Vehicle control method and device and vehicle

Abstract

The invention relates to the field of vehicle control, and particularly discloses a vehicle control method and device and a vehicle, and the method comprises the steps: obtaining an ultra-wideband pulse signal sent by a target head-mounted device and inertial measurement unit data in response to the detection that the target head-mounted device is in a wearing state; based on the ultra-wideband pulse signal and inertial measurement unit data, face position information of the user is determined, and the face position information comprises a head three-dimensional coordinate, a face orientation and a pitching angle; and based on the face position information, generating a control instruction to adjust at least one controllable device in the vehicle. Through the multi-source data of the target head-mounted device, the accuracy of the face position information is ensured, so that the accuracy and the response speed of the control instruction are improved. And the vehicle equipment is intelligently controlled based on the face position information, so that the operation convenience and the driving experience of the user are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, specifically to a vehicle control method, device, and vehicle. Background Technology

[0002] In recent years, with the development of smart cockpit technology, intelligent control of in-vehicle equipment has become an important direction for improving user experience.

[0003] Currently, the control of the environment inside a vehicle (such as air conditioning direction, seat position, audio-visual system, etc.) mostly relies on manual operation by the user or automatic control in a fixed mode, and cannot be dynamically adjusted according to the user's real-time position and posture. Summary of the Invention

[0004] In view of the above problems, this disclosure provides a vehicle control method, device, and vehicle to overcome or at least partially solve the above problems, the technical solution of which is as follows: A vehicle control method includes: in response to detecting that a target head-mounted device is being worn, acquiring an ultra-wideband pulse signal emitted by the target head-mounted device and inertial measurement unit data; determining a user's facial position information based on the ultra-wideband pulse signal and the inertial measurement unit data, the facial position information including three-dimensional head coordinates, facial orientation, and pitch angle; and generating control commands based on the facial position information to adjust at least one controllable device in the vehicle.

[0005] By detecting the wearing status of the target head-mounted device, real-time acquisition of ultra-wideband pulse signals and inertial measurement unit (IMU) data is obtained. Based on the fusion of these two data, the user's facial position information (including head 3D coordinates, facial orientation, and pitch angle) is determined, and control commands are generated to adjust vehicle equipment. The positioning and control process can be initiated only when the head-mounted device is detected to be worn, avoiding invalid calculations and false triggering, improving system energy efficiency and response accuracy, and achieving seamless user status perception. By fusing the spatial positioning accuracy of ultra-wideband and the motion response speed of the IMU, continuous and stable tracking of the user's head position and posture is achieved. Furthermore, based on unified facial position information, multiple in-vehicle systems such as air conditioning, seats, audio-visual systems, and lighting can be simultaneously coordinated to achieve integrated and scenario-based cabin environment control.

[0006] In one example, the target head-mounted device integrates an ultra-wideband module and an inertial measurement unit, and the type of the target head-mounted device includes at least one of a visual device and an auditory device.

[0007] Users do not need to wear additional location tags; they can achieve location and interaction using existing AR glasses, VR headsets, or smart headphones, improving ease of use and acceptance, and enhancing device compatibility and user comfort. Reusing sensor modules from existing devices eliminates the need for dedicated in-vehicle positioning wearables, reducing system deployment costs.

[0008] In one example, determining the user's facial position information based on the ultra-wideband pulse signal and the inertial measurement unit data includes: determining the signal reception time of multiple ultra-wideband receivers receiving the ultra-wideband pulse signal; determining the three-dimensional coordinates of the target head-mounted device inside the vehicle based on the time difference corresponding to each signal reception time; acquiring the angular velocity data collected by the inertial measurement unit, and obtaining the facial orientation and pitch angle by integrating the angular velocity data; and fusing the three-dimensional coordinates with the facial orientation and pitch angle to obtain the facial position information.

[0009] By employing an ultra-wideband time-of-arrival (UWB) algorithm to calculate three-dimensional coordinates and combining this with inertial measurement unit (IMU) angular velocity integration to calculate orientation and pitch angles, the stability and anti-interference capability of the positioning system can be improved. UWB signals offer strong resistance to multipath interference and are suitable for complex electromagnetic environments inside vehicles; the IMU provides continuous attitude data, compensating for the insufficient update frequency of UWB. Furthermore, by adding orientation and pitch information to the three-dimensional coordinates, richer control dimensions are provided for applications such as air conditioning venting adjustment and audio-visual field tracking, achieving high-precision six-degree-of-freedom attitude estimation.

[0010] In one example, the at least one controllable device includes an adjustable air conditioning vent; generating control commands based on the facial position information to adjust the at least one controllable device in the vehicle specifically includes: adjusting the orientation of the air conditioning vent according to the three-dimensional coordinates of the head.

[0011] In one example, the method further includes: determining a target deflection angle for each air outlet based on the three-dimensional coordinates of the head and the pre-calibrated positions of multiple air conditioning outlets; and adjusting the horizontal and vertical blades of at least one air outlet according to the facial orientation and pitch angle to concentrate the airflow on the user's facial area.

[0012] By treating the air conditioning vents as controllable devices and dynamically adjusting their orientation based on facial position, personalized airflow that "follows the person" can be achieved. Regardless of the user's sitting posture, the air conditioning airflow can automatically be directed towards the facial area, improving comfort and avoiding the discomfort of traditional fixed airflow modes. Through the coordinated deflection of multiple air vents, the airflow is made more concentrated and evenly cover the user's face, enhancing physical comfort and air conditioning efficiency, and optimizing the airflow convergence effect.

