CN106240623A - 可缩回方向盘手势控制 - Google Patents

可缩回方向盘手势控制 Download PDF

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CN106240623A
CN106240623A CN201610575225.9A CN201610575225A CN106240623A CN 106240623 A CN106240623 A CN 106240623A CN 201610575225 A CN201610575225 A CN 201610575225A CN 106240623 A CN106240623 A CN 106240623A
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gesture
steering wheel
vehicle
control
steering
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T·W·考夫曼
F·P·卢比谢尔
P·M·瑞恩
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Nexteer Beijing Technology Co Ltd
Steering Solutions IP Holding Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B60R11/0229—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for displays, e.g. cathodic tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/04—Hand wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/16—Steering columns
    • B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
    • B62D1/183—Steering columns yieldable or adjustable, e.g. tiltable adjustable between in-use and out-of-use positions, e.g. to improve access
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
    • B60R2011/001—Vehicle control means, e.g. steering-wheel or column
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants

Abstract

本发明涉及可缩回方向盘手势控制，控制系统的一个实施例包括构造为检测包括方向盘的车辆中的至少一个用户的手势的感测元件，以及构造为接收来自所述感测元件的手势信息并且基于所述手势信息控制所述方向盘和所述车辆中的至少一者的手势控制模块。

Description

可缩回方向盘手势控制
相关申请的交叉引用
本申请要求于2015年6月15日提交的美国临时专利申请序列号62/175,777的优先权，其全部内容通过引用并入本文。
背景技术
在引入自动驾驶辅助系统(ADAS)和自主车辆系统的情况下，可缩回和/或可收纳方向盘(handwheel)可以是可用的。在诸如当车辆处于自主模式时的情形中，驾驶员会希望将方向盘缩回或移开(例如，当请求时)。当驾驶员想要使车辆转向时，也可以将方向盘带到标准驾驶位置。
发明内容
根据本发明的一个方面，控制系统的一个实施例包括感测元件，其构造成检测包括方向盘的车辆中的至少一个使用者的手势，以及手势控制模块，其构造成接收来自感测元件的手势信息，且基于手势信息控制方向盘和车辆中的至少一者。
根据本发明的另一个方面，控制车辆的一个方面的方法的实施例包括由感测元件检测包括方向盘的车辆中的至少一个使用者的手势，由手势控制模块接收来自感测元件的手势信息，以及基于手势信息控制方向盘和车辆中的至少一者。
结合附图从以下描述中将更加显而易见到这些和其它优点和特征。
附图说明
被认为是本发明的主题在本说明书的结论处的权利要求中具体地指出并且明确地要求保护。结合附图从以下详细描述中将显而易见到本发明的前述和其它特征以及优点，附图中：
图1绘出车辆和车辆转向辅助和/或控制系统的方面；
图2绘出根据本发明的一个方面的转向手势控制系统；
图3绘出三维全息显示和转向手势控制系统的方面的实施例；以及
图4是绘出基于手势识别控制方向盘和/或车辆的方法的流程图。
具体实施方式
