CN112561867A - Method and device for detecting vehicle S region visual field - Google Patents
Method and device for detecting vehicle S region visual field Download PDFInfo
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Abstract
The utility model relates to a detection method and a device for the S area visual field of a vehicle, which relates to the vehicle detection field, and the method comprises the following steps: the method comprises the steps of obtaining a seat reference point and a backrest angle of a seat in a vehicle three-dimensional model, determining a target viewpoint in the vehicle three-dimensional model according to the seat reference point and the backrest angle, determining an S area in the vehicle three-dimensional model according to the target viewpoint, and determining a target vertebral body formed by the target viewpoint and the S area. Determining a target component interfering with a target vertebral body in the vehicle three-dimensional model, projecting the target component to the S region by taking a target viewpoint as a projection center, and determining whether the S region is qualified or not according to the projection area of the target component in the S region and the total area of the S region. According to the method, the vehicle three-dimensional model is established, the S area and the corresponding target vertebral body are obtained according to the seat reference point and the backrest angle, so that whether the S area is qualified or not is determined according to the projection of the part interfering with the target vertebral body on the S area, and the detection efficiency and accuracy of the visual field of the S area are improved.
Description
Technical Field
The disclosure relates to the field of vehicle detection, in particular to a method and a device for detecting a vehicle S region visual field.
Background
With the rapid development of society, the demand of people on automobiles is increasing continuously, and in the whole automobile development process of the automobiles, the direct view within 180 degrees in front of the automobiles must be detected to ensure that the layout of the whole automobile meets relevant regulations. At present, when the visual field of an S area in the front lower part of a vehicle is detected, a manual measurement and calculation mode is usually adopted to determine whether the visual field of the S area meets related regulations, and the detection efficiency and accuracy are low.
Disclosure of Invention
The invention aims to provide a method and a device for detecting the visual field of a vehicle S region, which are used for improving the detection efficiency and accuracy of the visual field of the vehicle S region.
According to a first aspect of the embodiments of the present disclosure, there is provided a method for detecting a vehicle S-region field of view, the method including:
acquiring a seat datum point and a backrest angle of a seat in a three-dimensional model of the vehicle;
determining a target viewpoint in the vehicle three-dimensional model according to the seat reference point and the backrest angle;
determining an S region in the vehicle three-dimensional model and a target vertebral body formed by the target viewpoint and the S region according to the target viewpoint;
determining a target component interfering with the target vertebral body in the vehicle three-dimensional model, and projecting the target component to the S area by taking the target viewpoint as a projection center;
and determining whether the S region is qualified or not according to the projection area of the target component in the S region and the total area of the S region.
Optionally, the determining a target viewpoint in the three-dimensional model of the vehicle according to the seat reference point and the backrest angle comprises:
determining a first compensation value on a first coordinate axis and a second compensation value on a second coordinate axis according to the backrest angle, wherein the first coordinate axis points from the bottom to the top of the three-dimensional vehicle model, and the second coordinate axis points from the tail to the head of the three-dimensional vehicle model;
and determining the target viewpoint according to the seat reference point, the first compensation value and the second compensation value.
Optionally, the determining, according to the target viewpoint, an S region in the vehicle three-dimensional model and a target vertebral body composed of the target viewpoint and the S region includes:
determining the S area according to the target viewpoint, wherein the S area is rectangular;
and determining the target vertebral body according to the target viewpoint and the S area, wherein the vertexes of the target vertebral body are the target viewpoint and four vertexes of the S area.
Optionally, the determining the S region according to the target viewpoint, where the S region is a rectangle, includes:
determining a first plane, wherein the first plane passes through the target viewpoint and forms a first included angle with a horizontal plane, a first point exists in the first plane, the coordinate of the first point on a first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the first point on a second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, the first coordinate axis points to the top from the bottom of the vehicle three-dimensional model, and the second coordinate axis points to the head from the tail of the vehicle three-dimensional model;
determining a second plane, wherein the second plane passes through the target viewpoint and forms a second included angle with the horizontal plane, a second point exists in the second plane, the coordinate of the second point on the first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the second point on the second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, and the second included angle is different from the first included angle;
determining a third plane and a fourth plane, wherein the third plane and the fourth plane both pass through the target viewpoint, and a third included angle is formed between the third plane and the horizontal plane;
determining a target plane, wherein the target plane is vertical to a horizontal plane, and the difference between the coordinate of any point on the target plane on the second coordinate axis and the coordinate of the target viewpoint on the second coordinate axis is a preset distance;
determining an upper boundary and a lower boundary of the S area according to the first plane, the second plane and the target plane;
and determining the left boundary and the right boundary of the S area according to the third plane, the fourth plane and the target plane.
