deceleration a is less than the braking deceleration threshold, and this When the relative speed of the vehicle and the oncoming vehicle is less than 5km/h, the driver's head rotation and line of sight transfer detection will be carried out;

Driver head turn and gaze shift detection:

The S12 series single-chip microcomputer starts, and under normal circumstances, the camera works continuously. The camera shoots the driver's head image in real time, and sends the driver's head image to the single-chip microcomputer. In the single-chip microcomputer, the image collected by the camera is preprocessed, and the purpose of image preprocessing is to remove the interference information in the image collected by the camera. That is: in order to ensure the reliability of the device, it is necessary to filter the head and line of sight images collected by the camera to eliminate interference. Therefore, in the image processing process, the image is first filtered, and the median filter algorithm is used specifically. For a certain pixel in the image, calculate the average value of the gray value of the pixel points within a range of 3×3 around the point, and use the average value as the gray value of the point. By using the 3×3 median filtering algorithm, the interference information existing in the images collected by the camera can be basically eliminated. After preprocessing the image collected by the camera, it is sent to the data processing unit, and in the data processing unit, according to the preprocessed image, the driver's head rotation angle and line of sight transfer time are obtained. Determine whether the driver's head rotation angle δ is greater than the head rotation angle threshold, and determine whether the line of sight transition time t is greater than the line of sight transition time threshold, for example, set the head rotation angle threshold to 15 degrees and the line of sight transition time threshold to 3 seconds . If the driver's head rotation angle δ is greater than the head rotation angle threshold, and the line of sight transition time t is greater than the line of sight transition time threshold, it can be basically judged that the driver is obtaining right rear road information through the right rearview mirror to adjust the steering wheel To achieve safe meeting, the steering wheel operation detection is performed at this time.

Steering wheel operation detection:

The steering wheel angle sensor transmits the steering wheel angle data to the data processing unit, and in the data processing unit, it is judged whether the direction of the steering wheel angle is to the right. Combined with the previous judgment, it is judged that two vehicles meet on a narrow road at this time. At this time, the data processing unit sends the rearview mirror rotation signal to the rotation motor to automatically control the rearview mirror; if the direction of the steering wheel angle is not right, continue Detect the direction of the steering wheel angle.

Automatic mirror control:

Referring to FIG. 4 , it is a schematic diagram of the rotation angle of the rearview mirror of a device for improving the safety of passing vehicles according to the present invention. After the rotating motor receives the rearview mirror rotation signal transmitted by the data processing unit, it controls the rearview mirror to rotate backward around the rotation axis (the mirror surface starts to face the ground at this time). The rotation angle of the rearview mirror is the set rotation angle. For example, in the embodiment of the present invention, the rotation angle of the rearview mirror is set to 8°. After mirror rotation, perform mirror rotation recovery.

Mirror rotation recovery:

In the data processing unit, judge whether θ is less than the lower limit of the set angle (for example, set the lower limit of the set angle to 1° or 0.5°), and judge whether the acceleration a' is greater than zero, if θ is less than the set angle If the lower limit value and the acceleration a' is greater than zero, it means that the meeting process is over, and the driver does not need to obtain the road boundary information on the side of the vehicle body from the right rearview mirror. At this time, the data processing unit sends the rearview mirror recovery signal to the rotating motor, and the rotating motor controls the rearview mirror to reversely rotate to the original position.

In the embodiment of the present invention, the device for improving the safety of meeting vehicles mainly completes the recognition of the situation of meeting vehicles on narrow roads, and automatically adjusts the position of the rearview mirror in the vertical plane through the right rearview mirror rotating device to help driving The driver can obtain information such as the road boundary on the right side of the vehicle body, helping the driver to better judge and operate the vehicle for meeting, ensuring the safety and efficiency of meeting on the narrow road. After the meeting ends, the right side rearview mirror automatically returns to the normal position, which does not affect the use of the right side rearview mirror under normal and other conditions.

A device for improving the safety of meeting vehicles of the present invention detects the road width, the movement state parameters of the oncoming vehicle, the brake deceleration operation of the own vehicle, the driver's line of sight, the head rotation and the steering wheel operation through the sensors on the vehicle, and identifies the vehicle to which the vehicle belongs. After the situation, the right rearview mirror rotation signal is sent to the rotation motor. After successfully meeting the car, according to the detection of the steering wheel returning to normal and acceleration, a rearview mirror recovery signal is sent to the rotating motor to control the right side rearview mirror to rotate back to the normal position.

In summary, the basic principle of the present invention is to detect the width of the road, the motion state of the oncoming vehicle, the brake deceleration operation of the vehicle, the driver's line of sight, the head rotation and the steering wheel operation through the installed sensors, and to identify the above parameters based on the above parameters. The situation where a vehicle meets an oncoming vehicle on a narrow road. Send the rotation signal of the right rearview mirror to the rotation motor, and the right rearview mirror will rotate downward to a certain angle in the vertical plane to a suitable position according to the actual situation, helping the driver to obtain the right side of the vehicle body in real time through the right rearview mirror The distance from the right boundary of the road is used to realize the driver's correct operation of the vehicle and ensure safe and efficient meeting. After the meeting ends, the right side rearview mirror automatically returns to the normal position, which does not affect the use of the right side rearview mirror under normal and other conditions.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention also intends to include these modifications and variations.

