Adjustment system and method for a vehicle head-up projection

Abstract

The application provides a kind of vehicle-mounted screen projection adjustment system and method, the system includes: mechanical execution module, visual acquisition module, central control module and audio-visual output module, visual acquisition module is opened after screen viewing mode, and three-dimensional coordinates of human eye are solved and sent to central control module;Central control module is calculated according to three-dimensional coordinates of human eye optimal projection light path, generates space pose adjustment instruction according to optimal projection light path and sends to mechanical execution module, generates audio adjustment instruction according to three-dimensional coordinates of human eye and sends to audio-visual output module;Mechanical execution module is adjusted according to space pose adjustment instruction to keep optimal projection light path Space pose collaborative adjustment to projection unit;Audio-visual output module is adjusted according to audio adjustment instruction, and the audio output parameter of vehicle-mounted sound corresponding sound channel is output, and the spatial audio effect matched with the viewing posture of passenger is output.The application solves the problem that the existing screen glass is directly irradiated to human eye.

Description

Technical Field

[0001] This application relates to the field of vehicle-mounted panoramic sunroof technology, and more specifically, to an adjustment system and method for vehicle-mounted panoramic sunroof projection. Background Technology

[0002] With the rapid development of automotive intelligence and cabin entertainment, panoramic sunroofs have become a standard feature in mainstream models, and in-vehicle projection viewing systems based on sunroofs are gradually becoming an important function to enhance the cabin experience.

[0003] Currently, most in-vehicle panoramic projectors use a fixed installation method, with projectors mainly placed on the roof, interior pillars, or rear seat area, or fixed using external brackets. This type of solution is based on a fixed optical path and a fixed sound field as its core design concept, and only supports basic adjustments such as manual focus and angle.

[0004] However, existing fixed vehicle-mounted panoramic projectors have several drawbacks. For example, redundant light spots can directly shine into the eyes; glare and ghosting are prominent when the vehicle is lying down; and prolonged viewing can easily cause eye strain. Furthermore, the installation location disrupts the integrity of the cabin interior; long-distance projection leads to a decrease in brightness and clarity; external brackets occupy space and have poor stability, making precise optical path optimization impossible. These shortcomings make it difficult for current technologies to achieve eye tracking and projection adjustment, failing to meet users' needs for a safe, comfortable, and immersive in-vehicle viewing experience. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide an adjustment system and method for vehicle-mounted panoramic projection to solve at least one of the above-mentioned problems.

[0006] In a first aspect, embodiments of this application provide an adjustment system for a vehicle-mounted panoramic projection system, comprising: a mechanical actuation module, a visual acquisition module, a central control module, and an audio-visual output module, wherein the mechanical actuation module, the visual acquisition module, and the audio-visual output module are all connected to the central control module. The visual acquisition module is used to calculate the three-dimensional coordinates of the human eye after the dome viewing mode is turned on, and send the three-dimensional coordinates of the human eye to the central control module. The central control module is used to calculate the optimal projection light path based on the received three-dimensional coordinates of the human eye. The optimal projection light path refers to a projection light path in which neither the redundant light spot nor the projection light rays directly hit the human eye area, the projection image is completely projected onto the target projection area of ​​the canopy glass, and the redundant light spot does not overlap with the projection image. It is also used to generate spatial pose adjustment commands based on the optimal projection light path and send them to the mechanical execution module, and at the same time generate audio adjustment commands based on the three-dimensional coordinates of the human eye and send them to the audio-visual output module. The mechanical actuation module is used to perform spatial pose coordination adjustment of the projection unit according to the spatial pose adjustment command, so as to maintain the optimal projection optical path; The audio-visual output module is used to adjust the audio output parameters of the corresponding channel of the vehicle audio system according to the audio adjustment command, and output a spatial audio effect that matches the viewing posture of the occupants.