[0013] In one example, the at least one controllable device includes at least one of a vehicle window glass, an interior ambient light, and an interior speaker; the step of generating control commands based on the facial position information to adjust at least one controllable device in the vehicle specifically includes: in response to detecting that a user enters a movie-watching mode, executing linkage control, the linkage control including adjusting the light transmittance of the vehicle window glass, adjusting the interior ambient light mode, and adjusting the sound field center of the interior speaker; in response to detecting that a user exits the movie-watching mode, restoring at least one device to its state before the linkage control.

[0014] In one example, adjusting the light transmittance of the vehicle window glass includes: identifying the target window on the user's side and controlling the light transmittance of the target window to decrease to a preset viewing threshold; and maintaining the light transmittance of the driver's side or non-viewing area windows unchanged in response to detecting that the vehicle is in motion.

[0015] By recognizing when a user enters / exits movie-watching mode, the system adjusts the window light transmittance, ambient lighting, and speaker sound field in tandem. It automatically dims the viewing side window and switches the ambient lighting to cinema mode, enhancing visual immersion and creating a private cinema environment. Simultaneously, it maintains constant light transmittance on the driver's side window while the vehicle is in motion, avoiding obstruction of the driver's view and achieving a balance between comfort and safety, ensuring driving safety. After exiting movie-watching mode, the system automatically restores the device's state without manual user intervention, improving the continuity of the experience and achieving intelligent scene-based recovery.

[0016] In one example, the method further includes: identifying a user's identity by parsing the identity identifier carried in the ultra-wideband pulse signal; obtaining a personalized configuration set associated with the user based on the identity identifier; and performing a personalized initialization operation, the personalized initialization operation including: adjusting the position of the electric seat, adjusting the position of the electric steering wheel, loading an audio-visual content preference list, and loading a preference interface theme according to the identity information.

[0017] Through ultra-wideband identity recognition and personalized configuration loading, the system can automatically restore users' preferred seat position, steering wheel angle, audio-visual interface, and other settings as soon as they get in the car, enhancing the sense of exclusivity and convenience, and achieving seamless personalized adaptation for "one person, one car." Simultaneously, it can switch environmental configurations in real time based on different identity identifiers, suitable for family sharing or business reception scenarios, and supports rapid switching between multiple users.

[0018] This application also provides a vehicle control device, comprising: a data acquisition module, which, in response to detecting a position change of a target head-mounted device, acquires an ultra-wideband pulse signal emitted by the target head-mounted device and inertial measurement unit data; a face position determination module, which, based on the ultra-wideband pulse signal and the inertial measurement unit data, determines the user's face position information, the face position information including three-dimensional head coordinates, face orientation, and pitch angle; and a device control module, which, based on the face position information, generates control commands to adjust at least one controllable device in the vehicle.

[0019] This application also provides a vehicle, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the vehicle control method described in any of the above examples.

[0020] By employing the aforementioned technical solutions, this disclosure provides a vehicle control method, device, and vehicle that calculates the three-dimensional coordinates of a user's head using the time difference of arrival of ultra-wideband pulse signals. This is combined with the integration of angular velocity data by an inertial measurement unit (IMU) to obtain facial orientation and pitch angles, ultimately fusing the data to obtain complete facial position information. This overcomes the limitations of single sensors in terms of accuracy, real-time performance, and stability. Ultra-wideband provides absolute position calibration, avoiding accumulated errors in the IMU; the IMU enables high-frequency attitude updates, ensuring smooth system response. This achieves precise perception of the user's head, laying a reliable data foundation for subsequent environmental control. After obtaining facial position information, active airflow that "follows the user's movement" is implemented, ensuring the airflow is always precisely directed towards the user's face, significantly improving temperature control comfort, especially in scenarios with varying postures such as watching movies or resting. Furthermore, by recognizing when the user enters "movie mode" or other scene states, the system can adjust window transparency, ambient lighting mode, and speaker sound field center in a coordinated manner, achieving overall adaptation to the audiovisual environment. Facial position information triggers cross-device collaboration, constructing a user-centric immersive space. For example, in movie viewing mode, the car automatically dims the side windows, adjusts the ambient lighting to the cinema tone, and centers the sound field at the user's position, creating a holistic entertainment environment and enhancing the completeness and immersion of the user experience.

[0021] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0022] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart illustrating a vehicle control method according to an embodiment of this disclosure is shown; Figure 2 A schematic diagram of the structure of a vehicle control device according to an embodiment of the present disclosure is shown; Figure 3 A schematic diagram of the structure of a vehicle according to an embodiment of this disclosure is shown. Detailed Implementation

[0023] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0024] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0025] With the development of automotive intelligence, cabin comfort and personalized experience have become key concerns for users. Currently, the environmental control of the vehicle interior (such as air conditioning direction, seat position, audio-visual system, etc.) mostly relies on manual operation by the user or fixed-mode automatic control, and cannot be dynamically adjusted according to the user's real-time position and posture.

[0026] For example, in vehicle air conditioning systems, the air sweeping mode is usually a fixed program or requires manual switching, making it impossible to precisely deliver airflow based on the real-time position of the passenger's head. This means that when passengers move or adjust their seating position, the airflow cannot always be directed at their face, affecting comfort. Furthermore, existing technologies lack an effective means to obtain real-time and accurate information about the user's head position and posture, making it difficult for vehicles to achieve truly "seamless" intelligent control.

[0027] Therefore, how to achieve high-precision, low-latency tracking of the user's head position without increasing the user's operational burden, and how to dynamically adjust the in-vehicle equipment based on this, has become a technical problem that current intelligent cockpit systems urgently need to solve.

[0028] Therefore, this application provides a vehicle control method, device, and vehicle, such as Figure 1The diagram illustrates a vehicle control method according to one or more embodiments of this specification. This method can automatically control various devices within the vehicle based on the user's location. The process can be executed by a computing device installed within the vehicle (e.g., an in-vehicle infotainment system), and certain input parameters or intermediate results can be manually adjusted to improve accuracy. For ease of understanding and description, the following embodiments will use an in-vehicle infotainment system as an example for detailed description.

