WO2018133364A1 - 汽车后视镜自动调节方法及*** - Google Patents

汽车后视镜自动调节方法及*** Download PDF

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

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

Definitions

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

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

Abstract

一种汽车后视镜自动调节方法及***，该方法包括以下步骤：获取或建立所述汽车的车辆坐标系；通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标；通过摄像头确定乘员头部在所述车辆坐标系中的第二坐标；根据所述第一坐标并结合所述第二坐标调节后视镜，以使乘员获得最佳视角。由于根据车辆座椅调节参数进行判断，该方法能够根据车辆乘员的实时姿态快速、准确地调整汽车后视镜的位置，解决了汽车后视镜手动调节浪费时间、操作不便、精度差和现有汽车后视镜自动调节方法调节精度差的问题。

Description

汽车后视镜自动调节方法及*** 技术领域
本发明属于机动车后视镜调整领域，具体提供一种汽车后视镜自动调节方法及***。
背景技术
汽车后视镜主要用于反映汽车后方、侧方和下方的情况，使车内乘员能够间接看清楚这些位置的情况，它起着“第二只眼睛”的作用，扩大了乘员的视野范围。由于不同乘员之间的身高、坐姿习惯不同，导致不同的乘员驾驶或乘坐同一辆车时需要对后视镜进行适当调整。
目前，汽车后视镜调节方式主要有两种，一种为机械调节式后视镜，另一种为电动调节式后视镜，但是，这两种后视镜调节方式都需要驾驶人员手动操作，不仅浪费时间，而且操作不便、调节精度差。另一方面，虽然有些汽车已经设置了后视镜自动调节***，能够解放乘员的双手并减少后视镜的调节时间，但是仍不可避免地存在着调节精度差的问题。
相应地，本领域需要一种新的汽车后视镜自动调节方法来解决上述问题。
发明内容
为了解决现有技术中的上述问题，即为了解决汽车后视镜手动调节浪费时间、操作不便、精度差和现有汽车后视镜自动调节方法调节精度差的问题，本发明提供了一种汽车后视镜自动调节方法，该方法包括以下步骤：获取或建立所述汽车的车辆坐标系；通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标；根据所述第一坐标调节后视镜，以使乘员获得最佳视角。
在上述方法的优选技术方案中，所述乘员座椅是电动调节座椅，所述调节参数包括所述乘员座椅的前后调节距离和椅背角度。
在上述方法的优选技术方案中，所述第一坐标包括纵坐标，所述“通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第 一坐标”的步骤进一步包括：通过所述乘员座椅的前后调节距离和椅背角度来确定乘员头部在所述车辆坐标系中的纵坐标。
在上述方法的优选技术方案中，所述方法还包括：在通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标之前，确定乘员的背部与所述乘员座椅的贴合度；所述“通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标”的步骤进一步包括：通过所述乘员座椅的前后调节距离和椅背角度并结合所述贴合度来确定乘员头部在所述车辆坐标系中的纵坐标。
在上述方法的优选技术方案中，所述调节参数还包括所述乘员座椅的上下调节高度和左右调节距离，所述第一坐标还包括横坐标和竖坐标，所述“通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标”的步骤还包括：通过所述乘员座椅的上下调节高度和/或左右调节距离来确定乘员头部在所述车辆坐标系中的竖坐标和/或横坐标。