Optionally, the determining whether the S region is qualified according to the projected area of the target component in the S region and the total area of the S region includes:
determining a ratio of the projected area to the total area;
and if the ratio is larger than a preset area threshold value, determining that the S area is unqualified, and if the ratio is smaller than or equal to the area threshold value, determining that the S area is qualified.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for detecting a field of view of an S region of a vehicle, the apparatus including:
the acquisition module is used for acquiring a seat datum point and a backrest angle of the seat in the three-dimensional model of the vehicle;
a first determination module, configured to determine a target viewpoint in the three-dimensional vehicle model according to the seat reference point and the backrest angle;
the second determination module is used for determining an S area in the vehicle three-dimensional model and a target vertebral body formed by the target viewpoint and the S area according to the target viewpoint;
the projection module is used for determining a target component which is interfered with the target vertebral body in the vehicle three-dimensional model, and projecting the target component to the S area by taking the target viewpoint as a projection center;
and the detection module is used for determining whether the S area is qualified or not according to the projection area of the target component in the S area and the total area of the S area.
Optionally, the first determining module includes:
the first determining submodule is used for determining a first compensation value on a first coordinate axis and a second compensation value on a second coordinate axis according to the backrest angle, the first coordinate axis points from the bottom to the top of the three-dimensional vehicle model, and the second coordinate axis points from the tail to the head of the three-dimensional vehicle model;
a second determining sub-module, configured to determine the target viewpoint according to the seat reference point, the first compensation value, and the second compensation value.
Optionally, the second determining module includes:
a third determining submodule, configured to determine the S region according to the target viewpoint, where the S region is a rectangle;
and the fourth determining submodule is used for determining the target vertebral body according to the target viewpoint and the S area, and the vertexes of the target vertebral body are the target viewpoint and four vertexes of the S area.
Optionally, the third determining sub-module is configured to:
determining a first plane, wherein the first plane passes through the target viewpoint and forms a first included angle with a horizontal plane, a first point exists in the first plane, the coordinate of the first point on a first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the first point on a second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, the first coordinate axis points to the top from the bottom of the vehicle three-dimensional model, and the second coordinate axis points to the head from the tail of the vehicle three-dimensional model;
determining a second plane, wherein the second plane passes through the target viewpoint and forms a second included angle with the horizontal plane, a second point exists in the second plane, the coordinate of the second point on the first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the second point on the second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, and the second included angle is different from the first included angle;
determining a third plane and a fourth plane, wherein the third plane and the fourth plane both pass through the target viewpoint, and a third included angle is formed between the third plane and the horizontal plane;
determining a target plane, wherein the target plane is vertical to a horizontal plane, and the difference between the coordinate of any point on the target plane on the second coordinate axis and the coordinate of the target viewpoint on the second coordinate axis is a preset distance;
determining an upper boundary and a lower boundary of the S area according to the first plane, the second plane and the target plane;
and determining the left boundary and the right boundary of the S area according to the third plane, the fourth plane and the target plane.
Optionally, the detection module includes:
a processing sub-module for determining a ratio of the projected area to the total area;
and the detection submodule is used for determining that the S area is unqualified if the ratio is greater than a preset area threshold value, and determining that the S area is qualified if the ratio is less than or equal to the area threshold value.
According to the technical scheme, firstly, the seat reference point and the backrest angle of the seat in the vehicle three-dimensional model are obtained, then the target viewpoint in the vehicle three-dimensional model is determined according to the seat reference point and the backrest angle, and the S area in the vehicle three-dimensional model and the target vertebral body formed by the target viewpoint and the S area are determined according to the target viewpoint. And determining a target component interfering with the target vertebral body in the vehicle three-dimensional model, projecting the target component to the S region by taking the target viewpoint as a projection center, and finally determining whether the S region is qualified or not according to the projection area of the target component in the S region and the total area of the S region. According to the method, the vehicle three-dimensional model is established, the S area and the corresponding target vertebral body are obtained according to the seat reference point and the backrest angle, so that whether the S area is qualified or not is determined according to the projection of the part interfering with the target vertebral body on the S area, and the detection efficiency and accuracy of the visual field of the S area are improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 illustrates a method for detecting a field of view in an S region of a vehicle, according to an exemplary embodiment;
FIG. 2 is a schematic diagram of a positional relationship between a vehicle coordinate system and a vehicle three-dimensional model according to the embodiment shown in FIG. 1;
FIG. 3 illustrates another method of detecting a field of view of a region S of a vehicle, according to an exemplary embodiment;
FIG. 4 illustrates another method of detecting a field of view of a region S of a vehicle, according to an exemplary embodiment;
FIG. 5 is a schematic illustration of a vehicle S area shown according to an exemplary embodiment;
FIG. 6 illustrates another method of detecting a field of view of a region S of a vehicle, according to an exemplary embodiment;
FIG. 7 illustrates a detection device for a field of view of a region S of a vehicle, according to an exemplary embodiment;
FIG. 8 illustrates another detection device for a field of view in a region S of a vehicle according to an exemplary embodiment;
FIG. 9 illustrates another detection device for a field of view of a region S of a vehicle according to an exemplary embodiment;
fig. 10 is a view of another vehicle S-region field of view detection apparatus according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1 illustrates a method for detecting a field of view of an S region of a vehicle, according to an exemplary embodiment, as shown in fig. 1, the method including:
For example, a vehicle three-dimensional model may be first built for the vehicle, and then a vehicle coordinate system may be built according to the vehicle three-dimensional model, where an origin of the vehicle coordinate system may coincide with a centroid of the vehicle three-dimensional model, assuming that the vehicle three-dimensional model is in a stationary state on a horizontal plane, an X axis passes through the centroid of the vehicle three-dimensional model and is parallel to the ground and points from a tail of the vehicle three-dimensional model to a head, a Y axis passes through the centroid of the vehicle three-dimensional model and points from a left side to a right side of the vehicle three-dimensional model, and a Z axis passes through the centroid of the vehicle three-dimensional model and points. The position relationship between the entire vehicle coordinate system and the vehicle three-dimensional model can be shown in fig. 2, for example. The Z axis may be a first coordinate axis, the X axis may be a second coordinate axis, and the Y axis may be a third coordinate axis.
