CN107139927B - A kind of the intelligent driving room control method and device of drive automatically human posture - Google Patents

A kind of the intelligent driving room control method and device of drive automatically human posture Download PDF

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CN107139927B
CN107139927B CN201710224401.9A CN201710224401A CN107139927B CN 107139927 B CN107139927 B CN 107139927B CN 201710224401 A CN201710224401 A CN 201710224401A CN 107139927 B CN107139927 B CN 107139927B
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driver
posture
imaging sensor
vehicle
sensor
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CN107139927A (en
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王建强
郑讯佳
许庆
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Tsinghua University
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Tsinghua University
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    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • 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
    • B60R16/023—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 transmission of signals between vehicle parts or subsystems

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Measuring Magnetic Variables (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses the intelligent driving room control method of drive automatically human posture a kind of and devices, which comprises the first imaging sensor of installation, the second imaging sensor and pressure sensor；Obtain driver's sample the initialized location moment aspectual character information and be adjusted to corresponding seat attitude data of best sitting posture moment, steering wheel attitude data, inside and outside gesture of rearview mirror data and safety belt attitude data；Establish database；The aspectual character information for obtaining current driver, driver's sample matches of current driver and database purchase that measurement is obtained, to search out the immediate driver's sample of aspectual character information with current driver at the initialized location moment；Adjust seat posture, steering wheel posture, inside and outside gesture of rearview mirror and the safety belt posture of current driver.The present invention is capable of the posture of adaptive different drivers and driver is placed in relatively optimal driving environment, while can be relieved driver fatigue, it is ensured that driving safety.

Description

A kind of the intelligent driving room control method and device of drive automatically human posture
Technical field
The present invention relates to intelligent vehicle applied technical fields, especially with regard to the intelligent driving of drive automatically human posture a kind of Room control method and device.
Background technique
With intelligent transportation, the fast development of intelligent driving technology and Automobile Design manufacturing technology, it is vehicle intellectualized Gradually by familiar and receiving, automobile list is had been unable to meet with the status that the identity of the vehicles carries out transport or manned operation The increasing living standard of people needs, and people have higher requirement to the good comfort of automobile and driving experience.
In the prior art, the seat of common vehicle driver's cabin, steering wheel, rearview mirror and safety belt mostly use greatly manual tune Section.In high-end car, although using the control such as automatic seat, electric steering, driven rearview mirrors and motorized seat belt mostly Mode processed, but still need to driver and manually adjust in advance.Even if some vehicles have memory function, also tend to that 3 to 4 can only be stored Drivers information, by the driver of storage information, there is still a need for manually adjust in advance.By manually adjust or manually with it is electronic Although the mode that joint is adjusted can satisfy daily need, need to carry out many cumbersome preparations, institute before driving With it is necessary to the functions specifically for automobile cab to carry out new design.
Summary of the invention
The purpose of the present invention is to provide the intelligent driving room control method of drive automatically human posture a kind of and device, It is capable of the posture of adaptive different drivers and driver is placed in relatively optimal driving environment, alleviates driver fatigue And ensure driving safety.
To achieve the above object, the present invention provides the intelligent driving room control method of drive automatically human posture a kind of, institute The method of stating includes the following steps:
S1 installs the first imaging sensor on the inside of the car door of driver side, left and right outside rear-view mirror and car outside vehicle Second imaging sensor is installed respectively on rearview mirror, pressure sensor is installed on the seat, and demarcates the position of each imaging sensor It sets；
S2 obtains driver's sample in initialized location using the pressure sensor in S1 and the imaging sensor demarcated The aspectual character information at moment and be adjusted to corresponding seat attitude data of best sitting posture moment, steering wheel attitude data, Inside and outside gesture of rearview mirror data and safety belt attitude data；
S3 establishes database according to each data that S2 is obtained；
S4 is believed using the aspectual character that the pressure sensor in S1 and the imaging sensor demarcated obtain current driver Breath, by the obtained current driver of measurement driving in the aspectual character information at initialized location moment and the database purchase of S3 The aspectual character information that proper manners sheet is sailed at the initialized location moment is matched, to search out in the database and current driver In the immediate driver's sample of the aspectual character information at initialized location moment；
S5, the immediate driver's sample searched out according to S4, according to the corresponding data stored in database, adjustment is worked as Seat posture, steering wheel posture, inside and outside gesture of rearview mirror and the safety belt posture of preceding driver；
Aspectual character information in step S2 and step S4 includes body posture and eye position, in which:
The preparation method of the body posture of driver includes: each pass using the collected driver of the first imaging sensor Position where node obtains each artis of driver corresponding angle in vehicle axis system, and then obtains driver's Body posture；
The preparation method of the eye position of driver includes: the eyes using the collected driver of the second imaging sensor The position at place obtains the eyes of the driver corresponding position in vehicle axis system.
Further, the preparation method of the body posture of driver specifically includes:
S61 sketches the contours the sitting posture profile of driver, and each artis of driver is chosen on the sitting posture profile of driver, Including ankle-joint (A), knee joint (B), hip joint (C), shoulder joint (D), elbow joint (E), wrist joint (F)；
S62, by the axis of the first imaging sensor perpendicular to the Y of vehicle axis systemVAxis, the X of the first imaging sensorNNYN Coordinate system and vehicle axis system YVOXVThe first corresponding relationship are as follows:
S63, using each artis in the first imaging sensor acquisition S61 in the first imaging sensor XNNYNThe position of coordinate system Set (XN,YN,ZN), according to the first corresponding relationship in step S62, each artis is calculated in vehicle axis system YVOXVPosition Set (XV,YV,ZV)；
S64, each artis being calculated according to S63 is in vehicle axis system YVOXVPosition (XV,YV,ZV), it obtains each Artis corresponding angle in vehicle axis system.
Further, the preparation method of the eye position of driver is one of following method or a variety of:
First method, the Y of the second imaging sensor on left outside rearview mirrorC1LXC1Coordinate system and vehicle axis system YVOXV's Second corresponding relationship are as follows:
θ1The angle rotated counterclockwise for left outside rearview mirror；
Using the human eye of the second imaging sensor acquisition driver on left outside rearview mirror in the second imaging sensor YC1LXC1Position (the X of coordinate systemC1,YC1,ZC1), according to the second corresponding relationship, the human eye of driver is calculated in vehicle coordinate It is YVOXVPosition (XV,YV,ZV)；
Second method, the Y of the second imaging sensor in right outside rear-view mirrorC2RXC2Coordinate system and vehicle axis system YVOXV's Third corresponding relationship are as follows:
θ2The angle rotated counterclockwise for right outside rear-view mirror；
The third method is passed using the human eye of the second imaging sensor acquisition driver in right outside rear-view mirror in the second image The Y of sensorC2RXC2Position (the X of coordinate systemC2,YC2,ZC2), according to third corresponding relationship, the human eye of driver is calculated in vehicle Coordinate system YVOXVPosition (XV,YV,ZV)；
The Y of second imaging sensor on room mirroriIXiCoordinate system and vehicle axis system YVOXVThe 4th corresponding relationship Are as follows:
θiThe angle rotated counterclockwise for room mirror；
Y of the human eye in the second imaging sensor of driver is acquired using the second imaging sensor on room mirroriIXi Position (the X of coordinate systemi,Yi,Zi), according to the 4th corresponding relationship, the human eye of driver is calculated in vehicle axis system YVOXV's Position (XV,YV,ZV)。
Further, the axis of the second imaging sensor is perpendicular to the mirror surface of rearview mirror, and its axis is directed toward rearview mirror Shaft.