[0007] Secondly, embodiments of this application also provide a method for adjusting a vehicle-mounted panoramic sunroof projection, applied to the vehicle-mounted panoramic sunroof projection adjustment system described above, the method comprising: After the dome viewing mode is turned on, the three-dimensional coordinates of the human eye are calculated and sent to the central control module. The optimal projection light path is calculated based on the received three-dimensional coordinates of the human eye. The optimal projection light path refers to a projection light path in which neither the redundant light spot nor the projection light rays directly hit the human eye area, the projection image is completely projected onto the target projection area of ​​the canopy glass, and the redundant light spot does not overlap with the projection image. It is also used to generate spatial pose adjustment commands based on the optimal projection light path and send them to the mechanical execution module, and at the same time generate audio adjustment commands based on the three-dimensional coordinates of the human eye and send them to the audio-visual output module. The projection unit is adjusted in a coordinated manner according to the spatial pose adjustment command to maintain the optimal projection optical path. According to the audio adjustment command, the audio output parameters of the corresponding channel of the vehicle audio system are adjusted, and a spatial audio effect matching the viewing posture of the occupants is output.

[0008] This application provides an adjustment system and method for vehicle-mounted panoramic projection. Compared with the fixed installation schemes used in existing vehicle-mounted panoramic projections, this system solves the problem of redundant light spots directly hitting the eyes, improves viewing comfort, ensures passenger visual safety, requires no manual intervention, and enhances the user experience.

[0009] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1A schematic diagram of the structure of an adjustment system for a vehicle-mounted panoramic projection provided in an embodiment of this application; Figure 2 This is a schematic diagram of the working instructions of a vision acquisition module provided in an embodiment of this application; Figure 3 A schematic diagram of the vehicle-mounted panoramic sunroof before adjustment, provided by existing technology; Figure 4 This is a schematic diagram of the vehicle-mounted panoramic sunroof after adjustment, provided in an embodiment of this application. Figure 5 A flowchart illustrating an adjustment method for a vehicle-mounted panoramic projection provided in an embodiment of this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0013] This application provides an adjustment system for a vehicle-mounted panoramic projection system, such as... Figure 1 As shown, the adjustment system 10 includes: a mechanical actuation module 101, a visual acquisition module 102, a central control module 103, and an audio-visual output module 104. The mechanical actuation module 101, the visual acquisition module 102, and the audio-visual output module 104 are all connected to the central control module 103.

[0014] The visual acquisition module 102 is used to calculate the three-dimensional coordinates of the human eye after the panoramic viewing mode is turned on, and send the three-dimensional coordinates of the human eye to the central control module. The central control module 103 is used to calculate the optimal projection light path based on the received three-dimensional coordinates of the human eye. The optimal projection light path refers to a projection light path in which neither the redundant light spot nor the projection light directly hits the human eye area, the projection image is completely projected onto the target projection area of ​​the panoramic glass, and the redundant light spot and the projection image do not overlap. It is also used to generate spatial posture adjustment commands based on the optimal projection light path and send them to the mechanical execution module 101. At the same time, it generates audio adjustment commands based on the three-dimensional coordinates of the human eye and sends them to the audio-visual output module 104. The mechanical execution module 101 is used to perform spatial posture coordination adjustment of the projection unit according to the spatial posture adjustment commands to maintain the optimal projection light path. The audio-visual output module 104 is used to adjust the audio output parameters of the corresponding channel of the vehicle audio system according to the audio adjustment commands, and output spatial audio effects that match the viewing posture of the occupants.

[0015] This implementation achieves human eye tracking and spatial posture adjustment through the coordinated work of the visual acquisition module, central control module, mechanical execution module, and audio-visual output module. It solves the defect of redundant light spots directly hitting the human eye in existing vehicle-mounted sunroofs, improves the visual comfort of watching movies, ensures the visual safety of passengers, requires no manual intervention, and enhances the user experience.

[0016] In one optional embodiment, after the dome-viewing mode is turned on, the visual acquisition module calculates the three-dimensional coordinates of the human eye and sends the three-dimensional coordinates of the human eye to the central control module.