Obtaining the seat reference point in the three-dimensional model of the vehicle may be understood as obtaining coordinates of the seat reference point in the entire vehicle coordinate system. The seat Reference Point is a design Point specified by a vehicle manufacturer for each Seating position, is determined with respect to a vehicle coordinate system, and may be represented by SgRP (english: serving Reference Point), and the backrest angle of the seat is an angle between the seat backrest and a vertical line (i.e., a straight line parallel to the Z axis).
And step 102, determining a target viewpoint in the vehicle three-dimensional model according to the seat reference point and the backrest angle.
For example, after acquiring the seat reference point and the backrest angle of the seat in the three-dimensional vehicle model, a target viewpoint in the three-dimensional vehicle model may be determined according to the seat reference point and the backrest angle, where the target viewpoint may be understood as simulating a position of a human eye when a user sits on the seat, and the target viewpoint may be represented by V2.
The target viewpoint has a preset corresponding relationship with the seat reference point and the backrest angle, and can be determined by searching a preset table, wherein the preset table may include a first corresponding value of the target viewpoint and the seat reference point on a first coordinate axis, a second corresponding value on a second coordinate axis, and a third corresponding value on a third coordinate axis, and may further include a first compensation value of the target viewpoint on the first coordinate axis and a second compensation value on the second coordinate axis, wherein the first compensation value and the second compensation value are related to the backrest angle.
Specifically, the coordinate of the target viewpoint on the first coordinate axis may be a coordinate of the seat reference point on the first coordinate axis plus a first corresponding value and a first compensation value, the coordinate on the second coordinate axis may be a coordinate of the seat reference point on the second coordinate axis plus a second corresponding value and a second compensation value, and the coordinate on the third coordinate axis may be a coordinate of the seat reference point on the third coordinate axis plus a third corresponding value. The first corresponding value may be 589 mm, the second corresponding value may be 68 mm, and the third corresponding value may be-5 mm.
Specifically, the coordinates of the seat reference point are (500 mm, 400 mm, 200 mm), the backrest angle is 20 degrees, the first corresponding value is 589 mm (i.e., the corresponding value on the Z axis), the second corresponding value is 68 mm (i.e., the corresponding value on the X axis), the third corresponding value is-5 mm (i.e., the corresponding value on the Y axis), the first compensation value is 11 mm (i.e., the compensation value on the Z axis), the second compensation value is-44 mm (i.e., the compensation value on the X axis), and the target viewpoint is (524 mm, 395 mm, 800 mm).
And 103, determining an S area in the vehicle three-dimensional model and a target vertebral body formed by the target viewpoint and the S area according to the target viewpoint.
For example, after determining the target viewpoint, the S region in the three-dimensional model of the vehicle may be determined according to the target viewpoint. Specifically, the S area may be determined by determining a plane which is tilted downward by a first angle from the target viewpoint to the front of the three-dimensional vehicle model, a plane which is tilted downward by a second angle from the horizontal plane, a plane which is tilted downward by a third angle from the left side of the three-dimensional vehicle model to the horizontal plane, a plane which is tilted downward by a fourth angle from the target viewpoint to the right side of the three-dimensional vehicle model to the horizontal plane, and a vertical plane at a first distance from the target viewpoint, and determining four boundaries of the S area according to the five planes. The first angle is different from the second angle, the first angle may be 1 degree, the second angle may be 4 degrees, the third angle may be 4 degrees, and the fourth angle may be 4 degrees. The horizontal plane can be understood as a plane parallel to a plane defined by the X-axis and the Y-axis of the entire vehicle coordinate system, the vertical plane can be understood as a plane perpendicular to the horizontal plane, and the S region can be understood as a partial region in the driver' S front-lower view.
Further, the target view point and four vertexes of the S region may be used as vertexes of the target vertebral body, thereby determining the target vertebral body.
And step 104, determining a target component interfering with the target vertebral body in the vehicle three-dimensional model, and projecting the target component to the S area by taking the target viewpoint as a projection center.
And step 105, determining whether the S area is qualified according to the projection area of the target part in the S area and the total area of the S area.
