WO2018133364A1 - Procédé et système de réglage automatique d'un rétroviseur d'automobile - Google Patents

Procédé et système de réglage automatique d'un rétroviseur d'automobile Download PDF

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Publication number
WO2018133364A1
WO2018133364A1 PCT/CN2017/095154 CN2017095154W WO2018133364A1 WO 2018133364 A1 WO2018133364 A1 WO 2018133364A1 CN 2017095154 W CN2017095154 W CN 2017095154W WO 2018133364 A1 WO2018133364 A1 WO 2018133364A1
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WO
WIPO (PCT)
Prior art keywords
occupant
coordinate
head
seat
adjustment
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PCT/CN2017/095154
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English (en)
Chinese (zh)
Inventor
芮元勋
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上海蔚来汽车有限公司
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Application filed by 上海蔚来汽车有限公司 filed Critical 上海蔚来汽车有限公司
Publication of WO2018133364A1 publication Critical patent/WO2018133364A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/06—Rear-view mirror arrangements mounted on vehicle exterior
    • B60R1/062—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position
    • B60R1/07—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators

Definitions

  • the invention belongs to the field of rearview mirror adjustment of a motor vehicle, and particularly provides a method and a system for automatically adjusting an automobile rearview mirror.
  • the car rearview mirror is mainly used to reflect the rear, side and bottom of the car, so that the occupants can indirectly see the situation of these positions. It plays the role of "second eye” and expands the occupant's field of vision. Due to the different heights and sitting habits of different occupants, different occupants need to adjust the rearview mirror when driving or riding the same car.
  • a rearview mirror automatic adjustment method comprising the steps of: acquiring or establishing a vehicle coordinate system of the automobile; determining, by an adjustment parameter of the passenger seat, a first coordinate of the occupant's head in the vehicle coordinate system; The first coordinate adjusts the rear view mirror to give the occupant the best viewing angle.
  • the passenger seat is an electrically adjustable seat
  • the adjustment parameter includes a front and rear adjustment distance and a seat back angle of the passenger seat.
  • the first coordinate comprises an ordinate
  • the step of "coordinate” further includes determining the ordinate of the occupant's head in the vehicle coordinate system by the front and rear adjustment distance and the seat back angle of the occupant seat.
  • the method further comprises: determining the back of the occupant and the passenger seat before determining the first coordinate of the occupant's head in the vehicle coordinate system by the adjustment parameter of the occupant seat The degree of fit; the step of "determining the first coordinate of the occupant's head in the vehicle coordinate system by the adjustment parameter of the passenger seat” further includes: adjusting the distance and the back angle of the front and rear of the passenger seat The ordinate of the occupant's head in the vehicle coordinate system is determined in conjunction with the fit.
  • the adjustment parameter further includes an up-and-down adjustment height and a left-right adjustment distance of the passenger seat, the first coordinate further including an abscissa and a vertical coordinate, the “passing through the occupant seat
  • the adjusting parameter determines a first coordinate of the occupant's head in the vehicle coordinate system" further comprising: determining, by the up and down adjustment height of the passenger seat and/or the left and right adjustment distance, the occupant's head in the vehicle coordinate system Vertical and/or abscissa in .
  • the method further comprises determining, by the camera, a second coordinate of the occupant's head in the vehicle coordinate system, the step of "adjusting the rearview mirror according to the first coordinate” further comprises : adjusting the rear view mirror according to the first coordinate and in combination with the second coordinate.
  • the second coordinate includes an abscissa and a vertical coordinate
  • the step of “determining the second coordinate of the occupant's head in the vehicle coordinate system by the camera” further includes: capturing by the camera A photograph of the occupant's head to determine the abscissa of the occupant's head in the vehicle coordinate system.
  • the step of “determining a second coordinate of the occupant's head in the vehicle coordinate system by the camera” further includes: determining, by the camera, a photograph of the occupant's head to determine that the occupant's head is at The vertical coordinate in the vehicle coordinate system.
  • the method further comprises obtaining a body size of the automobile and a position of the rear view mirror on the vehicle body.
  • the step of “adjusting the rearview mirror according to the first coordinate and combining the second coordinate” further comprises: combining the second coordinate according to the first coordinate and The body size and the position of the rear view mirror on the vehicle body adjust the rear view mirror.