[0029] like Figure 1 As shown, this application provides a vehicle control method, including: S101: In response to detecting that the target head-mounted device is in a wearing state, acquire the ultra-wideband pulse signal emitted by the target head-mounted device and the inertial measurement unit data.

[0030] During the data acquisition phase, if the vehicle system first confirms whether the user has correctly worn the target head-mounted device, it indicates that the user is ready or using vehicle-related functions (such as watching a movie). At this time, the vehicle control strategy is executed, and the ultra-wideband pulse signal emitted by the target head-mounted device worn by the user and the inertial measurement unit data are acquired.

[0031] Specifically, when detecting whether a user is wearing the target head-mounted device, the system analyzes changes in sensor data from the device, such as whether internal pressure or proximity sensors are triggered, to determine if the device is being worn. If the device is not detected as being worn, the system will not initiate the positioning and control process to avoid invalid calculations and false triggering, further improving the system's energy efficiency and response accuracy.

[0032] Alternatively, the wearing status of the target head-mounted device can be obtained through visual sensors, and combined with image recognition technology to analyze the user's head posture and position, further confirming whether the device is being worn correctly. This method can effectively avoid wasting system resources due to misjudgment, while improving the reliability of positioning and control. Furthermore, visual sensors can assist in data correction for ultra-wideband and inertial measurement units, providing additional environmental information to enhance system robustness. Additionally, it can detect wearing sensor signals on the head-mounted device and whether the device has established stable communication with the vehicle to determine whether the user is wearing the target head-mounted device.

[0033] The ultra-wideband (UWB) pulse signal is continuously transmitted by the UWB module integrated into the head-mounted device. This signal is essentially a radio wave with an extremely short pulse width and a wide spectrum, offering high time resolution for precise timing, and typically contains a unique identifier for the device. Inertial measurement unit (IMU) data is acquired by the IMU sensor integrated into the head-mounted device. This data reflects the motion of the head-mounted device (i.e., the user's head) in space, typically including angular velocity (describing the rate and direction of rotation) and acceleration (describing the rate and direction of change in velocity).

[0034] S102: Based on the ultra-wideband pulse signal and the inertial measurement unit data, determine the user's facial position information, which includes the three-dimensional coordinates of the head, facial orientation, and pitch angle.

[0035] After obtaining the ultra-wideband pulse signal and inertial measurement unit (IMU) data, the two data are fused to output a complete, stable, and real-time attitude description of the user's head within the vehicle's three-dimensional space. This description includes the head's three-dimensional coordinates, facial orientation, and pitch angle. The head's three-dimensional coordinates refer to its precise X (left / right), Y (front / back), and Z (up / down) positions in the vehicle coordinate system. Facial orientation and pitch angle refer to the horizontal direction the head faces (e.g., facing forward, facing the left window) and the vertical tilt angle of the head (e.g., looking up, looking down).

[0036] During the fusion process, high-precision, low-drift absolute spatial coordinates provided by ultra-wideband pulse signals are used as "anchor points" for periodic calibration. Simultaneously, high-frequency, rapid relative motion and orientation change information provided by inertial measurement unit data is utilized to achieve smooth and continuous position and attitude prediction between the two calibrations. Through this fusion mechanism, facial position information with both high spatial accuracy and high temporal resolution and smoothness is ultimately calculated. This information not only includes the three-dimensional coordinates of the head within the vehicle but also accurately covers its horizontal orientation and pitch angle, thus completely defining the instantaneous spatial state of the user's face.

[0037] S103: Based on the facial position information, generate control commands to adjust at least one controllable device in the vehicle.

[0038] After obtaining facial location information, the vehicle's infotainment system can generate electronic commands based on specific logic or preset rules, and send them to one or more electronically controllable devices in the vehicle (such as air conditioning, seats, audio-visual systems, windows, ambient lighting, etc.) to change their states (such as angle, temperature, brightness, volume, position, etc.) to adapt to the user's current state and needs. Here, "controllable devices" refers to components or subsystems on the vehicle whose operating states can be remotely or automatically adjusted via electrical signals or bus commands. This is a higher-level functional description, encompassing all vehicle devices capable of responding to the control commands generated by this method, and does not specify any particular type.

[0039] In one embodiment, the target head-mounted device integrates an ultra-wideband module and an inertial measurement unit, and the type of the target head-mounted device includes at least one of a visual device and an auditory device.

[0040] Specifically, the target head-mounted device serves as the physical interaction carrier and core data source of this technical solution, and its hardware architecture is the foundation for its functionality. Specifically, the target head-mounted device physically integrates a UWB module and an IMU to form a composite sensing terminal. The UWB module acts as the device's "spatial beacon," its core function being the periodic transmission of ultra-wideband pulse signals with high temporal resolution. This not only forms the basis for centimeter-level precise positioning but also provides a wireless carrier for device identification (through a unique identifier embedded in the signal). Simultaneously, the integrated IMU acts as the device's "internal sensor," continuously collecting the device's own angular velocity and acceleration data at extremely high frequencies (typically on the millisecond level) through built-in sensors such as gyroscopes and accelerometers, thereby capturing the most subtle rotation and movement trends of the user's head in real time.

[0041] Furthermore, the target head-mounted device is diverse in form and function, including at least one type of visual device and auditory device. This means that the application of this technology is not limited to a single form of hardware. For example, it can be a visual device, such as augmented reality (AR) glasses, virtual reality (VR) headsets, or smart glasses with 3D display capabilities. Such devices provide users with immersive visual content through their display modules, and their inherent wearing characteristics (closely fitting the user's head) make them ideal platforms for carrying UWB modules and IMUs and tracking head posture. At the same time, it can also be an auditory device, such as smart headphones or headphones with spatial audio capabilities. Although such devices may not have visual display capabilities, they also fit closely to the user's head and can fully integrate the sensors to achieve the linkage control of head tracking and spatial audio. This inclusive design indicates that the essence of this solution lies in using any smart wearable device that can be stably worn on the head and integrates the necessary sensors as an interaction node, rather than being bound to a specific product form.