For example, after the S region and the target vertebral body are determined, a target component interfering with the target vertebral body in the three-dimensional model of the vehicle may be determined, and the target component may be, for example, a steering wheel, a dashboard visor, an exterior mirror, etc. of the vehicle. After determining the target component interfering with the target vertebral body in the three-dimensional vehicle model, the target component may be projected to the S area with the target viewpoint as a projection center, which may be understood as irradiating the target component with the target viewpoint as a point light source to obtain a shadow formed by the target component on the S area.
Further, the projected area of the target component in the S region and the total area of the S region may be calculated, and whether the S region is qualified or not may be determined according to the ratio of the projected area to the total area of the S region. The S region may be determined to be qualified if the ratio of the projected area to the total area of the S region meets the standards of the relevant regulations, and may be determined to be unqualified if the ratio of the projected area to the total area of the S region does not meet the standards of the relevant regulations. If the S region is not qualified, the shape of the target component or the vehicle seat can be adjusted so that the ratio of the projected area of the target component in the S region to the total area of the S region meets relevant regulations.
In summary, the present disclosure first obtains the seat reference point and the backrest angle of the seat in the three-dimensional vehicle model, then determines the target viewpoint in the three-dimensional vehicle model according to the seat reference point and the backrest angle, and determines the S area in the three-dimensional vehicle model and the target vertebral body composed of the target viewpoint and the S area according to the target viewpoint. And determining a target component interfering with the target vertebral body in the vehicle three-dimensional model, projecting the target component to the S region by taking the target viewpoint as a projection center, and finally determining whether the S region is qualified or not according to the projection area of the target component in the S region and the total area of the S region. According to the method, the vehicle three-dimensional model is established, the S area and the corresponding target vertebral body are obtained according to the seat reference point and the backrest angle, so that whether the S area is qualified or not is determined according to the projection of the part interfering with the target vertebral body on the S area, and the detection efficiency and accuracy of the visual field of the S area are improved.
Fig. 3 illustrates another method for detecting the field of view of the S region of the vehicle according to an exemplary embodiment, and as shown in fig. 3, step 102 may be implemented by:
and 1021, determining a first compensation value on a first coordinate axis and a second compensation value on a second coordinate axis according to the backrest angle, wherein the first coordinate axis points from the bottom to the top of the three-dimensional vehicle model, and the second coordinate axis points from the tail to the head of the three-dimensional vehicle model.
And step 1022, determining a target viewpoint according to the seat reference point, the first compensation value and the second compensation value.
For example, after acquiring the seat reference point and the backrest angle of the seat in the three-dimensional model of the vehicle, the preset correspondence between the target viewpoint and the seat reference point and the backrest angle may be determined. First, by looking up a first preset table, a relationship between an initial target viewpoint, which can be understood as a position where a user sits on the seat with the back angle being a standard back angle (for example, 25 degrees), and a seat reference point when the back angle is a standard back angle can be determined. The first preset table may include a first corresponding value of the initial target viewpoint and the seat reference point on the first coordinate axis, a second corresponding value on the second coordinate axis, and a third corresponding value on the third coordinate axis, and the first preset table may be, for example, as shown in table 1.
| X/mm | Y/mm | Z/mm | |
| Initial target viewpoint | 68 | -5 | 589 |
TABLE 1
It is to be understood that the coordinate of the initial target viewpoint on the first coordinate axis may be the coordinate of the seat reference point on the first coordinate axis plus a first corresponding value, the coordinate on the second coordinate axis may be the coordinate of the seat reference point on the second coordinate axis plus a second corresponding value, and the coordinate on the third coordinate axis may be the coordinate of the seat reference point on the third coordinate axis plus a third corresponding value. For example, the standard backrest angle may be 25 degrees, the first corresponding value may be 589 millimeters, the second corresponding value may be 68 millimeters, and the third corresponding value may be-5 millimeters. The coordinates of the seat reference point (i.e., SgRP) on the first coordinate axis can be represented by SgRP [ Z ], the coordinates on the second coordinate axis can be represented by SgRP [ X ], and the coordinates on the third coordinate axis can be represented by SgRP [ Y ].
Further, a first compensation value on the first coordinate axis and a second compensation value on the second coordinate axis may be determined according to the backrest angle by looking up a second preset table, where the second preset table may include a corresponding relationship between the backrest angle and the compensation value, and one backrest angle corresponds to one first compensation value and one second compensation value, and the second preset table may be, for example, as shown in table 2. On the basis of the initial target viewpoint, the coordinate of the target viewpoint on the first coordinate axis may be the coordinate of the initial target viewpoint on the first coordinate axis plus a first compensation value, the coordinate on the second coordinate axis may be the coordinate of the initial target viewpoint on the second coordinate axis plus a second compensation value, and the coordinate on the third coordinate axis may be the coordinate of the initial target viewpoint on the third coordinate axis, that is, the coordinate of the initial target viewpoint and the coordinate of the target viewpoint on the third coordinate axis are the same. Wherein the first compensation value may be represented by Δ Z, the second compensation value may be represented by Δ X, and the coordinates of the target viewpoint (i.e., V2) on the first coordinate axis may be represented by V2[ Z ], the coordinates on the second coordinate axis may be represented by V2[ X ], and the coordinates on the third coordinate axis may be represented by V2[ Y ].