[0017] The visual acquisition module is an in-vehicle image acquisition device used to capture the spatial coordinates of the occupants' eyes in real time. It has the ability to recognize weak light and resist interference. It is mainly used to collect facial images of occupants in the vehicle and calculate the three-dimensional coordinates of the human eyes, so as to provide accurate position data for the central control module, so as to achieve the purpose of avoiding the human eye and adapting the optical path to the audio-visual system.

[0018] For example, the visual acquisition module can employ an in-vehicle infrared high-definition camera, positioned at the rearview mirror or A-pillar. This location maximizes coverage of the passenger area while avoiding obstructing the driver's view, thus ensuring driving safety (during parked viewing mode, it does not affect driving). The infrared high-definition camera possesses low-light recognition capabilities, clearly capturing occupant facial features even in dimly lit environments (such as nighttime viewing). It exhibits strong anti-interference capabilities, effectively mitigating the impact of changes in interior lighting and interior reflections on image acquisition, ensuring the accuracy of human eye coordinate acquisition. The panoramic viewing mode refers to a dedicated viewing mode activated when the vehicle is parked. Once activated, the system automatically activates the visual acquisition module, central control module, mechanical execution module, and audio-visual output module, entering a fully automatic adjustment process without requiring manual user intervention in the startup and operation of each module.

[0019] Specifically, the three-dimensional coordinates of the human eye refer to the three-dimensional spatial coordinate data used to characterize the specific position of the human eye in the vehicle's interior space. Using this coordinate data, the central control module can accurately determine the relative positional relationship between the human eye and the projected light and the roof, thereby calculating the optimal projection light path and preventing the projected light from directly hitting the human eye. For example, the three-dimensional coordinates of the human eye can be established using the initial position of the front center armrest of the vehicle as the origin, establishing a three-dimensional spatial coordinate system where the X-axis represents the vehicle's forward and backward direction, the Y-axis represents the vehicle's left and right direction, and the Z-axis represents the vehicle's up and down direction. The coordinate data can be accurate to the millimeter level to ensure the accuracy of the central control module's calculation of the light path.

[0020] like Figure 2 As shown, when the visual acquisition module calculates the three-dimensional coordinates of the human eye and sends them to the central control module, it specifically performs the following steps: simultaneously acquiring facial images of the occupants inside the vehicle using the first camera 201 and the second camera 202, and outputting two original images with different viewing angles; extracting key eye features from the two original images with different viewing angles to locate the position of the human eye; matching the same key eye feature based on the key eye feature and calculating the disparity, and calculating the three-dimensional coordinates of the human eye by combining the camera baseline distance and intrinsic parameters; and sending the calculated three-dimensional coordinates of the human eye to the central control module.

[0021] Here, the visual acquisition module adopts a dual-camera layout, namely a first camera and a second camera, both of which can be vehicle-mounted infrared high-definition cameras capable of quickly capturing facial images of occupants. For example, the first camera can be positioned on the left A-pillar of the vehicle, and the second camera can be positioned on the right A-pillar of the vehicle, with the two arranged symmetrically. The camera intrinsic parameters (focal length, pixel size, etc.) are pre-calibrated and stored in the central control module to ensure the accuracy of the three-dimensional coordinate calculation of the human eye.