Claims (2)

1. A method for improving the safety of meeting vehicles, based on a device for improving the safety of meeting vehicles, the device comprising: a vehicle-mounted CAN bus (1), a single-chip microcomputer, a data processing unit, and a rearview mirror positioned on the right side of the vehicle body , the vehicle speed sensor installed on the gearbox, the laser scanning radar fixedly installed in the center of the front bumper of the vehicle, the steering wheel angle sensor installed on the steering wheel of the vehicle, the brake pedal travel sensor installed under the brake pedal, used to collect The camera of the driver's head image and the rotating motor used to rotate the rearview mirror; the laser scanning radar faces the front of the vehicle, and the camera is installed on the vehicle console; the output end of the vehicle speed sensor is electrically connected to the The vehicle-mounted CAN bus (1), the signal input end of the data processing unit is respectively electrically connected to the vehicle-mounted CAN bus, the output end of the laser scanning radar, the I/O interface of the single-chip microcomputer, the output end of the steering wheel angle sensor and the brake pedal travel sensor Output terminal; the signal output terminal of the data processing unit is electrically connected to the control terminal of the rotating motor; the single-chip microcomputer is electrically connected to the camera through a USB interface; it is characterized in that, comprising the following steps: S1: When the vehicle is driving, the laser scanning radar obtains the distance between the vehicle and the left road boundary and the vehicle and the right road boundary in real time through scanning, and then sends the distance between the vehicle and the left road boundary and the distance between the vehicle and the right road boundary To the data processing unit, the data processing unit obtains the road width according to the distance between the vehicle and the left road boundary, the distance between the vehicle and the right road boundary, and the width of the vehicle itself. When the road width is less than the set road width threshold, execute Step S2; S2: The laser scanning radar detects in real time the relative speed of the oncoming vehicle and the own vehicle, the relative longitudinal distance between the oncoming vehicle and the own vehicle, and the angle between the central line connecting the front ends of the two vehicles and the horizontal direction. The center of the front end of the oncoming vehicle is connected with the center of the front end of the own vehicle; the relative speed of the oncoming vehicle and the own vehicle, the relative longitudinal distance between the oncoming vehicle and the own vehicle, and the angle between the center line of the front ends of the two vehicles and the horizontal direction are sent in real time to the data processing unit; At the same time, the vehicle speed sensor detects the vehicle speed in real time, and sends the real-time vehicle speed data to the data processing unit through the vehicle-mounted CAN bus; the data processing unit obtains vehicle acceleration data according to the real-time vehicle speed data, and the vehicle acceleration data is braking deceleration or vehicle acceleration; When the relative longitudinal distance between the oncoming vehicle and the own vehicle is less than the relative longitudinal distance threshold, and the angle between the central line connecting the front ends of the two vehicles and the horizontal direction is less than the set angle threshold, step S3 is executed; when the braking deceleration is less than the braking deceleration When the speed threshold is set and the relative speed of the oncoming vehicle and the vehicle is less than the relative speed threshold, step S3 is executed; S3: The data processing unit sends the camera start-up trigger signal to the single-chip microcomputer, and the single-chip microcomputer controls the camera to turn on after receiving the camera start-up trigger signal; the camera captures the driver's head in real time, and sends the driver's head image to the single-chip microcomputer, and the single-chip microcomputer controls the driver's head After the driver's head image is filtered, the filtered driver's head image is sent to the data processing unit; In the data processing unit, according to the filtered image of the driver's head, the driver's head rotation angle and line of sight transfer time are obtained; when the driver's head rotation angle is greater than the head rotation angle threshold, and the driver's line of sight transfer time When it is greater than the line-of-sight transition time threshold, execute step S4; S4: The steering wheel angle sensor transmits the steering wheel angle data to the data processing unit, and the data processing unit judges whether the steering wheel angle direction is rightward according to the steering wheel angle data; when the steering wheel angle direction is rightward, execute step S5; S5: The data processing unit sends the corresponding rearview mirror rotation signal to the rotation motor according to the set rearview mirror rotation direction and the set rotation angle, and the rotation motor controls the rearview mirror to the vehicle after receiving the corresponding rearview mirror rotation signal When the rear is rotated, the rotation angle of the rearview mirror is the set rotation angle. 2. A method for improving the safety of meeting vehicles as claimed in claim 1, characterized in that, after step S5, the data processing unit judges whether the real-time value of the angle between the central line connecting the front ends of the two vehicles and the horizontal direction is less than Set the lower limit value of the angle, and judge whether the real-time vehicle acceleration is greater than zero; when the real-time value of the angle between the central line connecting the front ends of the two vehicles and the horizontal direction is less than the set angle lower limit value, and the real-time vehicle acceleration is greater than zero, turn to The motor sends the corresponding rearview mirror recovery signal, and the rotating motor controls the rearview mirror to return to the original position after receiving the corresponding rearview mirror rotation signal.