| Angle/degree of backrest | Δ X/mm | Delta Z/mm | Angle/degree of backrest | Δ X/mm | Delta Z/mm |
| 5 | -186 | 28 | 23 | -18 | 5 |
| 6 | -177 | 27 | 24 | -9 | 3 |
| 7 | -167 | 27 | 25 | 0 | 0 |
| 8 | -157 | 27 | 26 | 9 | -3 |
| 9 | -147 | 26 | 27 | 17 | -5 |
| 10 | -137 | 25 | 28 | 26 | -8 |
| 11 | -128 | 24 | 29 | 34 | -11 |
| 12 | -118 | 23 | 30 | 43 | -14 |
| 13 | -109 | 22 | 31 | 51 | -18 |
| 14 | -99 | 21 | 32 | 59 | -21 |
| 15 | -90 | 20 | 33 | 67 | -24 |
| 16 | -81 | 18 | 34 | 76 | -28 |
| 17 | -72 | 17 | 35 | 84 | -32 |
| 18 | -62 | 15 | 36 | 92 | -35 |
| 19 | -53 | 13 | 37 | 100 | -39 |
| 20 | -44 | 11 | 38 | 108 | -43 |
| 21 | -35 | 9 | 39 | 115 | -48 |
| 22 | -26 | 7 | 40 | 123 | -52 |
TABLE 2
Specifically, the coordinates of the seat reference point are (500 mm, 400 mm, 200 mm) (i.e., SgRP [ X ], (500 mm, 400 mm, and 200 mm), the backrest angle is 30 degrees, the first corresponding value is 589 mm (i.e., the corresponding value on the Z axis), the second corresponding value is 68 mm (i.e., the corresponding value on the X axis), the third corresponding value is-5 mm (i.e., the corresponding value on the Y axis), the first compensation value of the target viewpoint on the first coordinate axis is-14 mm (i.e., Δ Z ═ 14 mm), and the second compensation value of the target viewpoint on the second coordinate axis is 43 mm (i.e., Δ X ═ 43 mm), for example, the initial target viewpoint is (568 mm, 395 mm, 789 mm), and the target viewpoint is (611 mm, 395 mm, and 775 mm).
Fig. 4 illustrates another method for detecting the field of view of the S region of the vehicle according to an exemplary embodiment, and as shown in fig. 4, step 103 may be implemented by:
and step 1031, determining an S area according to the target viewpoint, wherein the S area is rectangular.
And step 1032, determining a target vertebral body according to the target viewpoint and the S area, wherein the vertexes of the target vertebral body are the target viewpoint and the four vertexes of the S area.
For example, after the target viewpoint is determined, four planes passing through the target viewpoint may be determined, and an S region may be determined according to the four planes and a vertical plane at a first distance in front of the target viewpoint, wherein the S region is a rectangle. And then determining the target vertebral body by taking the target viewpoint and the four vertexes of the S area as the vertexes of the target vertebral body.
In an application scenario, one implementation manner of step 1031 may:
and determining a first plane, wherein the first plane passes through the target viewpoint and forms a first included angle with the horizontal plane, a first point exists in the first plane, the coordinate of the first point on a first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the first point on a second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, the first coordinate axis points to the top from the bottom of the three-dimensional vehicle model, and the second coordinate axis points to the head from the tail of the three-dimensional vehicle model.
And determining a second plane, wherein the second plane passes through the target viewpoint and forms a second included angle with the horizontal plane, a second point exists in the second plane, the coordinate of the second point on the first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the second point on the second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, and the second included angle is different from the first included angle.
And determining a third plane and a fourth plane, wherein the third plane and the fourth plane both pass through the target viewpoint, and the third plane and the fourth plane both form a third included angle with the horizontal plane.
And determining a target plane, wherein the target plane is vertical to the horizontal plane, and the difference between the coordinate of any point on the target plane on the second coordinate axis and the coordinate of the target viewpoint on the second coordinate axis is a preset distance.
An upper boundary and a lower boundary of the S region are determined based on the first plane, the second plane, and the object plane.
And determining the left boundary and the right boundary of the S area according to the third plane, the fourth plane and the target plane.
For example, after determining the target viewpoint, the first plane, the second plane, the third plane, the fourth plane, and the target plane may be determined.