Further, in S5 " adjust the seat posture of current driver, steering wheel posture, inside and outside gesture of rearview mirror and Safety belt posture " specifically includes:
Horizontal guide rail is arranged under seat base, before sliding motor control seat on the horizontal guide rail by seat horizontal Position afterwards；
Upright guide rail is arranged under seat base, and height of the seat on upright guide rail is controlled by chair vertical lifting motor Spend position；
Hinge axis between the output shaft and seat base and backrest of backrest pitching motor is connected in the axial direction, is led to Cross the angle of backrest pitching motor control backrest and seat base；
Telescopic rail is set in backrest, headrest is connected with telescopic rail, head is controlled by headrest telescope motor The relative position on telescopic rail of pillow and backrest；
Hinge axis between the output shaft for pitching motor of resting the head on and backrest telescopic rail and headrest is solid in the axial direction Even, the angle of control headrest and backrest；
The horizontal sextant angle of steering lever column is controlled by steering wheel pitching motor；
The distance between steering wheel and driver are controlled (in Z by steering wheel telescope motorVOYVDistance in plane)；
It is bowed by left outside rearview mirror rotating electric machine, right outside rear-view mirror rotating electric machine, inside rear-view mirror rotating electric machine, inside rear-view mirror The angle for facing upward the corresponding rearview mirror of motor control, by the eye position of current driver adjust to belong to driving human posture crowd Within the scope of the eye ellipse of 95 percentiles；
The tightness of motor control safety belt is tightened-loosened by safety belt；
The height that motor control adjusts safety belt guide plate is adjusted by belt height, to match the driving of different heights People.
The present invention also provides the intelligent driving room control device of drive automatically human posture a kind of, described device includes:
First imaging sensor is mounted on the inside of the car door of driver side, and each joint for acquiring driver Position where point；
Second imaging sensor is separately mounted to outside vehicle in left and right outside rear-view mirror and room mirror, and for acquiring Position where the eyes of driver；
Pressure sensor, installation on the seat, and are used to acquire the weight of driver；
Controller specifically includes:
MIM message input module, connection the first image sensor, the second imaging sensor and pressure sensor, is used In reception the first image sensor, the second imaging sensor and the collected each data of pressure sensor；
Database module is used for each data received using the MIM message input module, obtains and drives proper manners This initialized location moment aspectual character information and be adjusted to corresponding seat attitude data of best sitting posture moment, turn To disk attitude data, inside and outside gesture of rearview mirror data and safety belt attitude data, to establish database；
Driver's sample finds module, is used to utilize the pressure sensor, the first image sensor and second Imaging sensor obtains the aspectual character information of current driver, and the current driver that measurement is obtained is at the initialized location moment Aspectual character information and the database purchase driver's sample the initialized location moment aspectual character information carry out Matching, to search out the immediate driving of aspectual character information with current driver at the initialized location moment in the database Proper manners sheet；
Command output module is used for according to the immediate driver's sample searched out, according to what is stored in database Corresponding data adjusts seat posture, steering wheel posture, inside and outside gesture of rearview mirror and the safety belt posture of current driver；
The aspectual character information includes body posture and eye position, and the Database module includes:
The acquisition submodule of the body posture of driver is used to utilize the collected driving of the first image sensor Position where each artis of people obtains each artis of driver corresponding angle in vehicle axis system, and then obtains The body posture of driver；
The acquisition submodule of the eye position of driver is used to utilize the collected driving of the second imaging sensor Position where the eyes of people obtains the eyes of the driver corresponding position in vehicle axis system.
Further, the work of the acquisition submodule of the body posture of the driver specifically includes:
S61 sketches the contours the sitting posture profile of driver, and each artis of driver is chosen on the sitting posture profile of driver, Including ankle-joint (A), knee joint (B), hip joint (C), shoulder joint (D), elbow joint (E), wrist joint (F)；
S62, by the axis of the first imaging sensor perpendicular to the Y of vehicle axis systemVAxis, the X of the first imaging sensorNNYN Coordinate system and vehicle axis system YVOXVThe first corresponding relationship are as follows:
S63, using each artis in the first imaging sensor acquisition S61 in the first imaging sensor XNNYNThe position of coordinate system Set (XN,YN,ZN), according to the first corresponding relationship in step S62, each artis is calculated in vehicle axis system YVOXVPosition Set (XV,YV,ZV)；
S64, each artis being calculated according to S63 is in vehicle axis system YVOXVPosition (XV,YV,ZV), it obtains each Artis corresponding angle in vehicle axis system.
Further, the working method of the acquisition submodule of the eye position of driver is one of such as under type or more Kind:
First way, the Y of the second imaging sensor on left outside rearview mirrorC1LXC1Coordinate system and vehicle axis system YVOXV's Second corresponding relationship are as follows:
θ1The angle rotated counterclockwise for left outside rearview mirror；
Using the human eye of the second imaging sensor acquisition driver on left outside rearview mirror in the second imaging sensor YC1LXC1Position (the X of coordinate systemC1,YC1,ZC1), according to the second corresponding relationship, the human eye of driver is calculated in vehicle coordinate It is YVOXVPosition (XV,YV,ZV)；
The second way, the Y of the second imaging sensor in right outside rear-view mirrorC2RXC2Coordinate system and vehicle axis system YVOXV's Third corresponding relationship are as follows:
θ2The angle rotated counterclockwise for right outside rear-view mirror；
The third mode is passed using the human eye of the second imaging sensor acquisition driver in right outside rear-view mirror in the second image The Y of sensorC2RXC2Position (the X of coordinate systemC2,YC2,ZC2), according to third corresponding relationship, the human eye of driver is calculated in vehicle Coordinate system YVOXVPosition (XV,YV,ZV)；
The Y of second imaging sensor on room mirroriIXiCoordinate system and vehicle axis system YVOXVThe 4th corresponding relationship Are as follows:
θiThe angle rotated counterclockwise for room mirror；
Y of the human eye in the second imaging sensor of driver is acquired using the second imaging sensor on room mirroriIXi Position (the X of coordinate systemi,Yi,Zi), according to the 4th corresponding relationship, the human eye of driver is calculated in vehicle axis system YVOXV's Position (XV,YV,ZV)。
Further, the axis of second imaging sensor perpendicular to rearview mirror mirror surface, and its axis be directed toward backsight The shaft of mirror, the pressure sensor install the geometric center with human contact face on the seat.
Further, " the seat posture of current driver, steering wheel posture, interior is adjusted in described instruction output module Outside rear-view mirror posture and safety belt posture " specifically includes:
Horizontal guide rail is arranged under seat base, before sliding motor control seat on the horizontal guide rail by seat horizontal Position afterwards；
Upright guide rail is arranged under seat base, and height of the seat on upright guide rail is controlled by chair vertical lifting motor Spend position；
Hinge axis between the output shaft and seat base and backrest of backrest pitching motor is connected in the axial direction, is led to Cross the angle of backrest pitching motor control backrest and seat base；
Telescopic rail is set in backrest, headrest is connected with telescopic rail, head is controlled by headrest telescope motor The relative position on telescopic rail of pillow and backrest；
Hinge axis between the output shaft for pitching motor of resting the head on and backrest telescopic rail and headrest is solid in the axial direction Even, the angle of control headrest and backrest；
The horizontal sextant angle of steering lever column is controlled by steering wheel pitching motor；
The distance between steering wheel and driver are controlled by steering wheel telescope motor；
It is bowed by left outside rearview mirror rotating electric machine, right outside rear-view mirror rotating electric machine, inside rear-view mirror rotating electric machine, inside rear-view mirror The angle for facing upward the corresponding rearview mirror of motor control, by the eye position of current driver adjust to belong to driving human posture crowd Within the scope of the eye ellipse of 95 percentiles；
The tightness of motor control safety belt is tightened-loosened by safety belt；
The height that motor control adjusts safety belt guide plate is adjusted by belt height, to match the driving of different heights People.