[0042] In one embodiment, determining the user's facial position information based on the ultra-wideband pulse signal and the inertial measurement unit data includes: determining the signal reception time of multiple ultra-wideband receivers receiving the ultra-wideband pulse signal; determining the three-dimensional coordinates of the target head-mounted device inside the vehicle based on the time difference corresponding to each signal reception time; acquiring angular velocity data collected by the inertial measurement unit, and obtaining the facial orientation and pitch angle by integrating the angular velocity data; and fusing the three-dimensional coordinates with the facial orientation and pitch angle to obtain the facial position information.

[0043] Specifically, after acquiring the ultra-wideband pulse signal and inertial measurement unit data, the system does not process them independently. Instead, it uses a collaborative positioning algorithm to intelligently fuse the absolute spatial coordinates provided by UWB with the continuous attitude change information provided by IMU, thereby outputting facial position information that combines high precision, high refresh rate, and smoothness.

[0044] First, absolute spatial positioning is achieved based on ultra-wideband pulse signals. Multiple (usually no fewer than four) ultra-wideband receivers (anchor points) deployed inside the vehicle synchronously capture pulse signals from the head-mounted device. The main controller precisely measures the signal reception time of each pulse arriving at different receivers. Since the speed of electromagnetic wave propagation is constant, the time difference between the arrival of the same pulse at different receiver locations implies the relative distance difference between the transmitter (i.e., the head-mounted device) and each receiver. The system uses a time difference of arrival algorithm to transform each time difference into a hyperboloid of a possible location. The intersection of multiple hyperboloids in three-dimensional space is the precise three-dimensional coordinate (X, Y, Z) of the head-mounted device (user's head) in the vehicle coordinate system. This process is analogous to determining the sound source location by intersecting multiple stations, achieving centimeter-level spatial positioning.

[0045] Secondly, dynamic attitude calculation is performed based on inertial measurement unit (IMU) data. Simultaneously, the system processes angular velocity data reported in real-time by the IMU built into the head-mounted device in parallel. By performing time integration on the angular velocity data, the rotation angle changes of the head in three-dimensional space can be continuously calculated. Specifically, the integration process can accumulate the instantaneous rotation rate (angular velocity) into the total rotation angle over a period of time, thereby accurately obtaining the head's facial orientation (yaw angle) and pitch angle (pitch angle). The IMU data output frequency is extremely high, capable of capturing every minute rotation of the head, providing a millisecond-level rapid response.

[0046] Finally, data fusion is performed to generate complete facial position information. Individual UWB coordinate updates have a certain delay and may occasionally abruptly change, while pure IMU integration introduces drift errors that accumulate over time. To address this issue, the system employs a sensor fusion algorithm (such as a Kalman filter) as its "intelligent brain." This algorithm uses high-frequency attitude and displacement predictions obtained from IMU integration as the main output stream, ensuring smooth motion. Simultaneously, the precise 3D coordinates calculated by UWB each time are used as "calibration anchor points," periodically compared with the IMU's predicted positions. Once a position or attitude deviation caused by IMU integration error is detected, it is immediately corrected, "pulling" it back to the accurate spatial coordinates determined by UWB. Through this complementary mechanism of "high-frequency IMU prediction and low-frequency UWB calibration," the fused facial position information is finally output. This information combines the absolute spatial accuracy of UWB with the dynamic tracking smoothness of the IMU, providing a complete spatial attitude description including real-time updated head 3D coordinates, facial orientation, and pitch angle, offering a stable and reliable data foundation for subsequent environmental control.

[0047] In one embodiment, the at least one controllable device includes an adjustable air conditioning vent; generating control commands based on the facial position information to adjust the at least one controllable device in the vehicle specifically includes: adjusting the orientation of the air conditioning vent according to the three-dimensional coordinates of the head.

[0048] Specifically, during the air conditioning directional air supply control phase, once the system has obtained the precise three-dimensional coordinates (X,Y,Z) of the user's head, it will use this as the core basis to drive the adjustable air conditioning outlet to make adaptive angle adjustments, so as to achieve precise airflow following of the human face.

[0049] Specifically, the vehicle interior is equipped with at least one electrically adjustable air conditioning vent. Each vent typically features horizontal and vertical oscillating blades, each driven by an independent micro stepper motor or servo motor. The system inputs the head's three-dimensional coordinates into a preset coordinate-angle mapping model or control algorithm.

[0050] The core logic of this model or algorithm is to calculate the target deflection angle of the air outlet blades so that, under a predetermined airflow attenuation model, the main axis of the airflow emitted from the outlet can converge or cover a pre-defined facial area centered on the three-dimensional coordinates of the head (e.g., a spherical or ellipsoidal space with the nose or mouth as the origin). The calculation must consider the fixed installation position of the air outlet itself, the initial direction of the airflow, interference factors affecting the airflow inside the vehicle, and the airflow pattern under different air delivery modes (such as concentrated airflow and diffused airflow).

[0051] A typical implementation involves the system having pre-calibrated spatial coordinates for each adjustable air vent within the vehicle. Once the head coordinates are obtained, the controller calculates in real-time the vector pointing from the air vent position to the head coordinates. Then, based on the direction of this vector (i.e., the horizontal azimuth and vertical elevation angles) and the kinematic model of the air vent's mechanical structure, the target rotation angles for the horizontal and vertical blades are calculated. Finally, corresponding motor drive pulse commands are generated and sent to the motor controller of the air conditioning vent, driving the blades to rotate smoothly and quickly to the target angle.