在上述方法的优选技术方案中，所述方法还包括通过摄像头确定乘员头部在所述车辆坐标系中的第二坐标，所述“根据所述第一坐标调节后视镜”的步骤进一步包括：根据所述第一坐标并结合所述第二坐标来调节后视镜。
在上述方法的优选技术方案中，所述第二坐标包括横坐标和竖坐标，所述“通过摄像头确定乘员头部在所述车辆坐标系中的第二坐标”的步骤进一步包括：通过摄像头拍摄的乘员头部的照片来确定乘员头部在所述车辆坐标系中的横坐标。
在上述方法的优选技术方案中，所述“通过摄像头确定乘员头部在所述车辆坐标系中的第二坐标”的步骤还包括：通过摄像头拍摄的乘员头部的照片来确定乘员头部在所述车辆坐标系中的竖坐标。
在上述方法的优选技术方案中，所述方法还包括获取所述汽车的车身尺寸和后视镜在车身上的位置。
在上述方法的优选技术方案中，所述“根据所述第一坐标并结合所述第二坐标来调节后视镜”的步骤进一步包括：根据所述第一坐标并结合所述第二坐标以及所述车身尺寸和后视镜在车身上的位置来调节后视镜。
在另一方面，本发明提供了一种汽车后视镜自动调节***，所述***包括：动力模块，其用于驱动后视镜转动；数据采集模块，其用于获取或建立所述汽车的车辆坐标系以及获取乘员座椅的调节参数；控制模块，其通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标，以及根据所述第一坐标控制所述动力模块来调节后视镜，以使乘员获得最佳视角。
在上述方法的优选技术方案中，所述乘员座椅是电动调节座椅，所述调节参数包括所述乘员座椅的前后调节距离和椅背角度。
在上述方法的优选技术方案中，所述第一坐标包括纵坐标，所述控制模块通过所述乘员座椅的前后调节距离和椅背角度来确定乘员头部在所述车辆坐标系中的纵坐标。
在上述方法的优选技术方案中，所述***还包括设置在所述乘员座椅的椅背中的压力传感器，所述压力传感器用于检测乘员的背部施加到所述椅背上的压力，所述控制模块还能够根据所述压力传感器的检测结果确定乘员的背部与所述乘员座椅的贴合度，并因此在所述乘员座椅的前后调节距离和椅背角度的基础上结合所述贴合度来确定乘员头部在所述车辆坐标系中的纵坐标。
在上述方法的优选技术方案中，所述调节参数还包括所述乘员座椅的上下调节高度和左右调节距离，所述第一坐标还包括横坐标和竖坐标，所述控制模块还能够通过所述乘员座椅的上下调节高度和/或左右调节距离来确定乘员头部在所述车辆坐标系中的竖坐标和/或横坐标。
在上述方法的优选技术方案中，所述***还包括用于拍摄乘员头部照片的摄像头，所述控制模块还能够根据所述摄像头拍摄的照片来确定乘员头部在所述车辆坐标系中的第二坐标，从而根据所述第一坐标并结合所述第二坐标来调节后视镜。
在上述方法的优选技术方案中，所述第二坐标包括横坐标和竖坐标，所述控制模块能够根据所述摄像头拍摄的照片来确定乘员头部在所述车辆坐标系中的横坐标。
在上述方法的优选技术方案中，所述控制模块还能够根据所述摄像头拍摄的照片来确定乘员头部在所述车辆坐标系中的竖坐标。
在上述方法的优选技术方案中，所述数据采集模块还能够获取所述汽车的车身尺寸和后视镜在车身上的位置，所述控制模块根据所 述第一坐标并结合所述第二坐标以及所述车身尺寸和后视镜在车身上的位置来调节后视镜。
在上述方法的优选技术方案中，所述动力模块包括电机，所述电机设置在所述后视镜上；并且/或者所述后视镜是车内后视镜和/或车外后视镜。
如上所述，在本发明的优选技术方案中，首先，获取或建立汽车的车辆坐标系，并获取汽车的车身尺寸和后视镜在车身上的位置。其次，根据乘员座椅的前后调节距离、座椅角度和乘员背部与乘员座椅的贴合度来确定乘员头部在车辆坐标系中的纵坐标。然后再根据乘员座椅的上下调节高度和/或左右调节距离来确定乘员头部在所述车辆坐标系中的竖坐标和/或横坐标；或者通过摄像头拍摄的乘员头部的照片来确定乘员头部在所述车辆坐标系中的横坐标和/或纵坐标。最后，根据纵坐标、横坐标和竖坐标以及车身尺寸和后视镜在车身上的位置来调节后视镜。
由于根据车辆座椅的调节参数进行判断，本发明的方法能够根据乘员的实时姿态快速、准确地调整汽车后视镜的位置，以使乘员在车内任何方位都能获得最佳观察视角。
附图说明
图1是本发明的汽车后视镜自动调节方法的主要步骤流程图。
具体实施方式