Beneficial effects of the present invention: the intelligent driving room of drive automatically human posture of the invention, using human bioequivalence system The identification united to human posture is driven, intelligence control system convey instruction to seat in actuator adjustment driver's cabin, steering wheel, inside and outside The posture of rearview mirror and safety belt, can adaptive different drivers posture and driver is placed in relatively optimal driving ring Border, the driving leading zero that can be realized any driver prepare, and driving procedure is made to become more easily, to give for driver and preferably drive It sails experience and improves vehicle comfort, alleviate driver fatigue, it is ensured that driving safety.
Detailed description of the invention
Fig. 1 a is the schematic elevational view of the intelligent driving room of drive automatically human posture of the invention.
Fig. 1 b is the schematic plan of Fig. 1 a.
Fig. 2 is the sitting posture schematic diagram of driver.
Fig. 3 a is the schematic diagram of driver's sitting posture initial time.
Fig. 3 b is driver's sitting posture schematic diagram adjusted.
Fig. 4 is the control flow schematic diagram of intelligent driving room of the present invention.
Fig. 5 is actuator structure figure of the present invention.
Fig. 6 a and Fig. 6 b are the vehicle analysis model that the preparation method of the body posture of driver of the invention is established.
Fig. 6 c is driver's analysis model that the preparation method of the body posture of driver of the invention is established.
Fig. 7 a and Fig. 7 b are the vehicle analysis model that the preparation method of the eye position of driver of the invention is established.
Specific embodiment
In the accompanying drawings, same or similar element is indicated using same or similar label or there is same or like function Element.The embodiment of the present invention is described in detail with reference to the accompanying drawing.
In the description of the present invention, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the scope of the invention.
As shown in Fig. 1 a, Fig. 1 b, Fig. 3 a and Fig. 3 b, the intelligence of drive automatically human posture provided by the present embodiment is driven Room control method is sailed to include the following steps:
S1 installs the image sensing provided in the first imaging sensor, such as Fig. 1 b on the inside of the car door of driver side Device 30 is identified by imaging sensor 30 and drives human posture.After in left outside rearview mirror, right outside rear-view mirror and car outside vehicle Second imaging sensor is installed respectively, such as left outside rearview mirror 31,32 and of right outside rear-view mirror shown in Fig. 1 a and Fig. 1 b on visor Inside rear-view mirror 33 can identify that the eyes of driver are driving indoor locating position by the imaging sensor on each rearview mirror It sets.Pressure sensor is installed on the seat, the quantity of pressure sensor is at least three, is separately mounted to seat base, seat On backrest and headrest, it is respectively used to identify and record to drive the main force part of human body (back B3, buttocks B4 and head B2) Stress condition.
Demarcate the position of each imaging sensor (including the first imaging sensor and the second imaging sensor).
The first imaging sensor and the second imaging sensor in the present embodiment is using monocular cam, the present embodiment It is middle using in cameras with fixed focus acquisition driver's cabin, pattern distortion is smaller, therefore ignores tight shot distortion effect, using linear Model describes camera imaging process.On this basis, first using the prior art (such as bibliography: Zhang Z.A FlexiBle New Technique for Camera CaliBration. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000,22 (11): 1330-1334.) in propose camera internal reference mark Determine the internal reference that method calibration this patent uses camera, then establishes the coordinate system of vehicle-mounted vision system, and thus design base In the scaling scheme of vertical chessboard calibration plate.
S2 obtains driver's sample in initialized location using the pressure sensor in S1 and the imaging sensor demarcated The aspectual character information at moment and be adjusted to corresponding seat attitude data of best sitting posture moment, steering wheel attitude data, Inside and outside gesture of rearview mirror data and safety belt attitude data.
In S2, the aspectual character information of driver's sample and it is being adjusted to corresponding seat posture number of best sitting posture moment According to, steering wheel attitude data, inside and outside gesture of rearview mirror data and safety belt attitude data acquisition pattern it is as follows:
As illustratively, driver's sample specifically includes that the height T of driver in Fig. 3 a and Fig. 3 bi, weight Wi.It is marking After being taken a seat in quasi- driver's cabin, each equipment initialized location moment in driver's cabin, seat attitude data include pedestal rearmost end with Horizontal guide rail rearmost end spacing Li0=0, the sitting height H of floor in a vehicle to eyessi0, heel to seat base rearmost end horizontal distance Lfi0, angle β between backrest and seat basei0, at the top of Chain cushion with driver's cabin ground level Hi0, hip joint to vehicle Height H between interior floorki0.It is being adjusted to best sitting posture moment, seat base rearmost end and horizontal guide rail rearmost end spacing Li, Sitting height H of the floor in a vehicle to eyessiAnd heel is to seat base rearmost end horizontal distance Lfi, backrest and seat base Between angle βi, at the top of Chain cushion with driver's cabin ground level Hi, hip joint to height H between floor in a vehicleki0。
Steering wheel attitude data includes the angle of steering lever column and floor in a vehicle, and steering wheel centre is in vehicle axis system Position.The acquisition of steering wheel attitude data:, can be light according to the initial designs drawing of driver's cabin in driver's cabin reset state The easily position of acquisition steering lever column and the angle and steering wheel centre of floor in a vehicle in vehicle axis system.Database Stage records steering wheel pitching motor, steering wheel telescope motor when driver adjusts the suitable position that steering wheel is thought to him The amount of feeding, and then can convert to obtain current angular and the current location of steering wheel centre of steering lever column and floor in a vehicle.
Inside and outside gesture of rearview mirror data include the mirror surface point of left outside rearview mirror 31, right outside rear-view mirror 32 and inside rear-view mirror 33 Not with the Y in vehicle axis systemVOZVThe angle of plane.Inside and outside gesture of rearview mirror data are respectively Xi、XC1、XC2With YVIt is folded Acute angle.
Safety belt attitude data is mainly the height of safety belt guide plate, and guide plate adjusts motor control by belt height System, can by record its amount of feeding calculate safety belt guide plate locating for height, while need record security band tighten-loosen motor The amount of feeding.
S3, according to S2 obtain driver's sample the initialized location moment aspectual character information and be adjusted to most Good sitting posture moment corresponding seat attitude data, steering wheel attitude data, inside and outside gesture of rearview mirror data and safety belt posture number According to establishing database, as shown in table 1.
Table 1 drives personal data collection capacity table
After acquiring N driver's parameters with above-mentioned scale, database is established immediately.Driver's total sample number N need to expire Sufficient certain amount condition, and the height of driver's sample database, weight distribution curve should meet Chinese driver's somatic data The height in library, weight distribution trend.
S4 is believed using the aspectual character that the pressure sensor in S1 and the imaging sensor demarcated obtain current driver Breath, by the obtained current driver of measurement driving in the aspectual character information at initialized location moment and the database purchase of S3 The aspectual character information that proper manners sheet is sailed at the initialized location moment is matched, to search out in the database and current driver In the immediate driver's sample of the aspectual character information at initialized location moment.That is, the Database is completed Afterwards, for any one strange driver, its sitting height is measured by the second imaging sensor being mounted on room mirror 33 Hsi0, the imaging sensor that is mounted on car door measure its heel to hip joint horizontal distance Lfi0With the location parameter of each artis Afterwards, controller will match and the immediate driver's sample of aspectual character of current driver in the database automatically.
S5, the immediate driver's sample searched out according to S4, according to the corresponding data stored in database, adjustment is worked as Seat posture, steering wheel posture, inside and outside gesture of rearview mirror and the safety belt posture of preceding driver.That is, according to database Driver's sample of middle storage corresponding relevant parameter when being adjusted to optimum drive sitting posture adjusts the seat of current driver Attitude data, steering wheel attitude data, inside and outside gesture of rearview mirror data and safety belt attitude data.
Aspectual character information in step S2 and step S4 includes body posture and eye position, in which:
The preparation method of the body posture of driver includes: each pass using the collected driver of the first imaging sensor Position where node obtains each artis of driver corresponding angle in vehicle axis system, and then obtains driver's Body posture.