[0052] Through this method, regardless of any slight movement or posture adjustment the user makes in the seat (such as sliding while watching a movie), the system continuously tracks the user's head position and dynamically adjusts the airflow direction of one or more air vents. This ensures a continuous and stable flow of comfortable air to the user's face, solving the problem of traditional fixed airflow modes failing to follow the user's movements and significantly improving seating comfort. This process achieves an intelligent "airflow follows the user" effect, and the entire process requires no manual intervention from the user, resulting in a seamless improvement in comfort.

[0053] In one embodiment, when adjusting the orientation of the air conditioning vents based on the head's three-dimensional coordinates, the vehicle system determines the target deflection angle of each vent based on the head's three-dimensional coordinates and the pre-calibrated positions of multiple air conditioning vents; and adjusts the horizontal and vertical blades of at least one vent based on the face orientation and pitch angle to concentrate the airflow on the user's facial area.

[0054] Specifically, during the airflow direction control phase, the system performs spatial geometric calculations by acquiring the real-time three-dimensional coordinates of the user's head and the physical position information of each air conditioning vent inside the vehicle. In other words, when the vehicle leaves the factory or is initialized, the controller stores the precise three-dimensional coordinates of each independently adjustable air conditioning vent in the vehicle coordinate system (i.e., the "pre-calibrated vent position").

[0055] Once the system obtains the user's current three-dimensional head coordinates, it calculates a spatial vector pointing from the three-dimensional coordinates of each air outlet to the target area of ​​the head (typically an ellipsoidal region centered on the head coordinates and encompassing the face). Then, for each air outlet, the system converts this spatial vector into the target horizontal and vertical deflection angles required to drive the blades, based on its mechanical structure (such as the rotation axes of the horizontal and vertical blades). This calculation process ensures that the theoretical extension of the airflow direction from each air outlet converges or covers the spatial location of the user's face.

[0056] During the fine-tuning and execution phase, the system will further integrate the user's facial orientation (horizontal direction) and pitch angle (vertical direction) information to dynamically fine-tune and optimize the calculated target deflection angle.

[0057] Because users may turn their heads or tilt their heads up and down, the direction their face faces differs from the "front" direction defined by the center point of their head. Therefore, the system compensates for this by adjusting the target horizontal deflection angle based on the facial orientation angle, ensuring that the mainstream airflow is directed as directly as possible towards the user's nose or mouth area, rather than the side of the face or the back of the head, thus improving the direct perception and comfort of the airflow. Simultaneously, combined with the tilt angle, the system compensates for the target vertical deflection angle, ensuring that the airflow is also directed towards the facial area in the vertical plane (for example, when a user tilts their head back to watch a movie, the airflow needs to be slightly adjusted upwards to avoid blowing directly onto the neck).

[0058] Finally, the system generates control commands containing the optimized deflection angles and sends them to the drive motors (such as stepper motors) of each air conditioning vent, synchronously and precisely adjusting the actual angles of their horizontal and vertical blades. Through the coordinated work of multiple vents, the airflow they deliver converges in front of the user's face, creating a stable and evenly distributed comfortable airflow that wraps around the face, achieving an intelligent experience of "wind following the person and blowing on the face".

[0059] In one embodiment, the controllable devices may include vehicle devices such as window glass, in-vehicle ambient lights, and in-vehicle speakers. Generating a control instruction based on the facial position information to adjust at least one controllable device in the vehicle specifically includes: in response to detecting that the user enters the viewing mode, performing linkage control, and the linkage control includes at least one of adjusting the light transmittance of the window glass, adjusting the in-vehicle ambient light mode, and adjusting the sound field center of the in-vehicle speakers; in response to detecting that the user exits the viewing mode, restoring at least one device to the device state before the linkage control.

[0060] Specifically, in the intelligent linkage stage of the viewing mode, the system dynamically adjusts multiple cockpit devices based on the recognition of the user's activity state to create an immersive viewing environment, and intelligently restores the device state when the user finishes watching the movie. The viewing mode refers to a preset collaborative working state of the vehicle cockpit for enhancing the audio-visual experience, usually related to the user watching video content using the in-vehicle entertainment system.

[0061] The system first determines whether the user enters the viewing mode by monitoring at least one of the status of the target head-mounted device, the playback activity of the in-vehicle infotainment system, or the user interaction behavior. For example, when it is detected that the head-mounted device is in the worn state and the in-vehicle screen starts playing audio-visual content, or when the user actively selects the "theater mode" by voice, touch, etc., the system determines that the user enters the viewing mode. <>

[0062] After entering the viewing mode, the system generates and issues a linkage control instruction to coordinately adjust at least one of the window glass, in-vehicle ambient lights, and in-vehicle speakers. The linkage control aims to make the in-vehicle environment adapt to the viewing requirements. For example, by adjusting the light transmittance of the window glass to reduce external light interference, adjusting the ambient lights to an appropriate brightness and color tone to match the movie atmosphere, or adjusting the speaker sound field to make the sound focus on the location where the user is, so as to enhance the audio-visual immersion.

[0063] When the system detects that the user exits the viewing mode, such as when the audio-visual playback stops, the user removes the head-mounted device, or actively exits the theater mode, a restoration mechanism is triggered. The system controls at least one of the previously adjusted devices to restore its working state to the state before the linkage control was executed. For example, restoring the dimmed window glass to its original light transmittance, switching the ambient lights back to the previous mode, or readjusting the speaker sound field to the full-car balanced mode. This restoration mechanism ensures a smooth transition of the vehicle devices between different usage scenarios, avoids the cumbersome manual operation of the user, and maintains the adaptability and friendliness of the cockpit environment.