下面参照附图来描述本发明的优选实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。例如，虽然说明书是以驾驶员为例对本发明的后视镜自动调节方法作详细说明的，但是很明显本发明的方法也适用于其他需要使用后视镜的车内乘员，本领域技术人员可以根据需要对其作出调整，以便适应具体的应用场合。
本发明的汽车后视镜自动调节***主要包括：动力模块、数据采集模块、控制模块和摄像头。作为示例，数据采集模块、控制模块和摄像头可设置在汽车的头部(如汽车音响主机内)，或者本领域技术 人员也可以根据需要对数据采集模块、控制模块和摄像头的安装位置进行适当调整，只要能够保证整个***的顺利运行即可。
进一步，动力模块包括设置在汽车后视镜(如车内后视镜和车外后视镜)上的电机。数据采集模块用于获取或建立汽车的车辆坐标系、获取驾驶员座椅的调节参数(下文将进行详细介绍)以及获取汽车的车身尺寸和后视镜在车身上的位置，并且该数据采集模块还与摄像头相连接。摄像头用于捕捉驾驶员的头部信息(如头部坐标)。优选地，驾驶员座椅是电动调节座椅并且该座椅的椅背中均匀地分布有多个压力传感器，该压力传感器用于检测驾驶员的背部施加到椅背上的压力，从而间接检测驾驶员的背部与椅背的贴合度。控制模块用于控制电机驱动后视镜旋转，并且控制模块还能够根据压力传感器的检测结果确定驾驶员的背部与驾驶员座椅的贴合度。
优选地，驾驶员座椅的椅背中设置有由多个压力传感器构成的压力传感器阵列，使得控制模块能够通过该压力传感器阵列的反馈信号获得驾驶员与椅背的接触面积，即驾驶员的背部与驾驶员座椅的贴合度。进一步，驾驶员座椅的头枕上也设置有压力传感器，用于感知驾驶员的头部是否靠在头枕上。本领域技术人员能够理解的是，该压力传感器可以是任何形式的压力传感器，例如应变片压力传感器、陶瓷压力传感器、扩散硅压力传感器等；并且设置在椅背上的压力传感器的数量也可以是满足需要的任意值。
进一步，本发明的汽车后视镜自动调节***的工作原理将在下文进行详细说明。
如图1所示，本发明的汽车后视镜自动调节方法主要包括：步骤S100，获取或建立汽车的车辆坐标系；步骤S200，通过驾驶员座椅的调节参数确定驾驶员头部在车辆坐标系中的第一坐标；步骤S300，根据第一坐标调节后视镜，以使驾驶员获得最佳视角。
在步骤S100中，通过数据采集模块获取或建立汽车的车辆坐标系，该车辆坐标系具体可以是：以汽车的重心作为原点O，以通过原点O平行于地面且指向汽车前方的方向为X轴(即汽车的纵坐标轴)，以通过原点O平行于地面且指向驾驶员左侧的方向为Y轴(即汽车的横坐标轴)，以通过原点O垂直于地面且指向上的方向为Z轴(即汽车的竖坐标轴)。进一步，X轴、Y轴和Z轴之间相互垂直。本领域技术人 员能够理解的是，车辆坐标系的原点O不仅限于汽车的重心位置，原点O还可以是其他位置，例如汽车两个前轮的中心等。本领域技术人员能够理解的是，车辆坐标系的X轴、Y轴和Z轴也不仅限于上述排列方式，其顺序可根据需要作出适当变化。
在步骤S200中，首先，根据车辆坐标系获得驾驶员座椅在X轴上的初始坐标。具体地，通过测量驾驶员座椅与原点O之间在X轴、Y轴和Z轴上的相对距离，获得驾驶员座椅的初始坐标，进而挑选出驾驶员座椅(例如以驾驶员座椅上的头枕底部为参照点)在X轴上的初始坐标。
其次，获得驾驶员座椅的调节参数(如前后调节距离和椅背角度)。具体地，获得驾驶员座椅在X轴上相对于初始坐标的前后调节距离；并获得驾驶员座椅的椅背角度。
然后，根据驾驶员座椅的初始坐标和调节参数获得驾驶员头部在X轴上的第一坐标(如纵坐标)。具体地，先测量出椅背相对于座垫的转动轴线与头枕之间的物理距离，再根据椅背角度和三角函数计算出因椅背转动而导致的头枕在X轴上发生的位移量，最后将该位移量与前后调节距离相加获得头枕底部相对于初始位置在X轴上发生的总位移量，进而根据头枕底部在X轴上的总位移量和驾驶员座椅在X轴上的初始坐标获得头枕底部的当前坐标。进一步，通过多次试验获得不同驾驶员的头部相对于头枕底部的位置，然后根据该位置和头枕底部在X轴上的总位移量获得驾驶员头部在X轴上的纵坐标。