The preparation method of the eye position of driver includes: the eyes using the collected driver of the second imaging sensor The position at place obtains the eyes of the driver corresponding position in vehicle axis system.
In one embodiment, as shown in Fig. 6 a to Fig. 6 c, vehicle axis system YVOXVOrigin O be bonnet of motor car most before Midpoint is held, the transverse direction of vehicle is vehicle axis system YVOXVAxis of abscissas, the longitudinal direction of vehicle is vehicle axis system YVOXVVertical seat Parameter.The X of first imaging sensorNNYNCoordinate system is the coordinate system of itself.So, the acquisition side of the body posture of driver Method specifically includes:
When establishing database, the collected every an example driver image of the first imaging sensor is manually marked by S61 It is fixed.Illustratively such as Fig. 6 c, the sitting posture profile of driver is sketched the contours, and chooses each joint of driver on the sitting posture profile of driver Point, including ankle-joint A, knee joint B, hip joint C, shoulder joint D, elbow joint E, wrist joint F, each artis are passed as the first image Driver's sitting posture collection point of sensor.
S62, illustratively such as Fig. 6 a, by the axis of the first imaging sensor perpendicular to the Y of vehicle axis systemVAxis, therefore θn= 270 °, there is cos θn=0, sin θn=-1, therefore the Y of the first imaging sensorNNXNCoordinate system and vehicle axis system YVOXV? One corresponding relationship are as follows:
θnFor the first imaging sensor coordinate system Y in car doorNNXNRelative vehicle coordinate system YVOXVThe angle rotated counterclockwise； dn1For the lateral distance of first sensor installation point N in car door and vehicle front end O point； dn2Pacify for first sensor in car door Decorate the fore-and-aft distance of N Yu vehicle front end O point；dn3For the perpendicular of first sensor installation point N in car door and vehicle front end O point Straight distance.
S63, using each artis in the first imaging sensor acquisition S61 in the first imaging sensor XNNYNThe position of coordinate system Set (XN,YN,ZN), according to the first corresponding relationship in step S62, each artis is calculated in vehicle axis system YVOXVPosition Set (XV,YV,ZV), using the method for depth convolutional neural networks, training can voluntarily identify each artis in any driver Position with it.
S64, each artis being calculated according to S63 is in vehicle axis system YVOXVPosition (XV,YV,ZV), it obtains each Artis corresponding angle [alpha] in vehicle axis system1、α2、α3、α4、α5。
In one embodiment, as shown in figs. 7 a and 7b, vehicle axis system YVOXVOrigin O be bonnet of motor car most before Midpoint is held, the transverse direction of vehicle is vehicle axis system YVOXVAxis of abscissas, the longitudinal direction of vehicle is vehicle axis system YVOXVVertical seat Parameter.The second imaging sensor base point of installation in left outside rearview mirror, right outside rear-view mirror and inside rear-view mirror, which is set separately, is scheming In L, R, I point at, correspond respectively to local Coordinate System, i.e., respectively YC1LXC1Coordinate system, YC2RXC2Coordinate system, YiIXiCoordinate System.So, the preparation method of the eye position of driver specifically includes:
First method, the Y of the second imaging sensor on left outside rearview mirrorC1LXC1Coordinate system and vehicle axis system YVOXV's Second corresponding relationship are as follows:
θ1For left outside rearview mirror coordinate system YC1LXC1Relative vehicle coordinate system YVOXVThe angle rotated counterclockwise； d1For left and right The lateral distance of second sensor installation point L and R and vehicle front end O point in outside rear-view mirror；d2It is in right outside rear-view mirror second The fore-and-aft distance of sensor installation point L and R and vehicle front end O point；d3For second sensor installation point L in the outside rear-view mirror of left and right With the vertical distance of R and vehicle front end O point.
Using the human eye of the second imaging sensor acquisition driver on left outside rearview mirror in the second imaging sensor YC1LXC1Position (the X of coordinate systemC1,YC1,ZC1), according to the second corresponding relationship, the human eye of driver is calculated in vehicle coordinate It is YVOXVPosition (XV,YV,ZV)；
Second method, the Y of the second imaging sensor in right outside rear-view mirrorC2RXC2Coordinate system and vehicle axis system YVOXV's Third corresponding relationship are as follows:
θ2For right outside rear-view mirror coordinate system YC2RXC2Relative vehicle coordinate system YVOXVThe angle rotated counterclockwise.
The third method is passed using the human eye of the second imaging sensor acquisition driver in right outside rear-view mirror in the second image The Y of sensorC2RXC2Position (the X of coordinate systemC2,YC2,ZC2), according to third corresponding relationship, the human eye of driver is calculated in vehicle Coordinate system YVOXVPosition (XV,YV,ZV)；
The Y of second imaging sensor on room mirroriIXiCoordinate system and vehicle axis system YVOXVThe 4th corresponding relationship Are as follows:
θiFor inside rear-view mirror coordinate system YiIXiRelative vehicle coordinate system YVOXVThe angle rotated counterclockwise；di1For interior backsight The lateral distance of second sensor installation point I and vehicle front end O point on mirror；di2For second sensor installation point in inside rear-view mirror The fore-and-aft distance of I and vehicle front end O point；di3For the perpendicular of second sensor installation point I in inside rear-view mirror and vehicle front end O point Straight distance.
Y of the human eye in the second imaging sensor of driver is acquired using the second imaging sensor on room mirroriIXi Position (the X of coordinate systemi,Yi,Zi), according to the 4th corresponding relationship, the human eye of driver is calculated in vehicle axis system YVOXV's Position (XV,YV,ZV)。
It should be noted that the position of the eyes of one of method acquisition driver can be selected.Certainly, in order to measure Accuracy, above-mentioned three kinds of methods can select simultaneously, take the mean value of three's data measured.
In above-described embodiment, the axis of the second imaging sensor is perpendicular to the mirror surface of rearview mirror, and its axis is directed toward backsight The shaft of mirror.
In one embodiment, " the seat posture, steering wheel posture, interior outside rear-view mirror of current driver are adjusted in S5 Posture and safety belt posture " specifically includes:
Horizontal guide rail is arranged under seat base, before sliding motor control seat on the horizontal guide rail by seat horizontal Position afterwards；
Upright guide rail is arranged under seat base, and height of the seat on upright guide rail is controlled by chair vertical lifting motor Spend position；
Hinge axis between the output shaft and seat base and backrest of backrest pitching motor is connected in the axial direction, is led to Cross the angle of backrest pitching motor control backrest and seat base；
Telescopic rail is set in backrest, headrest is connected with telescopic rail, head is controlled by headrest telescope motor The relative position on telescopic rail of pillow and backrest；
Hinge axis between the output shaft for pitching motor of resting the head on and backrest telescopic rail and headrest is solid in the axial direction Even, the angle of control headrest and backrest；
The horizontal sextant angle of steering lever column is controlled by steering wheel pitching motor；
The distance between steering wheel and driver are controlled (in Z by steering wheel telescope motorVOYVDistance in plane)；
It is bowed by left outside rearview mirror rotating electric machine, right outside rear-view mirror rotating electric machine, inside rear-view mirror rotating electric machine, inside rear-view mirror The angle for facing upward the corresponding rearview mirror of motor control, by the eye position of current driver adjust to belong to driving human posture crowd Within the scope of the eye ellipse of 95 percentiles；
It tightens-loosens the tightness of motor control safety belt by safety belt, guarantee driver's comfortable wearing, and can be Moment before collision accident occurs provides pretightning force for driver, mitigates accident injury；
The height that motor control adjusts safety belt guide plate is adjusted by belt height, to match the driving of different heights People.
