CN112158143B - Vehicle control method and system and vehicle - Google Patents
Vehicle control method and system and vehicle Download PDFInfo
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- CN112158143B CN112158143B CN202011149856.7A CN202011149856A CN112158143B CN 112158143 B CN112158143 B CN 112158143B CN 202011149856 A CN202011149856 A CN 202011149856A CN 112158143 B CN112158143 B CN 112158143B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
- B60R11/0229—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for displays, e.g. cathodic tubes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
- B60R2011/001—Vehicle control means, e.g. steering-wheel or column
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- User Interface Of Digital Computer (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a vehicle control method, a vehicle control system and a vehicle, and relates to the field of intelligent driving of vehicles. The method comprises the steps of firstly, acquiring a first angle of a steering wheel rotating relative to a forward coordinate system and identifying a deviation angle of a human face deviating relative to the forward coordinate system, wherein the forward coordinate system is a coordinate system when the steering wheel is in a return-to-positive state; then, calculating a second angle required to be adjusted for the content displayed by the display device arranged on the steering wheel according to the first angle and the offset angle; and finally, controlling the content displayed by the display device to rotate according to a second angle so that the content displayed by the display device is always matched with the face direction. The method can realize that the function keys on the display device of the steering wheel can not rotate along with the rotation of the steering wheel, and the display device of the steering wheel can also observe the information data of the instrument panel and the periphery, the information condition around the vehicle and the road condition in front, so that a user can be safer when watching the information data or operating the keys.
Description
Technical Field
The invention relates to the field of intelligent driving of vehicles, in particular to a control method and a control system of a vehicle and the vehicle.
Background
In the prior art, the rotation angle of the content of the display device is determined according to gravity sensing, or the rotation angle of the content of the display device is roughly calculated by recognizing a human face. In addition, the mechanical keys on the steering wheel in the prior art can change along with the rotation of the steering wheel, and sometimes the user can not know the positions of the keys on the steering wheel after rotating 180 degrees.
Further, if a control display device is installed in the steering wheel, and mechanical keys on the steering wheel are converted into touch screen keys in the content displayed by the display device, the content displayed by the display device can rotate 360 degrees along with the rotation of the steering wheel, so that the touch screen keys can also rotate along with the content, a user still cannot know where the keys are, the user reaction is not timely, and the vehicle cannot be controlled timely, so that dangerous conditions are avoided.
Disclosure of Invention
The first aspect of the present invention is to provide a control method for a vehicle, which solves the technical problem in the prior art that when a display device is mounted on a steering wheel, the content displayed on the display device rotates along with the rotation of the steering wheel, which is inconvenient for a user to operate.
It is a further object of the first aspect of the invention to improve the accuracy of the angle adjustment of the display content of the display device.
An object of a second aspect of the invention is to provide a control system of a vehicle.
An object of a third aspect of the invention is to provide a vehicle having the control system described above.
According to an object of a first aspect of the present invention, there is provided a control method of a vehicle having a steering wheel on which a display device is provided, the control method comprising:
acquiring a first angle of rotation of the steering wheel relative to a forward coordinate system and identifying a deviation angle of a human face relative to the forward coordinate system, wherein the forward coordinate system is a coordinate system when the steering wheel is in a return-to-normal state;
calculating a second angle, which needs to be adjusted, of the content displayed by the display device according to the first angle and the offset angle;
and controlling the content displayed by the display device to rotate according to the second angle so as to enable the content displayed by the display device to be matched with the face direction all the time.
Optionally, identifying a deviation angle of the face with respect to the positive direction deviation of the steering wheel specifically includes:
recognizing three coordinate positions of eyes and a mouth in the face, wherein a connecting line of the eyes is used as a horizontal position, a central position of the eyes is used as an origin coordinate position, and a connecting line of the central position and the center of the mouth is used as a vertical position;
and mapping the three coordinate positions into the forward coordinate system, thereby calculating the offset angle.