进一步，为了准确地获得驾驶员头部在X轴上的纵坐标，还可以通过设置在驾驶员座椅椅背上的多个压力传感器来检测驾驶员的背部与驾驶员座椅的贴合度。具体地，在椅背上由上至下均匀布置多个压力传感器，当驾驶员的背部靠在椅背上时，压力传感器能够接收到驾驶员背部的压力信号，并将该压力信号发送给控制模块。控制模块通过将接收到的所有压力传感器的压力信号进行整合、分析获得驾驶员与椅背的贴合度，然后根据该贴合度能够判断出驾驶员的背部与椅背的角度，进而根据该角度和驾驶员的身高(尤其是上半身)计算驾驶员头部与头枕之间的距离，并因此根据该距离和驾驶员座椅头枕当前的纵坐标，获得驾驶员头部的纵坐标。本领域技术人员能够理解的是驾驶员上半身的 身高可以通过车内摄像头拍照进行获得，或者也可以是驾驶员事先将身高数据存储至汽车控制***或控制模块内，尤其是对于车主。
更进一步，优选地，驾驶员座椅的头枕上也可以设置相应的压力传感器，通过该压力传感器能够准确地判断出驾驶员的头部是否靠在头枕上。具体地，当驾驶员的头部靠在头枕上时，控制模块可直接通过该压力传感器的信号确定驾驶员头部的纵坐标。
在步骤S300中，首先，通过数据采集模块根据车辆坐标系获得摄像头坐标。具体地，通过测量摄像头与原点O之间在X轴、Y轴和Z轴上的相对距离，获得摄像头坐标。本领域技术人员能够理解的是，为了能够更好地捕捉驾驶员的面部信息，摄像头优选地设置在汽车内部的前方，例如汽车顶部、汽车仪表盘附近、汽车A柱上等位置。
其次，通过摄像头坐标获得驾驶员头部的第二坐标，具体地，可通过前方摄像头获得驾驶员头部在Y轴上的横坐标，以及通过侧部摄像头获得驾驶员头部在Z轴上的竖坐标。进一步，摄像头通过聚焦拍照获得驾驶员头部在Y轴上的横坐标、在Z轴上的竖坐标。需要说明的是，因为通过摄像头采集平面信息的方法是本领域技术人员能够理解且能够实现的，所以本发明在此处不作详细说明。
再次，通过数据采集模块获取汽车的车身尺寸和后视镜在车身上的位置。具体地，通过测量后视镜与原点O之间在X轴、Y轴和Z轴上的相对距离，获得后视镜坐标。本领域技术人员能够理解的是，该后视镜坐标优选地为后视镜镜面的初始坐标，进一步，在后视镜镜面调节的过程中，通过数据采集模块对后视镜镜面的位置进行实时记录，后视镜镜面当前时刻的位置计作后视镜当前坐标。
最后，可通过控制模块计算后视镜坐标(后视镜当前坐标)和驾驶员头部坐标(包括纵坐标、横坐标和竖坐标)的函数关系，然后根据该函数关系通过设置在汽车上的控制模块控制电机驱动后视镜转动。本领域技术人员能够理解的是，后视镜转动的终点可根据人眼部在车辆坐标系中的坐标、驾驶员期望看到的车后范围以及后视镜当前坐标通过光学反射原理进行计算获得，因为该原理是本领域技术人员所熟知且能够获得、实施的，所以在此不作详细说明。
进一步，在本发明的优选实施方式中，后视镜包括车内后视镜和车外后视镜。更进一步，后视镜(尤其是车外后视镜)的位置可根 据汽车的行驶速度进行自动调整，以便当汽车行驶速度较快时能够看到后方较远位置的情况，当汽车行驶速度较慢或倒车时能够看到车辆后方较近位置的情况，例如汽车倒库时停车位的位置。
此外，在步骤S200中，调节参数除包括驾驶员座椅的前后调节距离和椅背角度外，还可以包括驾驶员座椅的上下调节高度和左右调节距离，尤其是对于高端商务汽车。本领域技术人员能够理解的是，根据驾驶员座椅的上下调节高度能够获得驾驶员头部在Z轴上的竖坐标，根据驾驶员座椅的左右调节距离能够获得驾驶员头部在Y轴上的横坐标，进而根据驾驶员头部在X轴上的纵坐标、在Y轴上的横坐标、在Z轴上的竖坐标获得驾驶员头部在车辆坐标系的头部坐标。此外，需要指出的是，尽管这里使用的术语是“调节距离”和“调节高度”，但这并不意味着本发明的技术方案只能应用于汽车座椅位置被调节的情形，本发明也适用于汽车座椅没有调节但驾驶员坐姿发生改变的情形。例如，当座椅前后位置没有调节但驾驶员背部与椅背贴合度发生改变时，本发明也能够准确地对后视镜姿态作出相应的调整。
在本发明的优选实施方案中，驾驶员可通过设置在汽车head unit(汽车音响主机)上的按键或语音命令来启动汽车后视镜自动调节***，或者本领域技术人员也可以根据需要将汽车后视镜自动调节***设置成自动启动，例如在汽车启动时自动开启汽车后视镜自动调节***。
通过上面的描述可以看出，由于判断标准是车辆电动座椅调节参数，本发明的方法能够快速、准确地调整汽车后视镜的位置。
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。