[0064] In one embodiment, when adjusting the light transmittance of the vehicle window glass, the system identifies the target window on the user's side and controls the light transmittance of the target window to decrease to a preset viewing threshold; in response to detecting that the vehicle is in motion, the system maintains the light transmittance of the driver's side or non-viewing area windows unchanged.

[0065] Specifically, when the system determines that a user has entered a specific mode (such as movie-watching mode) based on facial location information and generates linked control commands including window adjustment, the adjustment of window light transmittance is not a simple, uniform darkening of the entire system. Instead, it executes a refined strategy that takes into account immersive experience, driving safety, and the differentiated needs of passengers. The core of this strategy lies in zoned intelligent dimming.

[0066] First, based on the determined 3D coordinates of the user's head, the system maps and identifies the side or rear window area adjacent to or facing the user, defining it as the "target window." For example, if the user is located on the left side of the rear seat, the left rear side window is identified as the target window. Then, the system sends a command to the dimming glass controller of the target window, smoothly reducing its light transmittance from its current state to a preset viewing threshold specifically designed for movie watching (e.g., light transmittance reduced to 5%-20%). This process effectively blocks external strong light interference, creating a dark environment similar to a private cinema on the user's side, significantly improving screen contrast and viewing immersion.

[0067] Meanwhile, to ensure driving safety and respect the visual needs of other passengers, the system simultaneously monitors the vehicle's real-time operating status while performing the aforementioned dimming operation. If the vehicle is detected to be in motion, the system will activate a "safety priority" strategy, maintaining the light transmittance of glass in non-viewing areas. Specifically, the system will maintain the light transmittance of all windows on the driver's side (such as the windshield and driver's side window) to ensure the driver has a clear and unobstructed view, fully complying with traffic safety regulations. Furthermore, for windows in other non-viewing areas (such as windows on the opposite side of the same row or areas not currently occupied by the viewer), the system can also maintain their light transmittance or make appropriate adjustments without affecting safety based on preset rules or ambient light sensor data. This achieves zoned lighting environment management within the cabin, satisfying the immersive experience needs of specific users while ensuring a balance between overall vehicle safety and comfort.

[0068] When the system detects that the user has exited the viewing mode (such as removing the head-mounted device or turning off the audio-visual content), it will generate a recovery command to control the light transmittance of the target window to gradually return to the normal state before the linkage control (such as high light transmittance or automatic adjustment according to ambient light), thus completing the entire intelligent and contextualized closed-loop process of window dimming.

[0069] Furthermore, the ambient lighting in the vehicle can be intelligently optimized based on the vehicle's driving status. For example, during high-speed driving in the daytime, the ambient lighting automatically switches to a soft, cool tone to reduce visual fatigue; while at night, when driving at low speeds or parked, the ambient lighting can switch to a more immersive warm tone or dynamic lighting effects depending on the content being watched. This scene-based lighting adaptation not only enhances the viewing experience but also further strengthens the intelligence level of the cabin environment.

[0070] In one embodiment, since the ultra-wideband pulse signal carries an identity identifier, the vehicle system can identify the user's identity by parsing the identity identifier carried in the ultra-wideband pulse signal; based on the identity identifier, obtain the personalized configuration set associated with the user; and perform a personalized initialization operation, which includes at least one of the following: adjusting the position of the electric seat, adjusting the position of the electric steering wheel, loading the audio-visual content preference list, and loading the preference interface theme according to the identity information.

[0071] Specifically, in the initialization phase of the personalized control process, the system first needs to perform user identification. This process is accomplished by parsing the ultra-wideband pulse signals continuously received from the target head-mounted device. Each ultra-wideband pulse signal emitted by the head-mounted device contains a unique, encrypted or encoded identifier. The vehicle's main controller extracts this identifier from the received signal and compares and verifies it with the system's pre-stored authorized user identity database. Upon successful matching, the user currently wearing the head-mounted device is confirmed as a legitimate registered user, and digital key authentication is completed, thereby unlocking the corresponding user permissions. This step is the foundation of the entire personalized service, ensuring that the configuration sets invoked and operations executed subsequently are exclusive to the user, achieving "device-person recognition."

[0072] After successfully identifying the user, the system proceeds to the configuration retrieval and loading phase. The main controller uses the confirmed identity as an index key to access the personalized configuration file database stored locally or synchronized in the cloud. The system maintains an independent personalized configuration set for each authorized user. This configuration set is a structured data storage unit that systematically records the user's various preference settings within the vehicle cabin environment. Its content is not limited to basic comfort parameters such as seat position, steering wheel angle, and preset air conditioning temperature, but can also extend to advanced settings such as the infotainment system's interface theme, preferred lists of frequently used applications or audio-visual content, and sound field modes. Through this step, the system transforms the abstract "user identity" into a series of specific, executable device control parameters, preparing for subsequent automated recovery.

[0073] After completing identity verification and loading the configuration set, the system enters the one-click restoration phase of the personalized environment. In this step, the main controller uses the obtained personalized configuration set as the source data for control instructions to drive the corresponding controllable actuators in the vehicle for collaborative initialization operations. This operation is a process of multi-system linkage, aiming to quickly and automatically adjust the cockpit environment from the general or the previous user's state to the "exclusive state" that conforms to the historical preferences of the currently identified user. Its core actions may include, but are not limited to: automatically adjusting the front-back position, backrest angle, seat cushion height, and lumbar support of the electric seat to the user's memory position according to the stored position coordinates; synchronously driving the electric steering wheel for telescopic and tilt adjustments to fit the driving sitting posture; loading and presenting the main interface theme, wallpaper, and list of shortcut-accessible applications or media libraries set by the user on the in-vehicle infotainment system screen; and preparing the user's preferred music playlist or video favorites in advance according to the user's historical behavior data. The execution of this series of operations enables the user to obtain a highly customized cockpit experience without any manual settings after getting in the vehicle, realizing personalized services.