  • the present invention provides an automotive rearview mirror automatic adjustment system, the system comprising: a power module for driving a mirror rotation; and a data acquisition module for acquiring or establishing the automobile a vehicle coordinate system and an adjustment parameter for obtaining an occupant seat; a control module that determines a first coordinate of the occupant's head in the vehicle coordinate system by an adjustment parameter of the passenger seat, and controls the power according to the first coordinate The module adjusts the mirrors to give the occupant the best viewing angle.
  • the passenger seat is an electrically adjustable seat
  • the adjustment parameter includes a front and rear adjustment distance and a seat back angle of the passenger seat.
  • the first coordinate comprises an ordinate
  • the control module determines the longitudinal direction of the occupant's head in the vehicle coordinate system by the front and rear adjustment distance of the passenger seat and the back angle of the seat coordinate.
  • the system further includes a pressure sensor disposed in a seat back of the occupant seat, the pressure sensor for detecting a pressure applied to the seat back by an occupant's back,
  • the control module is further configured to determine a fit degree of the back of the occupant and the occupant seat according to the detection result of the pressure sensor, and thus combine the affix on the basis of the front and rear adjustment distance and the back angle of the occupant seat
  • the ordinate is used to determine the ordinate of the occupant's head in the vehicle coordinate system.
  • the adjustment parameter further includes an up-and-down adjustment height and a left-right adjustment distance of the occupant seat
  • the first coordinate further includes an abscissa and a vertical coordinate
  • the control module is further capable of passing the The up and down adjustment height and/or the left and right adjustment distance of the occupant seat are used to determine the vertical and/or abscissa of the occupant's head in the vehicle coordinate system.
  • the system further includes a camera for taking a photo of the occupant's head
  • the control module is further configured to determine, according to the photograph taken by the camera, the occupant's head in the vehicle coordinate system. a second coordinate to adjust the mirror according to the first coordinate in combination with the second coordinate.
  • the second coordinate comprises an abscissa and a vertical coordinate
  • the control module is capable of determining an abscissa of the occupant's head in the vehicle coordinate system according to the photograph taken by the camera.
  • control module is further capable of determining a vertical coordinate of the occupant's head in the vehicle coordinate system according to the photograph taken by the camera.
  • the data acquisition module is further configured to acquire a body size of the automobile and a position of the rear view mirror on the vehicle body
  • the control module is configured according to the The first coordinate is combined and the rear view mirror is adjusted in conjunction with the second coordinate and the size of the body and the position of the mirror on the vehicle body.
  • the power module includes a motor, the motor is disposed on the rear view mirror; and/or the rear view mirror is an interior rear view mirror and/or an exterior rear view mirror .
  • the vehicle coordinate system of the automobile is acquired or established, and the vehicle body size of the automobile and the position of the rear view mirror on the vehicle body are obtained.
  • the ordinate of the occupant's head in the vehicle coordinate system is determined according to the front and rear adjustment distance of the passenger seat, the seat angle, and the fit of the occupant's back to the occupant's seat.
  • determining the vertical coordinate and/or the abscissa of the occupant's head in the vehicle coordinate system according to the up and down adjustment height and/or the left and right adjustment distance of the passenger seat; or determining the occupant by taking a picture of the occupant's head taken by the camera.
  • the abscissa and/or ordinate of the head in the vehicle coordinate system is adjusted according to the ordinate, abscissa and vertical coordinates as well as the size of the body and the position of the mirror on the body.
  • the method of the present invention can quickly and accurately adjust the position of the rear view mirror of the vehicle according to the occupant's real-time posture, so that the occupant can obtain the best viewing angle in any position in the vehicle.
  • Fig. 1 is a flow chart showing the main steps of an automatic rearview mirror adjustment method of the present invention.
  • the automobile rearview mirror automatic adjustment system of the invention mainly comprises: a power module, a data acquisition module, a control module and a camera.
  • the data acquisition module, the control module and the camera can be placed in the head of the car (such as in a car audio host), or the art
  • the personnel can also adjust the installation position of the data acquisition module, the control module and the camera as needed, as long as the smooth operation of the entire system can be ensured.
  • the power module includes a motor disposed on a rear view mirror of the vehicle, such as an interior rear view mirror and an exterior rear view mirror.
  • the data acquisition module is configured to acquire or establish a vehicle coordinate system of the automobile, obtain adjustment parameters of the driver seat (described in detail below), and obtain a vehicle body size and a position of the rear view mirror on the vehicle body, and the data acquisition module Also connected to the camera.