As shown in Figure 1, the intelligent driving room control device the present invention also provides a kind of drive automatically human posture is applied Driver's cabin include seat assembly 1, turn to disc assembly 2, inside and outside rearview mirror assembly 3, safety belt assembly 4, frame assembly 5, plus-minus Speed pedal 6, transmission shift lever 7 and parking brake lever 8.
As shown in figure 4, the intelligent driving room control device of the drive automatically human posture in the present embodiment includes that human body is known Other system S1, intelligence control system S2 and actuator S3.Wherein:
Human body recognition system S1 includes the first imaging sensor, the second imaging sensor and pressure sensor, wherein first Imaging sensor is mounted on the inside of the car door of driver side, and for acquiring the position where each artis of driver.
Second imaging sensor is separately mounted to outside vehicle in left and right outside rear-view mirror and room mirror, and is driven for acquiring Sail the position where the eyes of people.Pressure sensor is installed on the seat, and the weight for acquiring driver.
Intelligence control system S2 includes controller S22 and database S21, wherein
Controller S22 is used to receive the human body recognition system S1 and is the data-signal transmitted and sends to actuator S3 Command signal.Controller S22 specifically includes MIM message input module, Database module, driver's sample and finds module and refer to Enable output module, wherein
MIM message input module connects the first image sensor, the second imaging sensor and pressure sensor, is used for Receive the first image sensor, the second imaging sensor and the collected each data of pressure sensor.Database mould Block is used for each data received using the MIM message input module, obtains driver's sample in the posture at initialized location moment Characteristic information and it is being adjusted to corresponding seat attitude data of best sitting posture moment, steering wheel attitude data, interior outside rear-view mirror Attitude data and safety belt attitude data, to establish database.
The aspectual character information of driver's sample and be adjusted to corresponding seat attitude data of best sitting posture moment, turn It is as follows to disk attitude data, inside and outside gesture of rearview mirror data and safety belt attitude data acquisition pattern:
As illustratively, driver's sample specifically includes that the height T of driver in Fig. 3 a and Fig. 3 bi, weight Wi.It is marking After being taken a seat in quasi- driver's cabin, each equipment initialized location moment in driver's cabin, seat attitude data include pedestal rearmost end with Horizontal guide rail rearmost end spacing Li0=0, the sitting height H of floor in a vehicle to eyessi0, heel to seat base rearmost end horizontal distance Lfi0, angle β between backrest and seat basei0, at the top of Chain cushion with driver's cabin ground level Hi0, hip joint to vehicle Height H between interior floorki0.It is being adjusted to best sitting posture moment, seat base rearmost end and horizontal guide rail rearmost end spacing Li, Sitting height H of the floor in a vehicle to eyessiAnd heel is to seat base rearmost end horizontal distance Lfi, backrest and seat base Between angle βi, at the top of Chain cushion with driver's cabin ground level Hi, hip joint to height H between floor in a vehicleki0。
Steering wheel attitude data includes the angle of steering lever column 22 Yu floor in a vehicle, and 21 center of steering wheel is in vehicle axis system In position.The acquisition of steering wheel attitude data:, can according to the initial designs drawing of driver's cabin in driver's cabin reset state To obtain the position of the angle and steering wheel centre of steering lever column and floor in a vehicle in vehicle axis system easily.Database Establishment stage, when driver adjusts the suitable position that steering wheel is thought to him, record steering wheel pitching motor, steering wheel are flexible The amount of feeding of motor, and then can convert to obtain the current angular of steering lever column and floor in a vehicle and the present bit of steering wheel centre It sets.
Inside and outside gesture of rearview mirror data include the mirror surface point of left outside rearview mirror 31, right outside rear-view mirror 32 and inside rear-view mirror 33 Not with the Y in vehicle axis systemVOZVThe angle of plane.Inside and outside gesture of rearview mirror data are respectively Xi、XC1、XC2With YVIt is folded Acute angle.
Safety belt attitude data is mainly the height of safety belt guide plate, and guide plate adjusts motor control by belt height System, can by record its amount of feeding calculate safety belt guide plate locating for height, while need record security band tighten-loosen motor The amount of feeding.
Driver's sample finds module and is used to utilize the pressure sensor, the first image sensor and the second image Sensor obtains the aspectual character information of current driver, body of the current driver that measurement is obtained at the initialized location moment Aspectual character information of the state characteristic information with driver's sample of the database purchase at the initialized location moment matches, To search out the immediate driving proper manners of aspectual character information with current driver at the initialized location moment in the database This.
Command output module is used for according to the immediate driver's sample searched out, according to the correspondence stored in database Data adjust seat posture, steering wheel posture, inside and outside gesture of rearview mirror and the safety belt posture of current driver.
Intelligence control system S2 work when, human body recognition system S1 when current driver walks close in 10 meters of driver's cabin from Innervation should start, and by the extraction of aspectual character, close sample parameter is matched from database S21；When driver into Enter the intelligent driving room, it is total that controller S22 sends instructions to seat motor assembly S31, steering coil motor in actuator S3 At S32, rearview mirror motor assembly S33 and safety belt motor assembly S34, by seat assembly 1, disc assembly 2, backsight mirror motor are turned to Assembly S33 and safety belt motor assembly S34 is adjusted to the optimum position that database matching goes out, and enables driver that operation to be facilitated to drive Steering wheel 21, plus-minus speed pedal 6, transmission shift lever 7 and the parking brake lever 8 in room are sailed, and there is good relax Adaptive experience.
The aspectual character information includes body posture and eye position, and the Database module includes:
The acquisition submodule of the body posture of driver is used to utilize the collected driving of the first image sensor Position where each artis of people obtains each artis of driver corresponding angle in vehicle axis system, and then obtains The body posture of driver.
The acquisition submodule of the eye position of driver is used to utilize the collected driving of the second imaging sensor Position where the eyes of people obtains the eyes of the driver corresponding position in vehicle axis system.
Actuator S3 includes the seat motor assembly S31 for controlling seat posture respectively, the steering wheel for controlling steering wheel posture Motor assembly S32, the rearview mirror motor assembly S33 for controlling gesture of rearview mirror and the safety belt motor assembly for controlling safety belt posture S34.Wherein, seat motor assembly S31 includes that seat horizontal sliding motor S315, chair vertical lifting motor S314, seat lean on Carry on the back pitching motor S313, headrest telescope motor S312 and headrest pitching motor S311.Steering wheel motor assembly S32 includes turning to Disk pitching motor S321 and steering wheel telescope motor S322.Backsight mirror motor S33 assembly includes left outside rearview mirror rotating electric machine S331, right outside rear-view mirror rotating electric machine S332, inside rear-view mirror rotating electric machine S333 and inside rear-view mirror pitching motor S334.Safety belt Motor assembly S34 includes that motor S341 and belt height adjusting motor S342 are tightened-loosened to safety belt.
Actuator S3 specific works include:
Seat base 13 is lower to arrange that horizontal guide rail 131, seat horizontal sliding motor S315 control seat assembly 1 are led in level Front-rear position on rail 131.Seat base 13 is lower to arrange upright guide rail 132, and it is total that chair vertical lifting motor S314 controls seat At 1 height and position on upright guide rail 132.The output shaft and seat base 13 and backrest 12 of backrest pitching motor S313 Between hinge axis 133 be connected in the axial direction, control backrest 12 and seat base 13 angle.It is arranged in backrest 12 Telescopic rail 121, the headrest 11 are connected with telescopic rail 121, headrest telescope motor S312 control headrest 11 and backrest 12 relative position on telescopic rail 121.Rest the head on pitching motor S311 output shaft and backrest telescopic rail 121 and Hinge axis 111 between headrest 11 is connected in the axial direction, the angle of control headrest 11 and backrest 12.Steering wheel pitching motor The horizontal sextant angle of S321 control steering lever column.Steering wheel telescope motor S322 controls the distance between steering wheel 21 and driver. Left outside rearview mirror rotating electric machine S331, right outside rear-view mirror rotating electric machine S332, inside rear-view mirror rotating electric machine S333, inside rear-view mirror are bowed The angle that motor S334 controls each affiliated rearview mirror is faced upward, to adjust the visual field at driver rear.Safety belt tightens-loosen motor S341 controls the tightness of safety belt, guarantees driver's comfortable wearing, and can be to drive in the moment before collision accident generation People provides pretightning force, mitigates accident injury.Belt height adjusts the height that motor S342 controls to adjust safety belt guide plate, with Match the driver of different heights.