[0074] In addition, during the one-click restoration phase of the personalized environment, the system can also dynamically adjust the working states of other in-vehicle accessory devices according to the user's usage habits and real-time needs. For example, based on the user's historical data, the system can automatically adjust the wind speed and temperature of the in-vehicle air conditioner to the comfortable range preferred by the user, or switch the in-vehicle fragrance system to the user's commonly used theme smell. At the same time, for different time periods or scenarios, the system will intelligently adapt the corresponding optimization strategies. For example, during the morning commute, the system may tend to select fresh, refreshing fragrances and soft lighting tones; while on the way home at night, it will switch to a soothing, sleep-aiding atmosphere mode.

[0075] In a multi-user scenario, when it detects that multiple authorized users enter the vehicle simultaneously, the system can flexibly allocate resources and coordinate the device states in each area according to preset rules or real-time priorities. For example, two users in the driver's and front passenger's seats may have completely different seat position and air conditioner temperature preferences. At this time, the system will separately call their respective personalized configuration sets to independently control the devices in the corresponding areas to meet the needs of both parties. For rear passengers, if there are multiple head-mounted device signal sources, the system will accurately match the identity identifiers of each passenger based on spatial positioning technology and specifically adjust the controllable devices near them, such as the independent-zone air conditioner, local ambient lights, or the display content of the entertainment screen.

[0076] Finally, regarding privacy protection, the system strictly adheres to data security standards. All information involving user identification and personalized configurations is encrypted and restricted to local storage or a controlled cloud synchronization environment. No third party can access this sensitive data without authorization, thus ensuring the security of users' personal information and their privacy rights. This design not only enhances users' trust in the system but also lays a solid foundation for the introduction of more innovative features in the future.

[0077] In summary, the vehicle control method, device, and vehicle disclosed herein calculate the three-dimensional coordinates of the user's head using the time difference of arrival of an ultra-wideband pulse signal, and obtain the facial orientation and pitch angle by integrating the angular velocity data with an inertial measurement unit (IMU), ultimately fusing them to obtain complete facial position information. This overcomes the limitations of single sensors in terms of accuracy, real-time performance, or stability. Ultra-wideband provides absolute position calibration, avoiding accumulated errors in the IMU; the IMU enables high-frequency attitude updates, ensuring smooth system response. This achieves precise perception of the user's head, laying a reliable data foundation for subsequent environmental control. After obtaining the facial position information, active airflow that "follows the user's movement" is implemented, ensuring that the airflow is always precisely directed towards the user's face, significantly improving temperature control comfort, especially in scenarios with varying postures such as passengers watching movies or resting. Furthermore, by recognizing when the user enters "movie mode" or other scene states, the window transmittance, ambient lighting mode, and speaker sound field center can be adjusted in conjunction to achieve overall adaptation of the audiovisual environment. Facial position information triggers cross-device collaboration, constructing a user-centric immersive space. For example, in movie viewing mode, the car automatically dims the side windows, adjusts the ambient lighting to the cinema tone, and centers the sound field at the user's position, creating a holistic entertainment environment and enhancing the completeness and immersion of the user experience.

[0078] like Figure 2 As shown, Figure 2 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. The device includes: The data acquisition module 201, in response to detecting a change in the position of the target head-mounted device, acquires the ultra-wideband pulse signal emitted by the target head-mounted device and the inertial measurement unit data; The facial position determination module 202 determines the user's facial position information based on the ultra-wideband pulse signal and the inertial measurement unit data. The facial position information includes the three-dimensional coordinates of the head, facial orientation, and pitch angle. The device control module 203 generates control commands based on the facial position information to adjust at least one controllable device in the vehicle.

[0079] In one specific embodiment, the face position determination module 202 includes: determining the signal reception time of multiple ultra-wideband receivers receiving the ultra-wideband pulse signal; determining the three-dimensional coordinates of the target head-mounted device inside the vehicle based on the time difference corresponding to each signal reception time; acquiring angular velocity data collected by the inertial measurement unit, and obtaining the face orientation and pitch angle by integrating the angular velocity data; and fusing the three-dimensional coordinates with the face orientation and pitch angle to obtain the face position information.

[0080] In one specific embodiment, the at least one controllable device includes an adjustable air conditioning vent; the device control module 203 includes: adjusting the orientation of the air conditioning vent according to the three-dimensional coordinates of the head.

[0081] In one specific embodiment, the device control module 203 includes: determining the target deflection angle of each air outlet based on the three-dimensional coordinates of the head and the pre-calibrated positions of multiple air conditioning outlets; and adjusting the horizontal and vertical blades of at least one air outlet according to the facial orientation and pitch angle, so that the airflow converges on the user's facial area.

[0082] In one specific embodiment, the at least one controllable device includes at least one of a vehicle window glass, an interior ambient light, and an interior speaker; the device control module 203 includes: in response to detecting that a user enters the movie-watching mode, executing linkage control, the linkage control including at least one of adjusting the light transmittance of the vehicle window glass, adjusting the interior ambient light mode, and adjusting the sound field center of the interior speaker; in response to detecting that a user exits the movie-watching mode, restoring at least one device to the device state before the linkage control.

[0083] In one specific embodiment, the device control module 203 includes: identifying the target window on the side where the user is located, and controlling the light transmittance of the target window to decrease to a preset viewing threshold; in response to detecting that the vehicle is in motion, maintaining the light transmittance of the window on the driver's side or in the non-viewing area unchanged.

[0084] In one specific embodiment, the device control module 203 includes: identifying a user's identity by parsing the identity identifier carried in the ultra-wideband pulse signal; obtaining a personalized configuration set associated with the user based on the identity identifier; and performing a personalized initialization operation, the personalized initialization operation including: adjusting the position of the electric seat, adjusting the position of the electric steering wheel, loading an audio-visual content preference list, and loading a preference interface theme according to the identity information.