Claims (20)

  1. 一种汽车后视镜自动调节方法，其特征在于，所述方法包括以下步骤：
    获取或建立所述汽车的车辆坐标系；
    通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标；
    根据所述第一坐标调节后视镜，以使乘员获得最佳视角。
  2. 根据权利要求1所述的汽车后视镜自动调节方法，其特征在于，所述乘员座椅是电动调节座椅，所述调节参数包括所述乘员座椅的前后调节距离和椅背角度。
  3. 根据权利要求2所述的汽车后视镜自动调节方法，其特征在于，所述第一坐标包括纵坐标，所述“通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标”的步骤进一步包括：通过所述乘员座椅的前后调节距离和椅背角度来确定乘员头部在所述车辆坐标系中的纵坐标。
  4. 根据权利要求3所述的汽车后视镜自动调节方法，其特征在于，所述方法还包括：在通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标之前，确定乘员的背部与所述乘员座椅的贴合度；所述“通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标”的步骤进一步包括：通过所述乘员座椅的前后调节距离和椅背角度并结合所述贴合度来确定乘员头部在所述车辆坐标系中的纵坐标。
  5. 根据权利要求4所述的汽车后视镜自动调节方法，其特征在于，所述调节参数还包括所述乘员座椅的上下调节高度和左右调节距离，所述第一坐标还包括横坐标和竖坐标，所述“通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标”的步骤还包括：通过所述乘员座椅的上下调节高度和/或左右调节距离来确定乘员头部在所述车辆坐标系中的竖坐标和/或横坐标。
  6. 根据权利要求1至4中任一项所述的汽车后视镜自动调节方法，其特征在于，所述方法还包括通过摄像头确定乘员头部在所述车辆坐标系中的第二坐标，所述“根据所述第一坐标调节后视镜”的步骤进一步包括：根据所述第一坐标并结合所述第二坐标来调节后视镜。
  7. 根据权利要求6所述的汽车后视镜自动调节方法，其特征在于，所述第二坐标包括横坐标和竖坐标，所述“通过摄像头确定乘员头部在所述车辆坐标系中的第二坐标”的步骤进一步包括：通过摄像头拍摄的乘员头部的照片来确定乘员头部在所述车辆坐标系中的横坐标。
  8. 根据权利要求7所述的汽车后视镜自动调节方法，其特征在于，所述“通过摄像头确定乘员头部在所述车辆坐标系中的第二坐标”的步骤还包括：通过摄像头拍摄的乘员头部的照片来确定乘员头部在所述车辆坐标系中的竖坐标。
  9. 根据权利要求8所述的汽车后视镜自动调节方法，其特征在于，所述方法还包括获取所述汽车的车身尺寸和后视镜在车身上的位置。
  10. 根据权利要求9所述的汽车后视镜自动调节方法，其特征在于，所述“根据所述第一坐标并结合所述第二坐标来调节后视镜”的步骤进一步包括：根据所述第一坐标并结合所述第二坐标以及所述车身尺寸和后视镜在车身上的位置来调节后视镜。