Specifically, as shown in fig. 5, the X 'axis may be parallel to the X axis, the Y' axis may be parallel to the Y axis, the Z 'axis may be parallel to the Z axis, and the intersection of the X', Y ', and Z' axes may be at the position of the target viewpoint (i.e., point V2). The first plane can pass through the point V2, the included angle between the first plane and the horizontal plane is alpha (namely, a first included angle), the second plane can pass through the point V2, the included angle between the second plane and the horizontal plane is beta (namely, a second included angle), the third plane and the fourth plane can pass through the point V2, and the included angle between the third plane and the fourth plane is a third included angle (comprising gamma and gamma) between the third plane and the horizontal plane1And gamma2) The target plane may be perpendicular to the horizontal plane, and a difference between a coordinate of any point on the target plane on the second coordinate axis and a coordinate of the target viewpoint on the second coordinate axis is a preset distance. The first included angle may be 1 degree, the second included angle may be 4 degrees, the third included angle may be 4 degrees, and the preset distance may be 1500 millimeters.
It should be noted that the third plane can pass through point V2, and the angle between the third plane and the horizontal plane is γ1(i.e., the third angle), a third point may exist in the third plane, a coordinate of the third point on the first coordinate axis is smaller than a coordinate of the target viewpoint on the first coordinate axis, and a coordinate of the third point on the third coordinate axis is larger than a coordinate of the target viewpoint on the third coordinate axis. The fourth plane can pass through the point V2, and the included angle between the fourth plane and the horizontal plane is gamma2(i.e., the third angle), a fourth point may exist in the fourth plane, the coordinate of the fourth point on the first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, and the coordinate of the fourth point on the third coordinate axis is smaller than the coordinate of the target viewpoint on the third coordinate axis.
Further, a first intersection line (i.e., a straight line on which L1 exists) formed by the intersection of the first plane and the target plane, a second intersection line (i.e., a straight line on which L2 exists) formed by the intersection of the second plane and the target plane, a third intersection line (i.e., a straight line on which L5 exists) formed by the intersection of the third plane and the second plane, and a fourth intersection line (i.e., a straight line on which L6 exists) formed by the intersection of the fourth plane and the second plane may be determined, and a first intersection point (i.e., a point) formed by the intersection of the third intersection line and the target plane, and a second intersection point (i.e., a point) formed by the intersection of the fourth intersection line and the target plane may be. A first plumb line passing through the first intersection point (i.e., the line on which L3 resides) and a second plumb line passing through the second intersection point (i.e., the line on which L4 resides) are then determined.
Finally, the S region is determined by taking L1 as the upper boundary of the S region, L2 as the lower boundary of the S region, L3 as the left boundary of the S region, and L4 as the right boundary of the S region.
Fig. 6 illustrates another method for detecting the field of view of the S region of the vehicle according to an exemplary embodiment, and as shown in fig. 6, step 105 may be implemented by:
For example, after a target component interfering with a target vertebral body is projected to an S region with a target viewpoint as a projection center, a projection area of the interference component and a total area of the S region may be determined, and a ratio of the projection area to the total area may be determined. If the ratio is greater than the area threshold, then the S region may be determined to be disqualified, and if the ratio is less than or equal to the area threshold, then the S region may be determined to be disqualified. Wherein the area threshold may be 0.2.
Specifically, taking an example that the total area is 250000 square millimeters and the area threshold is 0.2, if the projected area is 40000 square millimeters and the ratio is 0.16, the S region is qualified, and if the projected area is 60000 square millimeters and the ratio is 0.24, the S region is not qualified. In the case where the S region is not acceptable, the projected area may be reduced by adjusting the shape of the interference part, for example, if the target part is a steering wheel of a vehicle, the projected area may be reduced by appropriately turning down the steering wheel.
In summary, the present disclosure first obtains the seat reference point and the backrest angle of the seat in the three-dimensional vehicle model, then determines the target viewpoint in the three-dimensional vehicle model according to the seat reference point and the backrest angle, and determines the S area in the three-dimensional vehicle model and the target vertebral body composed of the target viewpoint and the S area according to the target viewpoint. And determining a target component interfering with the target vertebral body in the vehicle three-dimensional model, projecting the target component to the S region by taking the target viewpoint as a projection center, and finally determining whether the S region is qualified or not according to the projection area of the target component in the S region and the total area of the S region. According to the method, the vehicle three-dimensional model is established, the S area and the corresponding target vertebral body are obtained according to the seat reference point and the backrest angle, so that whether the S area is qualified or not is determined according to the projection of the part interfering with the target vertebral body on the S area, and the detection efficiency and accuracy of the visual field of the S area are improved.
Fig. 7 is a view illustrating a sensing apparatus for a field of view of an S region of a vehicle according to an exemplary embodiment, and as shown in fig. 7, the apparatus 200 includes:
an obtaining module 201 is used for obtaining a seat reference point and a backrest angle of the seat in the three-dimensional model of the vehicle.
The first determining module 202 is configured to determine a target viewpoint in the three-dimensional model of the vehicle according to the seat reference point and the backrest angle.
And the second determining module 203 is used for determining an S area in the vehicle three-dimensional model and a target vertebral body formed by the target viewpoint and the S area according to the target viewpoint.
And the projection module 204 is configured to determine a target component interfering with the target vertebral body in the vehicle three-dimensional model, and project the target component to the S region with the target viewpoint as a projection center.