Optionally, the first angle is a first positive angle rotated clockwise along the steering wheel and a first negative angle rotated counterclockwise along the steering wheel;
the offset angle is divided into a second positive angle consistent with the first positive angular direction and a second negative angle consistent with the first negative angular direction.
Optionally, when the first angle is a first positive angle, the offset angle is a second positive angle, and the first positive angle is greater than the second positive angle, the second angle is a difference between the first positive angle and the second positive angle, and the content displayed by the display device is controlled to rotate by the second angle in the counterclockwise direction of the steering wheel;
and when the first angle is a first positive angle, the offset angle is a second positive angle and the first positive angle is smaller than the second positive angle, the second angle is the difference between the first positive angle and the second positive angle, and the content displayed by the display device is controlled to rotate clockwise along the steering wheel by the second angle.
Optionally, when the first angle is a first positive angle and the offset angle is a second negative angle, the second angle is the sum of the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate by the second angle in the counterclockwise direction of the steering wheel;
and when the first angle is a first negative angle and the offset angle is a second positive angle, the second angle is the sum of the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate by the second angle along the clockwise direction of the steering wheel.
Optionally, when the first angle is a first negative angle, the offset angle is a second negative angle, and the first negative angle is greater than the second negative angle, the second angle is a difference between the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate clockwise along the steering wheel by the second angle;
and when the first angle is a first negative angle, the offset angle is a second negative angle and the first negative angle is smaller than the second negative angle, the second angle is the difference between the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate clockwise along the steering wheel by the second angle.
Optionally, the display device is mounted at a central position of the steering wheel.
Optionally, the display device is circular.
According to an object of a second aspect of the present invention, there is also provided a control system of a vehicle having a steering wheel on which a display device is provided, the control system comprising:
the acquisition module is used for acquiring a first angle of rotation of the steering wheel relative to a forward coordinate system and identifying a deviation angle of a human face relative to the forward coordinate system; and
the control module comprises a memory and a processor, wherein the memory stores a calculation program, and the calculation program is used for realizing the control method when being executed by the processor.
According to an object of the third aspect of the invention, the invention also provides a vehicle equipped with the control system described above.
The method comprises the steps of firstly, acquiring a first angle of rotation of a steering wheel relative to a forward coordinate system and identifying a deviation angle of a human face relative to the deviation of the forward coordinate system, wherein the forward coordinate system is a coordinate system when the steering wheel is in a return-to-positive state; then, calculating a second angle required to be adjusted for the content displayed by the display device arranged on the steering wheel according to the first angle and the offset angle; and finally, controlling the content displayed by the display device to rotate according to a second angle so that the content displayed by the display device is always matched with the face direction. The method can realize that the function keys on the display device of the steering wheel can not rotate along with the rotation of the steering wheel, and the display device of the steering wheel can also observe the information data of the instrument panel and the periphery, the information condition around the vehicle and the road condition in front, so that a user can be safer when watching the information data or operating the keys.
Furthermore, the invention not only considers the rotation angle of the steering wheel, but also considers the offset angle of the face, and comprehensively considers the offset angle for identifying the face and the rotation angle of the steering wheel, thereby realizing the accurate automatic angle adjustment of the content of the display device, and ensuring that the content of the display device always faces the face.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic flow chart diagram of a control method of a vehicle according to one embodiment of the invention;
fig. 2 is a schematic flowchart of a control method of a vehicle according to another embodiment of the invention;
fig. 3 is a schematic configuration diagram of a control system of a vehicle according to one embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Fig. 1 is a schematic flowchart of a control method of a vehicle according to one embodiment of the invention. As shown in fig. 1, in a specific embodiment, the vehicle has a steering wheel with a display device thereon, and the vehicle control method may generally include the steps of:
s100, acquiring a first angle of rotation of a steering wheel relative to a forward coordinate system and identifying a deviation angle of a human face relative to the deviation of the forward coordinate system, wherein the forward coordinate system is a coordinate system when the steering wheel is in a return-to-normal state;
s200, calculating a second angle required to be adjusted for the content displayed by the display device according to the first angle and the offset angle;
and S300, controlling the content displayed by the display device to rotate according to a second angle so that the content displayed by the display device is always matched with the face direction. Here, the meaning that the content displayed by the display device always matches the orientation of the face of a person means that the content displayed by the display device is fixedly facing the face of a person.