现在参考图1，将参考具体实施例描述本发明，但不限制本发明，图示了车辆10的示例性实施例，其包括诸如电动助力转向(EPS)系统、自动驾驶辅助系统和/或自动车辆控制系统的转向系统12。在各种实施例中，转向系统12包括联接至转向轴16的方向盘14。在示出的示例性实施例中，转向系统12是电动助力转向(EPS)系统和/或自动驾驶辅助系统，其进一步包括转向辅助单元18，其联接至转向系统12的转向轴16以及车辆10的横拉杆20、22。转向辅助单元18包括，例如，转向致动器马达(例如，电马达)以及可以通过转向轴16联接至转向致动器马达和齿轮装置的齿轮齿条转向机构(未示出)。在操作期间，当车辆操作者转动方向盘14时，转向辅助单元18的马达提供辅助以使横拉杆20、22运动，其相应地分别使转向节24、26运动，它们分别联接至车辆10的路面车轮28、30。在一个实施例中，转向辅助单元18能够利用致动器马达自主地控制转向，例如，用于泊车辅助或自主驾驶。
注意到，本文描述的实施例并不限于图1中所示的转向系统，并且可与任何合适的转向或控制系统结合使用。能够用于本文所描述的实施例的控制系统的示例包括主动前轮转向(AFS)系统和液压转向系统。能够用于实施例的其它控制系统包括构造成在没有方向盘的情况下控制车辆功能的系统。这种系统的示例是诸如线传驱动、线传转向或线传控制系统(X-by-Wire system)的线传系统(by-wire system)。
在一个实施例中，方向盘14是活动的，以允许控制器和/或用户使方向盘14在各种位置之间运动。例如，方向盘14能够运动至一个或多个位置，在该位置处，驾驶员能够操作方向盘14且使车辆转向(称为“驾驶位置”)。也可以使方向盘14缩回或运动至收纳位置(例如，在自主操作期间)。能够利用多种机构(诸如转向轴16的铰接或枢转部分、转向轴16的伸缩或可缩回部分，或任何其它合适的机构)使方向盘14运动。
如图1中所示，车辆10进一步包括各种传感器，其检测和测量转向系统12和/或车辆10的可观测条件。传感器基于可观测条件生成传感器信号。在示出的示例中，传感器32是车轮速度传感器，其分别感测车轮28和30的旋转速度。传感器32基于此生成车轮速度信号。在其它示例中，除了传感器32之外或者替代传感器32，还能够提供其它车轮速度传感器。其它车轮速度传感器可以感测后轮36的旋转速度并且基于此生成传感器信号。如能够认识到的那样，能够使用感测车轮运动的其它车轮传感器(诸如车轮位置传感器)来取代车轮速度传感器。在这种情况中，可以基于车轮传感器信号计算车轮速率和/或车辆速率或速度。
车辆还包括用于检测方向盘16的位置和/或运动的传感器。在一个实施例中，方向盘包括扭矩传感器和/或位置传感器(共同称为方向盘传感器34)。方向盘传感器34能够感测施加在方向盘14上的扭矩，和/或感测方向盘14的角位置。其它传感器包括用于检测转向致动器马达或与转向辅助单元18相关联的其它马达的位置(马达位置)和旋转速度(马达速率或马达速度)的传感器。
控制模块40基于一个或多个传感器信号且进一步基于本公开的转向控制系统和方法来控制转向系统12的操作。控制模块可以用作EPS系统的一部分以提供转向辅助扭矩，和/或可以用作能够控制车辆的转向的驾驶辅助系统(例如，用于泊车辅助、紧急转向控制和/或自主或半自主转向控制)。驾驶辅助系统的示例是ADAS(先进驾驶辅助系统)系统，其代替直接辅助驾驶员，或除了直接辅助驾驶员之外(通过降低转向力度)，还能够接受来自另一控制系统的位置命令，以在某些条件中实现对车辆的方向控制。
总体来说，本公开的转向控制系统和方法能够用于基于由用户(例如，驾驶员或乘客)执行的一个或多个手势来控制方向盘或转向盘的位置和/或提供车辆的方向控制(或者自主地、半自主地，或者通过提供扭矩或转向辅助)。控制模块40或其它合适的处理装置或系统感测用户手势且执行各种控制动作。在一个实施例中，控制模块响应适当的手势，以使方向盘14在一个或多个驾驶位置之间和/或在驾驶位置和缩回位置或收纳位置之间运动。控制模块40还可以响应手势以控制车辆的转向，从而允许用户在没有身体上接合方向盘14的情况下控制车辆。
本文描述的实施例的方面可以由任何合适的控制系统和/或处理装置(诸如马达辅助单元18和/或控制模块40)执行。在一个实施例中，控制模块40是或者被包含为自主驾驶系统的一部分。
图2示出控制系统50的实施例，其包括手势控制模块52和感测元件54。控制系统50构造成控制车辆的多方面，诸如车辆速度、车辆转向和/或方向盘定位。控制系统50还包括界面56，其包括向用户提供控制信息的显示器。控制系统50可合并为控制模块40或车辆的任何其它合适的部件的一部分。此外，控制系统50的多方面可合并成与车辆分开的装置或系统，诸如智能电话或能够与车辆通信(例如，通过插入式连接或无线连接)的其它便携装置。
手势控制模块52可控制转向和/或方向盘功能，诸如将方向盘14缩回至缩回位置或收纳位置、将方向盘14重新展开至驾驶位置，以及使方向盘14在多个驾驶位置之间运动的功能。例如，在手掌朝向仪表盘(或者感测元件54的其它位置)的情况下驾驶员的双手的摆动可以指示控制系统50将方向盘14缩回。类似地，驾驶员可朝向仪表盘(或者感测元件54的其它位置)摆动双手以将方向盘14展开至驾驶位置(例如，通过摆动双手)。定位感测元件54以便观察驾驶员的手或双手。感测元件54可以是摄影机、光传感器、运动传感器或足以识别驾驶员手势的其它类型的传感器。摄像机的位置可以在方向盘14的中心，或者偏向位于仪表盘上或方向盘14的中心上的界面54的一侧或多侧，不过该位置不限于本文所描述的任何具体实施例。