And the detection module 205 is configured to determine whether the S region is qualified according to a projected area of the target component in the S region and a total area of the S region.
Fig. 8 is another detection apparatus for a vehicle S-region field of view according to an exemplary embodiment, and as shown in fig. 8, the first determination module 202 includes:
the first determining sub-module 2021 is configured to determine a first compensation value on a first coordinate axis and a second compensation value on a second coordinate axis according to the backrest angle, where the first coordinate axis is from the bottom to the top of the three-dimensional vehicle model, and the second coordinate axis is from the tail to the head of the three-dimensional vehicle model.
The second determining sub-module 2022 is configured to determine the target viewpoint according to the seat reference point, the first compensation value, and the second compensation value.
Fig. 9 is another detection apparatus for a vehicle S-region field of view according to an exemplary embodiment, and as shown in fig. 9, the second determination module 203 includes:
the third determining sub-module 2031 is configured to determine an S region according to the target viewpoint, where the S region is a rectangle.
The fourth determining submodule 2032 is configured to determine a target vertebral body according to the target viewpoint and the S region, where vertices of the target vertebral body are four vertices of the target viewpoint and the S region.
In an application scenario, the third determining submodule 2031 is configured to:
and determining a first plane, wherein the first plane passes through the target viewpoint and forms a first included angle with the horizontal plane, a first point exists in the first plane, the coordinate of the first point on a first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the first point on a second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, the first coordinate axis points to the top from the bottom of the three-dimensional vehicle model, and the second coordinate axis points to the head from the tail of the three-dimensional vehicle model.
And determining a second plane, wherein the second plane passes through the target viewpoint and forms a second included angle with the horizontal plane, a second point exists in the second plane, the coordinate of the second point on the first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the second point on the second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, and the second included angle is different from the first included angle.
And determining a third plane and a fourth plane, wherein the third plane and the fourth plane both pass through the target viewpoint, and the third plane and the fourth plane both form a third included angle with the horizontal plane.
And determining a target plane, wherein the target plane is vertical to the horizontal plane, and the difference between the coordinate of any point on the target plane on the second coordinate axis and the coordinate of the target viewpoint on the second coordinate axis is a preset distance.
An upper boundary and a lower boundary of the S region are determined based on the first plane, the second plane, and the object plane.
And determining the left boundary and the right boundary of the S area according to the third plane, the fourth plane and the target plane.
Fig. 10 is a view illustrating another sensing apparatus for sensing a field of view of an S region of a vehicle according to an exemplary embodiment, and as shown in fig. 10, a sensing module 205 includes:
a process sub-module 2051 for determining the ratio of the projected area to the total area.
The detection sub-module 2052 is configured to determine that the S region is not qualified if the ratio is greater than a preset area threshold, and determine that the S region is qualified if the ratio is less than or equal to the area threshold.
In summary, the present disclosure first obtains the seat reference point and the backrest angle of the seat in the three-dimensional vehicle model, then determines the target viewpoint in the three-dimensional vehicle model according to the seat reference point and the backrest angle, and determines the S area in the three-dimensional vehicle model and the target vertebral body composed of the target viewpoint and the S area according to the target viewpoint. And determining a target component interfering with the target vertebral body in the vehicle three-dimensional model, projecting the target component to the S region by taking the target viewpoint as a projection center, and finally determining whether the S region is qualified or not according to the projection area of the target component in the S region and the total area of the S region. According to the method, the vehicle three-dimensional model is established, the S area and the corresponding target vertebral body are obtained according to the seat reference point and the backrest angle, so that whether the S area is qualified or not is determined according to the projection of the part interfering with the target vertebral body on the S area, and the detection efficiency and accuracy of the visual field of the S area are improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method for detecting a vehicle S-region visual field, the method comprising:
acquiring a seat datum point and a backrest angle of a seat in a three-dimensional model of the vehicle;
determining a target viewpoint in the vehicle three-dimensional model according to the seat reference point and the backrest angle;
determining an S region in the vehicle three-dimensional model and a target vertebral body formed by the target viewpoint and the S region according to the target viewpoint;
determining a target component interfering with the target vertebral body in the vehicle three-dimensional model, and projecting the target component to the S area by taking the target viewpoint as a projection center;
and determining whether the S region is qualified or not according to the projection area of the target component in the S region and the total area of the S region.
2. The method of claim 1, wherein said determining a target viewpoint in the three-dimensional model of the vehicle from the seat reference point and the backrest angle comprises:
determining a first compensation value on a first coordinate axis and a second compensation value on a second coordinate axis according to the backrest angle, wherein the first coordinate axis points from the bottom to the top of the three-dimensional vehicle model, and the second coordinate axis points from the tail to the head of the three-dimensional vehicle model;
and determining the target viewpoint according to the seat reference point, the first compensation value and the second compensation value.
3. The method of claim 1, wherein the determining an S region in the three-dimensional vehicle model according to the target viewpoint and a target vertebral body composed of the target viewpoint and the S region comprises:
determining the S area according to the target viewpoint, wherein the S area is rectangular;
and determining the target vertebral body according to the target viewpoint and the S area, wherein the vertexes of the target vertebral body are the target viewpoint and four vertexes of the S area.