  • the camera is used to capture the driver's head information (such as head coordinates).
  • the driver's seat is an electric adjustment seat and a plurality of pressure sensors are evenly distributed in the seat back of the seat for detecting the pressure exerted by the driver's back on the seat back, thereby indirectly detecting the driving The fit of the back of the person to the back of the chair.
  • the control module is used to control the rotation of the motor-driven mirror, and the control module is further capable of determining the fit of the driver's back to the driver's seat based on the detection result of the pressure sensor.
  • a pressure sensor array composed of a plurality of pressure sensors is disposed in the seat back of the driver seat, so that the control module can obtain the contact area of the driver and the seat back through the feedback signal of the pressure sensor array, that is, the driver's back. Fit to the driver's seat. Further, a pressure sensor is also disposed on the headrest of the driver's seat for sensing whether the driver's head is resting on the headrest.
  • the pressure sensor can be any type of pressure sensor, such as a strain gauge pressure sensor, a ceramic pressure sensor, a diffusion silicon pressure sensor, etc.; and the number of pressure sensors disposed on the back of the chair can also be Meet any value you need.
  • the automobile rearview mirror automatic adjustment method of the present invention mainly includes: step S100, acquiring or establishing a vehicle coordinate system of a vehicle; and step S200, determining a driver's head at a vehicle coordinate by using an adjustment parameter of a driver seat.
  • the vehicle coordinate system of the automobile is acquired or established by the data acquisition module, and the vehicle coordinate system may specifically be: taking the center of gravity of the automobile as the origin O, to pass the origin O parallel to the ground and the direction pointing to the front of the car is the X axis. (ie, the ordinate axis of the car), the direction parallel to the ground through the origin O and pointing to the left side of the driver is the Y axis (ie, the abscissa axis of the car), passing the origin O perpendicular to the ground and pointing upwards in the direction Z.
  • the axis ie the vertical axis of the car).
  • the X-axis, the Y-axis, and the Z-axis are perpendicular to each other.
  • the origin O of the vehicle coordinate system is not limited to the center of gravity of the car, and the origin O can be other positions, such as the center of the two front wheels of the car.
  • the X-axis, the Y-axis, and the Z-axis of the vehicle coordinate system are not limited to the above-described arrangement, and the order may be appropriately changed as needed.
  • step S200 first, the initial coordinates of the driver's seat on the X-axis are obtained according to the vehicle coordinate system. Specifically, by measuring the relative distance between the driver's seat and the origin O on the X-axis, the Y-axis, and the Z-axis, the initial coordinates of the driver's seat are obtained, and the driver's seat is selected (for example, the driver's seat) The bottom of the headrest on the chair is the reference point) the initial coordinates on the X-axis.
  • the adjustment parameters of the driver's seat (such as the front and rear adjustment distance and the seat back angle) are obtained. Specifically, the front and rear adjustment distances of the driver's seat with respect to the initial coordinates on the X-axis are obtained; and the seat back angle of the driver's seat is obtained.
  • the first coordinate (such as the ordinate) of the driver's head on the X-axis is obtained based on the initial coordinates of the driver's seat and the adjustment parameters. Specifically, the physical distance between the rotation axis of the seat back relative to the seat cushion and the headrest is measured first, and then the displacement of the headrest on the X-axis caused by the rotation of the seat back is calculated according to the angle of the seat back and the trigonometric function. And finally add the displacement amount to the front and rear adjustment distance to obtain the total displacement of the bottom of the headrest relative to the initial position on the X-axis, and then according to the total displacement of the bottom of the headrest on the X-axis and the driver's seat.
  • the initial coordinates on the X-axis get the current coordinates at the bottom of the headrest. Further, the position of the head of the different driver relative to the bottom of the headrest is obtained by a plurality of tests, and then the ordinate of the driver's head on the X-axis is obtained based on the position and the total displacement amount of the bottom of the headrest on the X-axis.
  • a plurality of pressure sensors provided on the driver's seat back.
  • a plurality of pressure sensors are evenly arranged on the seat back from top to bottom, and when the driver's back rests on the seat back, the pressure sensor can receive the pressure signal of the driver's back and send the pressure signal to the control. Module.
  • the control module integrates and analyzes the pressure signals of all the pressure sensors received to obtain the fit degree of the driver and the seat back, and then can determine the angle of the driver's back and the back of the chair according to the fit degree, and according to the The angle and the driver's height (especially the upper body) calculate the distance between the driver's head and the headrest, and thus the ordinate of the driver's head is obtained from the distance and the current ordinate of the driver's seat headrest.