如本文所描述的那样，“手势”指的是能够由手势控制模块52识别且用于控制方向盘和/或车辆的一方面的用户、驾驶员或操作者的任何运动。手势可以包括方向手势、摆动、手势信号和其它，且能够对应于诸如转向命令或方向盘位置控制命令的命令，例如以使方向盘缩回或收纳、使方向盘返回驾驶位置和/或使方向盘运动至不同驾驶位置。由手势控制模块识别的手势的数量和类型可以预先选择(例如，默认)或能够基于用户输入定制。
在一个实施例中，界面56包括显示区域，诸如二维屏幕显示和/或三维全息显示。显示器可以定位在任何合适的位置，诸如在仪表盘处或在方向盘14处。例如，一旦使方向盘14缩回，则方向盘14空出的区域可以包含用于其它手势功能或娱乐的全息显示区域的用途。对于手势功能，例如，驾驶员通过在感测元件56的范围内向左或向右摆手能够无源地(passively)翻过车辆功能菜单页。驾驶员也能够在感测元件56的范围内手掌向上地抬起双手，以指示改变请求(例如，增加音频系统的音量)。类似地，为了降低音量，驾驶员可以手掌向下地降低双手。
在一个实施例中，显示器布置在方向盘的中间位置或用户可见的方向盘上的其它位置。例如，显示器位于方向盘14的中心毂(hub)上。中心毂可以是静止毂(即，当使方向盘旋转时毂不旋转)，或者中心毂可与方向盘14一起旋转。如果中心毂与方向盘14一起旋转，则显示器能够定位或构造成使得最佳观察将是当方向盘14静止时的情况。在另一示例中，如果方向盘14是能够收纳的，则显示器能够定位成使得最佳观察将是当将方向盘14收纳时的情况。例如，如果方向盘14完全地装纳在仪表盘中，则显示器可以位于车辆的仪表盘中，使得确保了对显示区域不受阻挡地观察。
能够使用各种手势经由全息或虚拟转向盘使车辆转向。图3中示出三维全息显示器的一个示例。控制系统50包括呈位于界面任一侧上的摄像机60的形式的感测元件，其在该示例中是全息显示器62。摄像机60和/或全息显示器62可以定位在车辆中的任何合适的位置处。例如，摄像机和/或显示器62定位在面板64上，当方向盘14处于收纳位置中时，面板64可以下降或定位在方向盘14上。
在图3的实施例中，全息显示器62包括照射源66和显示屏68，其将全息图像70投射在屏幕68之上或者以其它方式考虑到用户的视角。全息显示器62可以是任何合适的类型并且不限于本文所描述的实施例。
全息图像70的一个示例是转向盘的图像(“虚拟转向盘”)。能够投影虚拟转向盘并且能够追踪虚拟转向盘周围的手的运动，以向车辆提供转向信号。这能够在缩回模式中使用，或给予完全移除实际转向盘的机会。如果安装了多个摄像机，则手势也能够提供虚拟转向盘在车辆中的可选放置。最后，可以用全息转向盘取代物理转向盘，并且全息转向盘可以以本文所描述的方式用手势控制。
图4示出基于手势识别控制方向盘和/或车辆的方法80。结合系统10和/或控制系统50使用方法80，不过方法80可以与感测装置和处理器的任何合适的组合结合使用。方法80包括一个或多个阶段81-84。在一个实施例中，方法80包括以所描述的次序执行全部阶段81-84。然而，可以省略某些阶段，可以增加阶段，或者改变阶段的次序。
在第一阶段81中，用户(例如，驾驶员或乘客)执行手势，诸如摆手或以选取的构造显示手或双手。用户执行手势以引起控制系统(诸如控制系统50)执行动作。
在第二阶段82中，由感测元件(诸如摄影机)检测手势。
在第三阶段83中，手势控制模块从感测元件接收手势检测数据，且基于手势确定待执行的动作。动作的示例包括使方向盘缩回至缩回位置或收纳位置、使方向盘从缩回位置或收纳位置运动至驾驶位置，和使方向盘在不同驾驶位置之间运动。其它示例包括控制其它车辆系统，诸如视频、显示选项、无线电台和音量、雨刮器等等。动作的进一步示例包括车辆控制动作，诸如使车辆转向。
在第四阶段84中，手势控制模块生成消息或命令，以执行动作。例如，手势控制模块向适当的车辆系统或部件发送命令，以实现动作。例如，如果手势是用于使方向盘运动，则手势控制模块发送命令以操作内部马达，从而使方向盘运动。如果手势是为了使车辆转向(例如，与方向盘的全息图像结合)，则手势控制模块向电机(例如，在转向辅助单元18中)发送命令，或者向转向辅助系统或控制系统(例如，控制模块40)发送命令。
本文所描述的实施例提供了许多优点。本文所描述的控制系统能够允许用户在无需使用按钮或其它机械装置的情况下定位方向盘和/或使车辆转向。这相比于通过按压按钮或抓握方向盘来使方向盘缩回且使其运动至期望的位置的过程是有利的。由于这种过程会需要用户寻找按钮，这增加了驾驶员的工作负荷且会迫使驾驶员的注意力离开道路，因此这种过程会呈现挑战。该按钮也可以占据仪表板空间，并且抓握方向盘和使方向盘运动的动作对于驾驶员而言可能是困难的。本文所描述的实施例解决了这种挑战且能够提高驾驶员安全性。
虽然已经结合仅有限数量的实施例详细描述了本发明，但是应当容易地理解的是，本发明不限制于这些公开的实施例。而且，能够修改本发明以结合任何数量的未在前描述、但是与本发明的精神和范围相当的变型、替代、替换或等价布置。此外，虽然已经描述了本发明的各种实施例，但是将理解的是，本发明的多方面可以仅包括所描述的实施例中的一些。因此，本发明将不被视为由前述的描述限制。