  11. 一种汽车后视镜自动调节***，其特征在于，所述***包括：
    动力模块，其用于驱动后视镜转动；
    数据采集模块，其用于获取或建立所述汽车的车辆坐标系以及获取乘员座椅的调节参数；
    控制模块，其通过乘员座椅的调节参数确定乘员头部在所述车辆坐标系中的第一坐标，以及根据所述第一坐标控制所述动力模块来调节后视镜，以使乘员获得最佳视角。
  12. 根据权利要求11所述的汽车后视镜自动调节***，其特征在于，所述乘员座椅是电动调节座椅，所述调节参数包括所述乘员座椅的前后调节距离和椅背角度。
  13. 根据权利要求12所述的汽车后视镜自动调节***，其特征在于，所述第一坐标包括纵坐标，所述控制模块通过所述乘员座椅的前后调节距离和椅背角度来确定乘员头部在所述车辆坐标系中的纵坐标。
  14. 根据权利要求13所述的汽车后视镜自动调节***，其特征在于，所述***还包括设置在所述乘员座椅的椅背中的压力传感器，所述压力传感器用于检测乘员的背部施加到所述椅背上的压力，所述控制模块还能够根据所述压力传感器的检测结果确定乘员的背部与所述乘员座椅的贴合度，并因此在所述乘员座椅的前后调节距离和椅背角度的基础上结合所述贴合度来确定乘员头部在所述车辆坐标系中的纵坐标。
  15. 根据权利要求14所述的汽车后视镜自动调节***，其特征在于，所述调节参数还包括所述乘员座椅的上下调节高度和左右调节距离，所述第一坐标还包括横坐标和竖坐标，所述控制模块还能够通过所述乘员座椅的上下调节高度和/或左右调节距离来确定乘员头部在所述车辆坐标系中的竖坐标和/或横坐标。
  16. 根据权利要求11至14中任一项所述的汽车后视镜自动调节***，其特征在于，所述***还包括用于拍摄乘员头部照片的摄像头，所述控制模块还能够根据所述摄像头拍摄的照片来确定乘员头部在所述车辆坐标系中的第二坐标，从而根据所述第一坐标并结合所述第二坐标来调节后视镜。
  17. 根据权利要求16所述的汽车后视镜自动调节***，其特征在于，所述第二坐标包括横坐标和竖坐标，所述控制模块能够根据所述摄像头拍摄的照片来确定乘员头部在所述车辆坐标系中的横坐标。
  18. 根据权利要求17所述的汽车后视镜自动调节***，其特征在于， 所述控制模块还能够根据所述摄像头拍摄的照片来确定乘员头部在所述车辆坐标系中的竖坐标。
  19. 根据权利要求18所述的汽车后视镜自动调节***，其特征在于，所述数据采集模块还能够获取所述汽车的车身尺寸和后视镜在车身上的位置，所述控制模块根据所述第一坐标并结合所述第二坐标以及所述车身尺寸和后视镜在车身上的位置来调节后视镜。
  20. 根据权利要求19所述的汽车后视镜自动调节***，其特征在于，所述动力模块包括电机，所述电机设置在所述后视镜上；并且/或者
    所述后视镜是车内后视镜和/或车外后视镜。
PCT/CN2017/095154 2017-01-17 2017-07-31 汽车后视镜自动调节方法及*** WO2018133364A1 (zh)

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