  • the height can be obtained by photographing the camera inside the car, or the driver can store the height data in advance in the car control system or control module, especially for the owner.
  • a corresponding pressure sensor can also be provided on the headrest of the driver's seat, by which the driver's head can be accurately judged whether or not the driver's head rests on the headrest. Specifically, when the driver's head rests on the headrest, the control module can directly determine the ordinate of the driver's head through the signal of the pressure sensor.
  • step S300 the camera coordinates are obtained according to the vehicle coordinate system by the data acquisition module. Specifically, the camera coordinates are obtained by measuring the relative distance between the camera and the origin O on the X-axis, the Y-axis, and the Z-axis. Those skilled in the art will appreciate that in order to better capture the driver's facial information, the camera is preferably placed in front of the interior of the vehicle, such as at the top of the car, near the dashboard of the car, on the A-pillar of the car, and the like.
  • the second coordinate of the driver's head is obtained by the camera coordinates.
  • the abscissa of the driver's head on the Y-axis can be obtained by the front camera, and the driver's head is obtained on the Z-axis by the side camera.
  • the camera obtains the abscissa of the driver's head on the Y-axis and the vertical coordinate on the Z-axis by focusing the photograph.
  • the car body size and the position of the rear view mirror on the body are obtained through the data acquisition module.
  • the mirror coordinates are obtained by measuring the relative distance between the mirror and the origin O on the X-axis, the Y-axis, and the Z-axis.
  • the rearview mirror coordinates are preferably the initial coordinates of the mirror of the rear view mirror, and further, in the process of mirror adjustment of the rearview mirror, the position of the mirror of the rearview mirror is real-time through the data acquisition module. Recording, the current position of the mirror mirror is counted as the current coordinates of the mirror.
  • control module calculates the function relationship between the rearview mirror coordinates (the current coordinate of the rearview mirror) and the coordinates of the driver's head (including the ordinate, abscissa and vertical coordinates), and then sets the vehicle according to the function relationship.
  • the control module controls the motor to drive the mirror to rotate. It can be understood by those skilled in the art that the end point of the rotation of the mirror can be calculated according to the coordinates of the human eye in the vehicle coordinate system, the rear range of the driver's desired rear view, and the current coordinates of the rear view mirror. Since this principle is well known to those skilled in the art and can be obtained and implemented, it will not be described in detail herein.
  • the rear view mirror includes an interior rear view mirror and an exterior rear view mirror. Furthermore, the position of the rearview mirror (especially the exterior mirror) can be rooted. Automatically adjust according to the driving speed of the car, so that when the car is running faster, you can see the far position at the rear. When the car is slow or reverse, you can see the position near the rear of the vehicle, such as the car. The location of the parking space at the time of the library.
  • the adjustment parameters may include, in addition to the front and rear adjustment distance and the seat back angle of the driver's seat, the up and down adjustment height and the left and right adjustment distance of the driver's seat, especially for high-end commercial vehicles. It can be understood by those skilled in the art that the vertical coordinate of the driver's head on the Z axis can be obtained according to the up and down adjustment height of the driver's seat, and the driver's head can be obtained on the Y axis according to the left and right adjustment distance of the driver's seat.
  • the upper abscissa obtains the head coordinates of the driver's head in the vehicle coordinate system based on the ordinate of the driver's head on the X-axis, the abscissa on the Y-axis, and the vertical coordinate on the Z-axis.
  • the terms used herein are "adjusting the distance” and "adjusting the height”, this does not mean that the technical solution of the present invention can only be applied to the case where the position of the car seat is adjusted, and the present invention also Applicable to situations where the car seat is not adjusted but the driver's sitting position changes. For example, when the front and rear positions of the seat are not adjusted but the degree of fit of the driver's back and the back of the seat is changed, the present invention can also accurately adjust the posture of the rear view mirror accordingly.
  • the driver can activate the car mirror automatic adjustment system through a button or voice command provided on the car head unit, or the person skilled in the art can also drive the car as needed.
  • the rearview mirror automatic adjustment system is set to start automatically, for example, automatically turning on the car mirror automatic adjustment system when the car is started.
  • the method of the present invention can quickly and accurately adjust the position of the car rearview mirror.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)