The method can realize that the function keys on the display device of the steering wheel can not rotate along with the rotation of the steering wheel, and the display device of the steering wheel can also observe the information data of the instrument panel and the periphery, the information condition around the vehicle and the road condition in front, so that a user can be safer when watching the information data or operating the keys.
Fig. 2 is a schematic flowchart of a control method of a vehicle according to another embodiment of the invention. As shown in fig. 2, in another embodiment, the offset angle of the face offset with respect to the positive direction of the steering wheel is identified, specifically:
s120, identifying three coordinate positions of the eyes and the mouth in the face, wherein a connecting line of the eyes is used as a horizontal position, the central positions of the eyes are used as origin coordinate positions, and a connecting line of the central positions and the center of the mouth is used as a vertical position;
and S130, mapping the three coordinate positions to a forward coordinate system, and calculating to obtain the offset angle.
The invention not only considers the rotation angle of the steering wheel, but also considers the offset angle of the face, and comprehensively considers the offset angle for identifying the face and the rotation angle of the steering wheel, thereby realizing the accurate automatic angle adjustment of the content of the display device, and leading the content of the display device to be always over against the face.
Further, the first angle is divided into a first positive angle rotating clockwise along the steering wheel and a first negative angle rotating counterclockwise along the steering wheel. The offset angle is divided into a second positive angle coinciding with the first positive angular direction and a second negative angle coinciding with the first negative angular direction. That is, the first angle and the offset angle each have two directions.
Specifically, the calculation of the second angle to be adjusted for the content displayed by the display device according to the present invention is roughly divided into the following cases:
the first method comprises the following steps: when the first angle is a first positive angle, the offset angle is a second positive angle, and the first positive angle is larger than the second positive angle, the second angle is the difference between the first positive angle and the second positive angle, and the content displayed by the display device is controlled to rotate by the second angle along the counterclockwise direction of the steering wheel.
And the second method comprises the following steps: when the first angle is a first positive angle, the offset angle is a second positive angle, and the first positive angle is smaller than the second positive angle, the second angle is the difference between the first positive angle and the second positive angle, and the content displayed by the display device is controlled to rotate clockwise by the second angle along the steering wheel.
And the third is that: and when the first angle is a first positive angle and the offset angle is a second negative angle, the second angle is the sum of the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate by the second angle along the counterclockwise direction of the steering wheel.
And fourthly: and when the first angle is a first negative angle and the offset angle is a second positive angle, the second angle is the sum of the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate clockwise by the second angle along the steering wheel.
And a fifth mode: when the first angle is a first negative angle, the offset angle is a second negative angle, and the first negative angle is greater than the second negative angle, the second angle is the difference between the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate clockwise by the second angle along the steering wheel.
And a sixth mode: when the first angle is a first negative angle, the offset angle is a second negative angle, and the first negative angle is smaller than the second negative angle, the second angle is the difference between the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate clockwise by the second angle along the steering wheel.
According to the situations, the content displayed by the display device can be adjusted in real time, so that the content displayed by the display device can be over against the face no matter how the steering wheel is selected and the face deviates, and a user can conveniently use the display device to control the vehicle in real time.
In a preferred embodiment, the display device is mounted in a central position of the steering wheel. Furthermore, the display device is circular, so that the situation that partial contents cannot be displayed no matter how the contents displayed by the display device rotate can be avoided. Specifically, the function keys or the display content on the central control screen of the automobile can be moved to the display device on the steering wheel for display, and the display device on the steering wheel can replace the central control screen, so that the operation of a user can be facilitated.