Claims (15)

1.一种控制系统，包括：
感测元件，其构造为检测来自包括方向盘的车辆中的至少一个用户的手势；和
手势控制模块，其构造为接收来自所述感测元件的手势信息，并且基于所述手势信息控制所述方向盘和所述车辆中的至少一者。
2.如权利要求1所述的系统，其中，执行所述手势以引起所述手势控制模块使所述方向盘在驾驶位置和缩回位置或收纳位置之间运动。
3.如权利要求1所述的系统，其中，执行所述手势以引起所述手势控制模块使所述车辆转向。
4.如权利要求1所述的系统，还包括界面，其构造为显示与所述方向盘和所述车辆中的至少一者相关的控制的信息。
5.如权利要求4所述的系统，其中，所述界面构造为生成全息图像，所述全息图像构造为与所述用户相互作用，以控制所述方向盘和所述车辆中的至少一者。
6.如权利要求5所述的系统，其中，所述全息图像是所述方向盘的图像。
7.如权利要求5所述的系统，其中，所述感测元件构造为检测关于所述全息图像的手势且基于所述手势使所述车辆转向。
8.如权利要求1所述的系统，其中，所述感测元件包括构造为记录所述手势的摄像机。
9.如权利要求4所述的系统，其中，所述界面布置在所述方向盘的中心毂处。
10.如权利要求4所述的系统，其中，所述界面布置在所述车辆中的一定位置处，当收纳所述方向盘时，所述界面对于所述用户可用。
11.一种控制车辆的方面的方法，包括：
由感测元件检测来自包括方向盘的车辆中的至少一个用户的手势；
由手势控制模块接收来自所述感测元件的手势信息；以及
基于所述手势信息控制所述方向盘和所述车辆中的至少一者。
12.如权利要求11所述的方法，其中，执行所述手势以引起所述手势控制模块使所述方向盘在驾驶位置和缩回位置或收纳位置之间运动。
13.如权利要求11所述的方法，其中，执行所述手势以引起所述手势控制模块使所述车辆转向。
14.如权利要求11所述的方法，其中，所述感测元件连接至界面，所述界面构造为显示与所述方向盘和所述车辆中的至少一者的控制相关的信息。
15.如权利要求14所述的方法，其中，所述界面构造为生成全息图像，所述全息图像构造为与所述用户相互作用，以控制所述方向盘和所述车辆中的至少一者。
CN201610575225.9A 2015-06-15 2016-06-15 可缩回方向盘手势控制 Pending CN106240623A (zh)

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