In one embodiment, as shown in Fig. 6 a to Fig. 6 c, vehicle axis system YVOXVOrigin O be bonnet of motor car most before Midpoint is held, the transverse direction of vehicle is vehicle axis system YVOXVAxis of abscissas, the longitudinal direction of vehicle is vehicle axis system YVOXVVertical seat Parameter.The X of first imaging sensorNNYNCoordinate system is the coordinate system of itself.So, the body posture of the driver obtains The work for obtaining submodule specifically includes:
When establishing database, the collected every an example driver image of the first imaging sensor is manually marked by S61 It is fixed.Illustratively such as Fig. 6 c, the sitting posture profile of driver is sketched the contours, and chooses each joint of driver on the sitting posture profile of driver Point, including ankle-joint A, knee joint B, hip joint C, shoulder joint D, elbow joint E, wrist joint F, each artis are passed as the first image Driver's sitting posture collection point of sensor.
S62, by the axis of the first imaging sensor perpendicular to the Y of vehicle axis systemVAxis, therefore θn=270 °, there is cos θn= 0, sin θn=-1, therefore the X of the first imaging sensorNNYNCoordinate system and vehicle axis system YVOXVThe first corresponding relationship are as follows:
S63, using each artis in the first imaging sensor acquisition S61 in the first imaging sensor XNNYNThe position of coordinate system Set (XN,YN,ZN), according to the first corresponding relationship in step S62, each artis is calculated in vehicle axis system YVOXVPosition Set (XV,YV,ZV), using the method for depth convolutional neural networks, training can voluntarily identify each artis in any driver Position with it.
S64, each artis being calculated according to S63 is in vehicle axis system YVOXVPosition (XV,YV,ZV), it obtains each Artis corresponding angle [alpha] in vehicle axis system1、α2、α3、α4、α5。
In one embodiment, as shown in figs. 7 a and 7b, vehicle axis system YVOXVOrigin O be bonnet of motor car most before Midpoint is held, the transverse direction of vehicle is vehicle axis system YVOXVAxis of abscissas, the longitudinal direction of vehicle is vehicle axis system YVOXVVertical seat Parameter.The second imaging sensor base point of installation in left outside rearview mirror, right outside rear-view mirror and inside rear-view mirror, which is set separately, is scheming In L, R, I point at, correspond respectively to local Coordinate System, i.e., respectively YC1LXC1Coordinate system, YC2RXC2Coordinate system, YiIXiCoordinate System.So, the working method of the acquisition submodule of the eye position of driver specifically includes:
First way, the Y of the second imaging sensor on left outside rearview mirrorC1LXC1Coordinate system and vehicle axis system YVOXV's Second corresponding relationship are as follows:
θ1The angle rotated counterclockwise for left outside rearview mirror；
Using the human eye of the second imaging sensor acquisition driver on left outside rearview mirror in the second imaging sensor YC1LXC1Position (the X of coordinate systemC1,YC1,ZC1), according to the second corresponding relationship, the human eye of driver is calculated in vehicle coordinate It is YVOXVPosition (XV,YV,ZV)；
The second way, the Y of the second imaging sensor in right outside rear-view mirrorC2RXC2Coordinate system and vehicle axis system YVOXV's Third corresponding relationship are as follows:
θ2The angle rotated counterclockwise for right outside rear-view mirror；
The third mode is passed using the human eye of the second imaging sensor acquisition driver in right outside rear-view mirror in the second image The Y of sensorC2RXC2Position (the X of coordinate systemC2,YC2,ZC2), according to third corresponding relationship, the human eye of driver is calculated in vehicle Coordinate system YVOXVPosition (XV,YV,ZV)；
The Y of second imaging sensor on room mirroriIXiCoordinate system and vehicle axis system YVOXVThe 4th corresponding relationship Are as follows:
θiThe angle rotated counterclockwise for room mirror；
Y of the human eye in the second imaging sensor of driver is acquired using the second imaging sensor on room mirroriIXi Position (the X of coordinate systemi,Yi,Zi), according to the 4th corresponding relationship, the human eye of driver is calculated in vehicle axis system YVOXV's Position (XV,YV,ZV)。
When the acquisition submodule work of the eye position of driver, each second imaging sensor detects driver's eyes Behind present position, controller S22 issues instructions to the seat motor assembly S31, by the horizontal position for finely tuning seat assembly 1 It sets, height and position, 12 tilt angle of backrest and 11 angles of headrest, at least adjusts driver's eyes to belonging to the driver Within the scope of the eye ellipse B1 of 95 percentile of posture crowd, guarantee that driver possesses good front and back field range.The eye is ellipse Circle B1 is carried out according to a large amount of experiment sample in the database, using the database S21 by information such as different heights, weight Sort out.
It should be noted that above-mentioned three kinds of modes can be selected simultaneously for the accuracy of measurement, can also select wherein It is a kind of.
In one embodiment, the axis of second imaging sensor is perpendicular to the mirror surface of rearview mirror, and its axis refers to To the shaft of rearview mirror, the pressure sensor installs the geometric center with human contact face on the seat.
In one embodiment, " seat posture, the steering wheel appearance of current driver are adjusted in described instruction output module State, inside and outside gesture of rearview mirror and safety belt posture " specifically includes:
Horizontal guide rail is arranged under seat base, before sliding motor control seat on the horizontal guide rail by seat horizontal Position afterwards；
Upright guide rail is arranged under seat base, and height of the seat on upright guide rail is controlled by chair vertical lifting motor Spend position；
Hinge axis between the output shaft and seat base and backrest of backrest pitching motor is connected in the axial direction, is led to Cross the angle of backrest pitching motor control backrest and seat base；
Telescopic rail is set in backrest, headrest is connected with telescopic rail, head is controlled by headrest telescope motor The relative position on telescopic rail of pillow and backrest；
Hinge axis between the output shaft for pitching motor of resting the head on and backrest telescopic rail and headrest is solid in the axial direction Even, the angle of control headrest and backrest；
The horizontal sextant angle of steering lever column is controlled by steering wheel pitching motor；
The distance between steering wheel and driver are controlled by steering wheel telescope motor；
It is bowed by left outside rearview mirror rotating electric machine, right outside rear-view mirror rotating electric machine, inside rear-view mirror rotating electric machine, inside rear-view mirror The angle for facing upward the corresponding rearview mirror of motor control, by the eye position of current driver adjust to belong to driving human posture crowd Within the scope of the eye ellipse of 95 percentiles；
It tightens-loosens the tightness of motor control safety belt by safety belt, guarantee driver's comfortable wearing, and can be Moment before collision accident occurs provides pretightning force for driver, mitigates accident injury；
The height that motor control adjusts safety belt guide plate is adjusted by belt height, to match the driving of different heights People.
Motor in actuator S3 is bi-directional drive motor and directly drives the component being connected with its shaft.
After driver leaves the intelligent driving room, the seat assembly 1, steering disc assembly 2, inside and outside rearview mirror assembly 3, Safety belt assembly 4 resets and the space of driver's cabin is made to remain to maximum, to facilitate driver's entrance next time.