Fig. 3 is a schematic configuration diagram of a control system 100 of a vehicle according to one embodiment of the invention. As shown in fig. 3, in a preferred embodiment, the vehicle has a steering wheel 30, the steering wheel 30 is provided with a display device 31, and the control system 100 of the vehicle comprises an acquisition module 10 connected with the steering wheel 30 of the vehicle and a control module 20 connected with the display device 31, wherein the acquisition module 10 is used for acquiring a first angle of rotation of the steering wheel 30 relative to a forward coordinate system and recognizing an offset angle of a human face offset relative to the forward coordinate system. The control module 20 includes a memory 21 and a processor 22, and the memory 21 stores a computing program, and the computing program is used for implementing the control method in any one of the above embodiments when executed by the processor 22. The processor 22 may be a Central Processing Unit (CPU), a digital processing unit, or the like. The processor 22 transceives data through the communication interface. The memory 21 is used for storing programs executed by the processor 22. The memory 21 is any medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, or a combination of multiple memories 21. The above-described computing program may be downloaded from a computer-readable storage medium to a corresponding computing/processing device or to a computer or external storage device via a network (e.g., the internet, a local area network, a wide area network, and/or a wireless network).
Further, the obtaining module 10 includes a camera installed at a position facing the face, and the camera is configured to identify three coordinate positions of the eyes and the mouth in the face, where a connection line of the eyes is used as a horizontal position, a center position of the eyes is used as an origin coordinate position, and a connection line of the center position and the center of the mouth is used as a vertical position, and the three coordinate positions are mapped to a forward coordinate system, so as to calculate an offset angle. The camera calculates the inclination angle of the face by deep learning of the face data and analyzing the inclination condition of the face, and then sends the inclination angle to the control module 20. Here, the forward coordinate system is calibrated when the steering wheel 30 is in the return state, i.e., the directions of 0 °, 90 °, 180 °, and 270 °, where 0 ° is an angle directly to the front of the vehicle. The first angle of rotation of the steering wheel 30 can be obtained with the turning of the steering wheel 30. When the first angle of rotation of the steering wheel 30 is greater than 360 °, 360 ° should be subtracted from the first angle. In addition, the display device does not rotate any more if the camera does not recognize the face.
The present invention also provides a vehicle equipped with the control system 100 described above. The control system 100 is not described in detail herein.
According to the invention, the mode of recognizing the face by the camera is compared with the rotation angle of the steering wheel 30, so that the accurate and automatic rotation of 360 degrees of the content of the display device 31 is realized, and the content direction of the display device 31 is fixed. In this way, it is achieved that the function keys on the steering wheel 30 do not rotate as the display device 31 rotates. With the development of unmanned technology, such a display device 31 mounted on the steering wheel 30 may become more suitable.
In the present invention, the obtaining module 10 sends the first angle of rotation of the steering wheel 30 and the offset angle of the human face to the control module 20 in real time, and the control module 20 controls the display device 31 to rotate when it is calculated that the display device 31 needs to adjust the angle. The signal transmission mode between the acquisition module 10 and the control module 20 may be short distance or optical fiber transmission.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (8)
1. A control method of a vehicle having a steering wheel on which a display device is provided, characterized by comprising:
acquiring a first angle of rotation of the steering wheel relative to a forward coordinate system and identifying a deviation angle of a human face relative to the forward coordinate system, wherein the forward coordinate system is a coordinate system when the steering wheel is in a return-to-normal state;
calculating a second angle, which needs to be adjusted, of the content displayed by the display device according to the first angle and the offset angle;
controlling the content displayed by the display device to rotate according to the second angle so as to enable the content displayed by the display device to be matched with the orientation of the face all the time;
the first angle is a first positive angle rotating clockwise along the steering wheel and a first negative angle rotating counterclockwise along the steering wheel;
the offset angle is divided into a second positive angle consistent with the first positive angular direction and a second negative angle consistent with the first negative angular direction;
when the first angle is a first positive angle, the offset angle is a second positive angle, and the first positive angle is larger than the second positive angle, the second angle is the difference between the first positive angle and the second positive angle, and the content displayed by the display device is controlled to rotate by the second angle along the counterclockwise direction of the steering wheel;
and when the first angle is a first positive angle, the offset angle is a second positive angle and the first positive angle is smaller than the second positive angle, the second angle is the difference between the first positive angle and the second positive angle, and the content displayed by the display device is controlled to rotate clockwise along the steering wheel by the second angle.