Abstract

L'invention concerne un procédé et un système de réglage automatique d'un rétroviseur d'automobile. Le procédé comprend les étapes suivantes consistant à : acquérir ou établir un système de coordonnées de véhicule d'une automobile; déterminer, au moyen de paramètres de réglage d'un siège d'occupant, une première coordonnée de la tête de l'occupant dans le système de coordonnées de véhicule; déterminer, au moyen d'une caméra, une seconde coordonnée de la tête de l'occupant dans le système de coordonnées de véhicule; et régler un rétroviseur selon la première coordonnée et en combinaison avec la seconde coordonnée, de telle sorte que l'occupant obtient un angle de vision optimal. En raison de la détermination selon des paramètres de réglage de siège de véhicule, le procédé permet de régler rapidement et avec précision la position d'un rétroviseur d'automobile en fonction de la posture en temps réel d'un occupant de véhicule, ce qui permet de résoudre les problèmes de perte de temps, d'opérations gênantes et de faible précision lors du réglage manuel du rétroviseur de véhicule, et d'une faible précision de réglage dans les procédés de réglage automatique existants de rétroviseur d'automobile.
PCT/CN2017/095154 2017-01-17 2017-07-31 Procédé et système de réglage automatique d'un rétroviseur d'automobile WO2018133364A1 (fr)

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CN201710031414.4 2017-01-17
CN201710031414.4A CN106696873A (zh) 2017-01-17 2017-01-17 汽车后视镜自动调节方法及系统

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CN106696873A (zh) * 2017-01-17 2017-05-24 上海蔚来汽车有限公司 汽车后视镜自动调节方法及系统
CN108928265A (zh) * 2018-07-13 2018-12-04 厦门理工学院 一种汽车座椅坐姿协同控制装置、系统和方法
CN113879237A (zh) * 2021-08-31 2022-01-04 际络科技(上海)有限公司 后视镜调节方法及装置

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