Finally it is noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.This The those of ordinary skill in field is it is understood that be possible to modify the technical solutions described in the foregoing embodiments or right Part of technical characteristic is equivalently replaced；These are modified or replaceed, and it does not separate the essence of the corresponding technical solution originally Invent the spirit and scope of each embodiment technical solution.

Claims (10)

1. the intelligent driving room control method of drive automatically human posture a kind of, which comprises the steps of:
S1 installs the first imaging sensor on the inside of the car door of driver side, left and right outside rear-view mirror and interior backsight outside vehicle Second imaging sensor is installed respectively on mirror, pressure sensor is installed on the seat, and demarcates the position of each imaging sensor；
S2 obtains driver's sample at the initialized location moment using the pressure sensor in S1 and the imaging sensor demarcated Aspectual character information and be adjusted to corresponding seat attitude data of best sitting posture moment, steering wheel attitude data, inside and outside Gesture of rearview mirror data and safety belt attitude data；
S3 establishes database according to each data that S2 is obtained；
S4 obtains the aspectual character information of current driver using the pressure sensor in S1 and the imaging sensor demarcated, Driver of the current driver that measurement is obtained in the aspectual character information at initialized location moment and the database purchase of S3 Aspectual character information of the sample at the initialized location moment is matched, searched out in the database with current driver first The immediate driver's sample of the aspectual character information at beginningization position moment；
S5, the immediate driver's sample searched out according to S4, according to the corresponding data stored in database, adjustment is currently driven Sail seat posture, steering wheel posture, inside and outside gesture of rearview mirror and the safety belt posture of people；
Aspectual character information in step S2 and step S4 includes body posture and eye position, in which:
The preparation method of the body posture of driver includes: each artis using the collected driver of the first imaging sensor The position at place obtains each artis of driver corresponding angle in vehicle axis system, and then obtains the body of driver Posture；
The preparation method of the eye position of driver includes: the eyes place using the collected driver of the second imaging sensor Position, obtain the eyes of the driver corresponding position in vehicle axis system.
2. the intelligent driving room control method of drive automatically human posture as described in claim 1, which is characterized in that driver The preparation method of body posture specifically include:
S61 sketches the contours the sitting posture profile of driver, and each artis of driver is chosen on the sitting posture profile of driver, including Ankle-joint (A), knee joint (B), hip joint (C), shoulder joint (D), elbow joint (E), wrist joint (F)；
S62, by the axis of the first imaging sensor perpendicular to the Y of vehicle axis systemVAxis, the X of the first imaging sensorNNYNCoordinate System and vehicle axis system YVOXVThe first corresponding relationship are as follows:
S63, using each artis in the first imaging sensor acquisition S61 in the first imaging sensor XNNYNThe position of coordinate system (XN,YN,ZN), according to the first corresponding relationship in step S62, each artis is calculated in vehicle axis system YVOXVPosition (XV,YV,ZV)；
S64, each artis being calculated according to S63 is in vehicle axis system YVOXVPosition (XV,YV,ZV), obtain each artis The corresponding angle in vehicle axis system；
dn1For the lateral distance of first sensor installation point N in car door and vehicle front end O point；dn2For first sensor in car door The fore-and-aft distance of installation point N and vehicle front end O point；dn3For first sensor installation point N in car door and vehicle front end O point Vertical distance.
3. the intelligent driving room control method of drive automatically human posture as described in claim 1, which is characterized in that driver The preparation method of eye position be one of following method or a variety of:
First method, the Y of the second imaging sensor on left outside rearview mirrorC1LXC1Coordinate system and vehicle axis system YVOXVSecond Corresponding relationship are as follows:
θ1The angle rotated counterclockwise for left outside rearview mirror；d1For second sensor installation point L and R and vehicle in the outside rear-view mirror of left and right The lateral distance of front end O point；d2For the vertical of second sensor installation point L and R in right outside rear-view mirror and vehicle front end O point To distance；d3For the vertical distance of second sensor installation point L and R in the outside rear-view mirror of left and right and vehicle front end O point；
Y of the human eye in the second imaging sensor of driver is acquired using the second imaging sensor on left outside rearview mirrorC1LXC1Coordinate Position (the X of systemC1,YC1,ZC1), according to the second corresponding relationship, the human eye of driver is calculated in vehicle axis system YVOXVPosition Set (XV,YV,ZV)；
Second method, the Y of the second imaging sensor in right outside rear-view mirrorC2RXC2Coordinate system and vehicle axis system YVOXVThird Corresponding relationship are as follows:
θ2The angle rotated counterclockwise for right outside rear-view mirror；d1For second sensor installation point L and R and vehicle in the outside rear-view mirror of left and right The lateral distance of front end O point；d2For the vertical of second sensor installation point L and R in right outside rear-view mirror and vehicle front end O point To distance；d3For the vertical distance of second sensor installation point L and R in the outside rear-view mirror of left and right and vehicle front end O point；
The third method, using the human eye of the second imaging sensor acquisition driver in right outside rear-view mirror in the second imaging sensor YC2RXC2Position (the X of coordinate systemC2,YC2,ZC2), according to third corresponding relationship, the human eye that driver is calculated is sat in vehicle Mark system YVOXVPosition (XV,YV,ZV)；
The Y of second imaging sensor on room mirroriIXiCoordinate system and vehicle axis system YVOXVThe 4th corresponding relationship are as follows:
θiThe angle rotated counterclockwise for room mirror；di1For second sensor installation point I in inside rear-view mirror and vehicle most before Hold the lateral distance of O point；di2For the fore-and-aft distance of second sensor installation point I in inside rear-view mirror and vehicle front end O point；di3 For the vertical distance of second sensor installation point I in inside rear-view mirror and vehicle front end O point；
Y of the human eye in the second imaging sensor of driver is acquired using the second imaging sensor on room mirroriIXiCoordinate Position (the X of systemi,Yi,Zi), according to the 4th corresponding relationship, the human eye of driver is calculated in vehicle axis system YVOXVPosition (XV,YV,ZV)。
4. the intelligent driving room control method of drive automatically human posture as claimed in claim 3, which is characterized in that the second figure As sensor axis perpendicular to rearview mirror mirror surface, and its axis be directed toward rearview mirror shaft.
5. the intelligent driving room control method of drive automatically human posture according to any one of claims 1 to 4, feature It is, " the seat posture, steering wheel posture, inside and outside gesture of rearview mirror and the safety belt posture that adjust current driver " tool in S5 Body includes:
Horizontal guide rail is arranged under seat base, and the anteroposterior position of motor control seat on the horizontal guide rail is slid by seat horizontal It sets；
Upright guide rail is arranged under seat base, and height position of the seat on upright guide rail is controlled by chair vertical lifting motor It sets；
Hinge axis between the output shaft and seat base and backrest of backrest pitching motor is connected in the axial direction, by leaning on Carry on the back the angle of pitching motor control backrest and seat base；
Telescopic rail is set in backrest, headrest is connected with telescopic rail, by headrest telescope motor control headrest and The relative position on telescopic rail of backrest；
Hinge axis between the output shaft for pitching motor of resting the head on and backrest telescopic rail and headrest is connected in the axial direction, is controlled The angle of system headrest and backrest；
The horizontal sextant angle of steering lever column is controlled by steering wheel pitching motor；
The distance between steering wheel and driver are controlled by steering wheel telescope motor；
Pass through left outside rearview mirror rotating electric machine, right outside rear-view mirror rotating electric machine, inside rear-view mirror rotating electric machine, inside rear-view mirror pitching electricity Machine controls the angle of corresponding rearview mirror, by the eye position of current driver adjust to belong to driving human posture crowd 9,500 Within the scope of the eye ellipse of quartile；
The tightness of motor control safety belt is tightened-loosened by safety belt；
The height that motor control adjusts safety belt guide plate is adjusted by belt height, to match the driver of different heights.