2. The control method according to claim 1, wherein the step of identifying the offset angle at which the face is offset with respect to the positive direction of the steering wheel is specifically:
recognizing three coordinate positions of eyes and a mouth in the face, wherein a connecting line of the eyes is used as a horizontal position, a central position of the eyes is used as an origin coordinate position, and a connecting line of the central position and the center of the mouth is used as a vertical position;
and mapping the three coordinate positions into the forward coordinate system, thereby calculating the offset angle.
3. The control method according to claim 1,
when the first angle is a first positive angle and the offset angle is a second negative angle, the second angle is the sum of the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate by the second angle along the counterclockwise direction of the steering wheel;
and when the first angle is a first negative angle and the offset angle is a second positive angle, the second angle is the sum of the first negative angle and the second positive angle, and the content displayed by the display device is controlled to rotate clockwise along the steering wheel by the second angle.
4. The control method according to claim 1,
when the first angle is a first negative angle, the offset angle is a second negative angle, and the first negative angle is greater than the second negative angle, the second angle is the difference between the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate clockwise along the steering wheel by the second angle;
and when the first angle is a first negative angle, the offset angle is a second negative angle and the first negative angle is smaller than the second negative angle, the second angle is the difference between the first positive angle and the second negative angle, and the content displayed by the display device is controlled to rotate by the second angle along the counterclockwise direction of the steering wheel.
5. The control method according to claim 1,
the display device is installed at the center of the steering wheel.
6. The control method according to claim 1,
the display device is circular.
7. A control system for a vehicle having a steering wheel with a display device provided thereon, the control system comprising:
the acquisition module is used for acquiring a first angle of rotation of the steering wheel relative to a forward coordinate system and identifying a deviation angle of a human face relative to the forward coordinate system; and
a control module comprising a memory and a processor, the memory having stored therein a computing program, the computing program when executed by the processor being for implementing the control method of any one of claims 1-6.
8. A vehicle, characterized in that the vehicle is equipped with a control system according to claim 7.
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| CN202011149856.7A CN112158143B (en) | 2020-10-23 | 2020-10-23 | Vehicle control method and system and vehicle |
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| CN202011149856.7A CN112158143B (en) | 2020-10-23 | 2020-10-23 | Vehicle control method and system and vehicle |
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| CN112158143B true CN112158143B (en) | 2022-05-17 |
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| CN113734277B (en) * | 2021-08-20 | 2022-08-23 | 上海汽车工业(集团)总公司 | Intelligent driving SBW steering wheel stillness control method, system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103770649A (en) * | 2012-10-24 | 2014-05-07 | 株式会社电装 | Information display device |
| CN108153422A (en) * | 2018-01-08 | 2018-06-12 | 维沃移动通信有限公司 | A kind of display object control method and mobile terminal |
| DE102019108762A1 (en) * | 2019-04-03 | 2020-10-08 | Endor Ag | Steering wheel for a vehicle, a simulator or a game console |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9552148B2 (en) * | 2012-10-11 | 2017-01-24 | Lg Electronics Inc. | Display device mounted on steering wheel of vehicle and control method thereof |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103770649A (en) * | 2012-10-24 | 2014-05-07 | 株式会社电装 | Information display device |
| CN108153422A (en) * | 2018-01-08 | 2018-06-12 | 维沃移动通信有限公司 | A kind of display object control method and mobile terminal |
| DE102019108762A1 (en) * | 2019-04-03 | 2020-10-08 | Endor Ag | Steering wheel for a vehicle, a simulator or a game console |
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