[0085] Regarding the apparatus in the above embodiments, the specific manner in which each unit performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0086] Figure 3 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0087] For example, such as Figure 3 As shown, the vehicle includes a memory 301 and a processor 302. The memory 301 stores executable program code 3011, and the processor 302 is used to call and execute the executable program code 3011 to perform a vehicle control method.

[0088] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0089] When each functional module is divided according to its corresponding function, the vehicle may include: The data acquisition module, in response to detecting a change in the position of the target head-mounted device, acquires the ultra-wideband pulse signal emitted by the target head-mounted device and the inertial measurement unit data; The facial position determination module determines the user's facial position information based on the ultra-wideband pulse signal and the inertial measurement unit data. The facial position information includes the three-dimensional coordinates of the head, facial orientation, and pitch angle. The device control module generates control commands based on the facial position information to adjust at least one controllable device in the vehicle.

[0090] It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0091] The vehicle provided in this embodiment is used to execute the above-described vehicle control method, and therefore can achieve the same effect as the above-described implementation method.

[0092] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module supports the vehicle in executing program code and data.

[0093] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0094] This embodiment also provides a computer-readable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.) storing computer program code. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement the vehicle control method provided in the above embodiment.

[0095] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the vehicle control method provided in the above embodiment.

[0096] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0097] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0098] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0099] In the description of this disclosure, it should be understood that if the terms "upper", "lower", "front", "rear", "left" and "right" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0100] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0101] The above are merely embodiments of this disclosure and are not intended to limit the scope of this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims of this disclosure.

Claims

1. A vehicle control method characterized by, The method comprises: In response to detecting that the target head-mounted device is in a wearing state, acquiring an ultra-wideband pulse signal emitted by the target head-mounted device and inertial measurement unit data; Based on the ultra-wideband pulse signal and the inertial measurement unit data, determining the face position information of the user, the face position information comprising a head three-dimensional coordinate, a face orientation and a pitch angle; Based on the face position information, generating a control instruction to adjust at least one controllable device in the vehicle.

2. The method of claim 1, wherein, The target head-mounted device is integrated with an ultra-wideband module and an inertial measurement unit, and the type of the target head-mounted device comprises at least one of a visual device and an auditory device.

3. The method of claim 1, wherein, The determination of the face position information of the user based on the ultra-wideband pulse signal and the inertial measurement unit data comprises: Determining the signal receiving time of the ultra-wideband pulse signal received by a plurality of ultra-wideband receivers; Based on the time difference value corresponding to each signal receiving time, determining the three-dimensional coordinate of the target head-mounted device in the vehicle; Acquiring angular velocity data collected by the inertial measurement unit, and obtaining the face orientation and the pitch angle by integrating the angular velocity data; Fusing the three-dimensional coordinate with the face orientation and the pitch angle to obtain the face position information.

4. The method of claim 1, wherein, The at least one controllable device comprises an adjustable air conditioner air outlet; The generation of the control instruction to adjust at least one controllable device in the vehicle based on the face position information comprises: Adjusting the orientation of the air conditioner air outlet according to the head three-dimensional coordinate.

5. The method of claim 4, wherein, The adjustment of the orientation of the air conditioner air outlet according to the head three-dimensional coordinate comprises: Based on the head three-dimensional coordinate and a plurality of air conditioner air outlet positions pre-calibrated, determining a target deflection angle of each air outlet; According to the face orientation and the pitch angle, adjusting the horizontal and vertical blades of at least one air outlet to make the airflow converge on the user's face area.

6. The method of claim 1, wherein, The at least one controllable device comprises at least one of a vehicle window glass, an in-vehicle atmosphere lamp and an in-vehicle loudspeaker; The generation of the control instruction to adjust at least one controllable device in the vehicle based on the face position information comprises: In response to detecting that the user enters a viewing mode, performing a linkage control, the linkage control comprising at least one of adjusting the light transmittance of the vehicle window glass, adjusting the mode of the in-vehicle atmosphere lamp and adjusting the sound field center of the in-vehicle loudspeaker; In response to detecting that the user exits the viewing mode, restoring at least one device to the device state before the linkage control.

7. The method of claim 6, wherein, The adjustment of the light transmittance of the vehicle window glass comprises: Identifying a target vehicle window on the side where the user is located, and controlling the light transmittance of the target vehicle window to decrease to a preset viewing threshold; In response to detecting that the vehicle is in a driving state, maintaining the light transmittance of the driver side or the non-viewing area vehicle window unchanged.

8. The method of claim 1, wherein, The method further comprises: By analyzing the identity carried in the ultra-wideband pulse signal, identifying the user identity; Based on the identity, acquiring a personalized configuration set associated with the user; Performing a personalized initialization operation, the personalized initialization operation comprising at least one of adjusting the position of an electric seat, adjusting the position of an electric steering wheel, loading a video and audio content preference list and loading a preferred interface theme according to the identity information.

9. A vehicle control device characterized by comprising: The method comprises: a data acquisition module, in response to detecting a position change of a target head-mounted device, acquiring an ultra-wideband pulse signal emitted by the target head-mounted device and inertial measurement unit data; a face position determination module, based on the ultra-wideband pulse signal and the inertial measurement unit data, determining face position information of a user, the face position information including head three-dimensional coordinates, face orientation, and pitch angle; a device control module, based on the face position information, generating a control instruction to adjust at least one controllable device in a vehicle.

10. A vehicle characterized by comprising: comprising: at least one processor; and, a memory connected to the at least one processor in communication; wherein, the memory stores instructions executable by the at least one processor, the instructions executed by the at least one processor to enable the at least one processor to perform the vehicle control method of any one of claims 1-8.

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