4. The method of claim 3, wherein the determining the S region according to the target viewpoint, the S region being a rectangle, comprises:
determining a first plane, wherein the first plane passes through the target viewpoint and forms a first included angle with a horizontal plane, a first point exists in the first plane, the coordinate of the first point on a first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the first point on a second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, the first coordinate axis points to the top from the bottom of the vehicle three-dimensional model, and the second coordinate axis points to the head from the tail of the vehicle three-dimensional model;
determining a second plane, wherein the second plane passes through the target viewpoint and forms a second included angle with the horizontal plane, a second point exists in the second plane, the coordinate of the second point on the first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the second point on the second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, and the second included angle is different from the first included angle;
determining a third plane and a fourth plane, wherein the third plane and the fourth plane both pass through the target viewpoint, and a third included angle is formed between the third plane and the horizontal plane;
determining a target plane, wherein the target plane is vertical to a horizontal plane, and the difference between the coordinate of any point on the target plane on the second coordinate axis and the coordinate of the target viewpoint on the second coordinate axis is a preset distance;
determining an upper boundary and a lower boundary of the S area according to the first plane, the second plane and the target plane;
and determining the left boundary and the right boundary of the S area according to the third plane, the fourth plane and the target plane.
5. The method of claim 1, wherein determining whether the S-region is qualified based on the projected area of the target component in the S-region and the total area of the S-region comprises:
determining a ratio of the projected area to the total area;
and if the ratio is larger than a preset area threshold value, determining that the S area is unqualified, and if the ratio is smaller than or equal to the area threshold value, determining that the S area is qualified.
6. A device for detecting the field of view of an S-region of a vehicle, said device comprising:
the acquisition module is used for acquiring a seat datum point and a backrest angle of the seat in the three-dimensional model of the vehicle;
a first determination module, configured to determine a target viewpoint in the three-dimensional vehicle model according to the seat reference point and the backrest angle;
the second determination module is used for determining an S area in the vehicle three-dimensional model and a target vertebral body formed by the target viewpoint and the S area according to the target viewpoint;
the projection module is used for determining a target component which is interfered with the target vertebral body in the vehicle three-dimensional model, and projecting the target component to the S area by taking the target viewpoint as a projection center;
and the detection module is used for determining whether the S area is qualified or not according to the projection area of the target component in the S area and the total area of the S area.
7. The apparatus of claim 6, wherein the first determining module comprises:
the first determining submodule is used for determining a first compensation value on a first coordinate axis and a second compensation value on a second coordinate axis according to the backrest angle, the first coordinate axis points from the bottom to the top of the three-dimensional vehicle model, and the second coordinate axis points from the tail to the head of the three-dimensional vehicle model;
a second determining sub-module, configured to determine the target viewpoint according to the seat reference point, the first compensation value, and the second compensation value.
8. The apparatus of claim 6, wherein the second determining module comprises:
a third determining submodule, configured to determine the S region according to the target viewpoint, where the S region is a rectangle;
and the fourth determining submodule is used for determining the target vertebral body according to the target viewpoint and the S area, and the vertexes of the target vertebral body are the target viewpoint and four vertexes of the S area.
9. The apparatus of claim 8, wherein the third determination submodule is configured to:
determining a first plane, wherein the first plane passes through the target viewpoint and forms a first included angle with a horizontal plane, a first point exists in the first plane, the coordinate of the first point on a first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the first point on a second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, the first coordinate axis points to the top from the bottom of the vehicle three-dimensional model, and the second coordinate axis points to the head from the tail of the vehicle three-dimensional model;
determining a second plane, wherein the second plane passes through the target viewpoint and forms a second included angle with the horizontal plane, a second point exists in the second plane, the coordinate of the second point on the first coordinate axis is smaller than the coordinate of the target viewpoint on the first coordinate axis, the coordinate of the second point on the second coordinate axis is larger than the coordinate of the target viewpoint on the second coordinate axis, and the second included angle is different from the first included angle;
determining a third plane and a fourth plane, wherein the third plane and the fourth plane both pass through the target viewpoint, and a third included angle is formed between the third plane and the horizontal plane;
determining a target plane, wherein the target plane is vertical to a horizontal plane, and the difference between the coordinate of any point on the target plane on the second coordinate axis and the coordinate of the target viewpoint on the second coordinate axis is a preset distance;
determining an upper boundary and a lower boundary of the S area according to the first plane, the second plane and the target plane;
and determining the left boundary and the right boundary of the S area according to the third plane, the fourth plane and the target plane.
10. The apparatus of claim 6, wherein the detection module comprises:
a processing sub-module for determining a ratio of the projected area to the total area;
and the detection submodule is used for determining that the S area is unqualified if the ratio is greater than a preset area threshold value, and determining that the S area is qualified if the ratio is less than or equal to the area threshold value.
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