6. the intelligent driving room control device of drive automatically human posture a kind of characterized by comprising
First imaging sensor is mounted on the inside of the car door of driver side, and each artis institute for acquiring driver Position；
Second imaging sensor is separately mounted to outside vehicle in left and right outside rear-view mirror and room mirror, and is driven for acquiring Position where the eyes of people；
Pressure sensor, installation on the seat, and are used to acquire the weight of driver；
Controller specifically includes:
MIM message input module, connection the first image sensor, the second imaging sensor and pressure sensor, is used to connect Receive the first image sensor, the second imaging sensor and the collected each data of pressure sensor；
Database module is used for each data received using the MIM message input module, obtains driver's sample and exists The aspectual character information at initialized location moment and it is being adjusted to corresponding seat attitude data of best sitting posture moment, steering wheel Attitude data, inside and outside gesture of rearview mirror data and safety belt attitude data, to establish database；
Driver's sample finds module, is used to utilize the pressure sensor, the first image sensor and the second image Sensor obtains the aspectual character information of current driver, body of the current driver that measurement is obtained at the initialized location moment Aspectual character information of the state characteristic information with driver's sample of the database purchase at the initialized location moment matches, To search out the immediate driving proper manners of aspectual character information with current driver at the initialized location moment in the database This；
Command output module is used for according to the immediate driver's sample searched out, according to the correspondence stored in database Data adjust seat posture, steering wheel posture, inside and outside gesture of rearview mirror and the safety belt posture of current driver；
The aspectual character information includes body posture and eye position, and the Database module includes:
The acquisition submodule of the body posture of driver is used to utilize the collected driver's of the first image sensor Position where each artis obtains each artis of driver corresponding angle in vehicle axis system, and then is driven The body posture of people；
The acquisition submodule of the eye position of driver is used to utilize the collected driver's of the second imaging sensor Position where eyes obtains the eyes of the driver corresponding position in vehicle axis system.
7. the intelligent driving room control device of drive automatically human posture as claimed in claim 6, which is characterized in that described to drive The work for sailing the acquisition submodule of the body posture of people specifically includes:
S61 sketches the contours the sitting posture profile of driver, and each artis of driver is chosen on the sitting posture profile of driver, including Ankle-joint (A), knee joint (B), hip joint (C), shoulder joint (D), elbow joint (E), wrist joint (F)；
S62, by the axis of the first imaging sensor perpendicular to the Y of vehicle axis systemVAxis, the X of the first imaging sensorNNYNCoordinate System and vehicle axis system YVOXVThe first corresponding relationship are as follows:
S63, using each artis in the first imaging sensor acquisition S61 in the first imaging sensor XNNYNThe position of coordinate system (XN,YN,ZN), according to the first corresponding relationship in step S62, each artis is calculated in vehicle axis system YVOXVPosition (XV,YV,ZV)；
S64, each artis being calculated according to S63 is in vehicle axis system YVOXVPosition (XV,YV,ZV), obtain each artis The corresponding angle in vehicle axis system；
dn1For the lateral distance of first sensor installation point N in car door and vehicle front end O point；dn2For first sensor in car door The fore-and-aft distance of installation point N and vehicle front end O point；dn3For first sensor installation point N in car door and vehicle front end O point Vertical distance.
8. the intelligent driving room control device of drive automatically human posture as claimed in claim 6, which is characterized in that driver The working method of acquisition submodule of eye position be such as one of under type or a variety of:
First way, the Y of the second imaging sensor on left outside rearview mirrorC1LXC1Coordinate system and vehicle axis system YVOXVSecond Corresponding relationship are as follows:
θ1The angle rotated counterclockwise for left outside rearview mirror；d1For second sensor installation point L and R and vehicle in the outside rear-view mirror of left and right The lateral distance of front end O point；d2For the vertical of second sensor installation point L and R in right outside rear-view mirror and vehicle front end O point To distance；d3For the vertical distance of second sensor installation point L and R in the outside rear-view mirror of left and right and vehicle front end O point；
Y of the human eye in the second imaging sensor of driver is acquired using the second imaging sensor on left outside rearview mirrorC1LXC1Coordinate Position (the X of systemC1,YC1,ZC1), according to the second corresponding relationship, the human eye of driver is calculated in vehicle axis system YVOXVPosition Set (XV,YV,ZV)；
The second way, the Y of the second imaging sensor in right outside rear-view mirrorC2RXC2Coordinate system and vehicle axis system YVOXVThird Corresponding relationship are as follows:
θ2The angle rotated counterclockwise for right outside rear-view mirror；d1For second sensor installation point L and R and vehicle in the outside rear-view mirror of left and right The lateral distance of front end O point；d2For the vertical of second sensor installation point L and R in right outside rear-view mirror and vehicle front end O point To distance；d3For the vertical distance of second sensor installation point L and R in the outside rear-view mirror of left and right and vehicle front end O point；
The third mode, using the human eye of the second imaging sensor acquisition driver in right outside rear-view mirror in the second imaging sensor YC2RXC2Position (the X of coordinate systemC2,YC2,ZC2), according to third corresponding relationship, the human eye that driver is calculated is sat in vehicle Mark system YVOXVPosition (XV,YV,ZV)；
The Y of second imaging sensor on room mirroriIXiCoordinate system and vehicle axis system YVOXVThe 4th corresponding relationship are as follows:
θiThe angle rotated counterclockwise for room mirror；
Y of the human eye in the second imaging sensor of driver is acquired using the second imaging sensor on room mirroriIXiCoordinate Position (the X of systemi,Yi,Zi), according to the 4th corresponding relationship, the human eye of driver is calculated in vehicle axis system YVOXVPosition (XV,YV,ZV)；di1For the lateral distance of second sensor installation point I in inside rear-view mirror and vehicle front end O point；di2After interior The fore-and-aft distance of second sensor installation point I and vehicle front end O point on visor；di3It is installed for second sensor in inside rear-view mirror The vertical distance of point I and vehicle front end O point.
9. the intelligent driving room control device of drive automatically human posture as claimed in claim 8, which is characterized in that described The axis of two imaging sensors perpendicular to rearview mirror mirror surface, and its axis be directed toward rearview mirror shaft, the pressure sensor Geometric center with human contact face on the seat is installed.
10. the intelligent driving room control device of the drive automatically human posture as described in any one of claim 6 to 9, special Sign is, " adjusts the seat posture, steering wheel posture, interior outside rear-view mirror appearance of current driver in described instruction output module State and safety belt posture " specifically includes:
Horizontal guide rail is arranged under seat base, and the anteroposterior position of motor control seat on the horizontal guide rail is slid by seat horizontal It sets；
Upright guide rail is arranged under seat base, and height position of the seat on upright guide rail is controlled by chair vertical lifting motor It sets；
Hinge axis between the output shaft and seat base and backrest of backrest pitching motor is connected in the axial direction, by leaning on Carry on the back the angle of pitching motor control backrest and seat base；
Telescopic rail is set in backrest, headrest is connected with telescopic rail, by headrest telescope motor control headrest and The relative position on telescopic rail of backrest；
Hinge axis between the output shaft for pitching motor of resting the head on and backrest telescopic rail and headrest is connected in the axial direction, is controlled The angle of system headrest and backrest；
The horizontal sextant angle of steering lever column is controlled by steering wheel pitching motor；
The distance between steering wheel and driver are controlled by steering wheel telescope motor；
Pass through left outside rearview mirror rotating electric machine, right outside rear-view mirror rotating electric machine, inside rear-view mirror rotating electric machine, inside rear-view mirror pitching electricity Machine controls the angle of corresponding rearview mirror, by the eye position of current driver adjust to belong to driving human posture crowd 9,500 Within the scope of the eye ellipse of quartile；
The tightness of motor control safety belt is tightened-loosened by safety belt；
The height that motor control adjusts safety belt guide plate is adjusted by belt height, to match the driver of different heights.
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