[0022] Specifically, the system simultaneously captures facial images of the occupants inside the vehicle using a first camera and a second camera, outputting two original images with different viewing angles. When the panoramic viewing mode is activated, the first and second cameras start synchronously, simultaneously capturing facial images of the occupants. Due to the different positions of the two cameras, the two original images have a certain difference in viewing angle. Key eye features are extracted from the two original images with different viewing angles to locate the position of the eyes. The visual acquisition module incorporates an image recognition algorithm to preprocess the two original images (denoising, grayscale conversion, edge detection), and then extracts key eye features, including the pupil center, iris edge, and eyelid contour. These features allow for precise location of the eyes in the images, obtaining the two-dimensional coordinates of the eyes in the two original images. Based on the key eye features, matching is performed on the same key eye feature, and disparity is calculated. The three-dimensional coordinates of the eyes are then calculated by combining the camera baseline distance and intrinsic parameters. The vision acquisition module matches key eye features extracted from two original images, matching the pupil center in the first image with the pupil center in the second image to determine the positional difference of the same key eye feature in the two images, and then calculates the disparity (disparity = the difference in the horizontal coordinate of the same feature point in the two images). Subsequently, combining the preset camera baseline distance and camera intrinsic parameters, the three-dimensional coordinates of the human eye are calculated using triangulation, a triangle is constructed, and the distance from the human eye to the camera plane is calculated using the known baseline distance and disparity, thus obtaining the three-dimensional coordinates of the human eye in the vehicle's interior space. The calculated three-dimensional coordinates of the human eye are sent to the central control module. The vision acquisition module converts the calculated three-dimensional coordinates of the human eye (accurate to the millimeter level) into digital signals and sends them to the central control module via the vehicle's CAN bus.

[0023] This application embodiment achieves accurate and real-time calculation of the three-dimensional coordinates of the human eye through a process of dual-camera acquisition, key eye feature extraction, parallax calculation, and three-dimensional coordinate solution. Compared with single-camera acquisition, the difference in the field of view of the dual cameras can improve the accuracy and anti-interference ability of human eye positioning, avoid the positioning failure problem caused by single camera obstruction or light changes, further improve the reliability and accuracy of the entire adjustment system, and ensure that the central control module can calculate the optimal projection light path based on accurate human eye coordinates, thereby eliminating redundant light spot glare, improving the visual comfort of watching movies, and ensuring the visual safety of passengers.

[0024] Furthermore, the central control module is the core control unit that receives the three-dimensional coordinates of the human eye sent by the vision acquisition module, performs optical path calculation, generates and issues commands, and coordinates the collaborative work of various modules to ensure the smoothness and accuracy of the adjustment process. For example, the central control module can use an independent MCU or reuse the original vehicle's in-vehicle infotainment algorithm, possessing rapid data processing, command generation, and command issuance capabilities, with a response time of no more than 100ms, thus ensuring the real-time performance of the adjustment. For instance, in this embodiment, an independent MCU can be used as the central control module, which communicates with the vision acquisition module, mechanical execution module, and audio-visual output module via the vehicle bus, enabling it to quickly receive the three-dimensional coordinate data of the human eye and complete optical path calculation and command generation in a very short time.

[0025] The optimal projection optical path refers to a projection optical path that meets three core conditions: neither the redundant light spot nor the projected light rays directly hit the viewer's eye area; the projected image is completely projected onto the target projection area of ​​the dome glass; and the redundant light spot and the projected image do not overlap. This optimal optical path scheme is calculated by the central control module through algorithms, balancing viewing effect and visual safety, thus solving the defect in existing technologies where redundant light spots directly hit the viewer's eye. Figure 3 As shown, in the existing projection scenario, the redundant light spot 301 is located within the projection screen 303 of the canopy glass, shining directly into the human eye, thus causing glare and ghosting, and increasing visual fatigue after prolonged viewing. Optionally, the optimal projection light path can be calculated precisely using geometric optics algorithms based on multiple factors such as the installation position of the projection unit, the spatial orientation of the canopy glass, and the three-dimensional coordinates of the human eye. This ensures that the projection light does not shine directly into the human eye, projects the complete projection screen onto the target projection area of ​​the canopy glass, and that the redundant light spot does not overlap with the projection screen, guaranteeing the integrity and clarity of the projection screen. Furthermore, the light path avoids the location of the human eye, preventing glare.

[0026] Redundant light spots, relative to the effective imaging light spot constituting the projected image, are interference spots formed by scattered light, spill light, and reflected stray light generated during the propagation and reflection of the projected light. These spots do not carry image information and are not part of the projected image, easily causing glare, ghosting, and reduced image clarity. The center of the redundant light spot in the optimal projection light path does not correspond to the position of the human eye, avoiding direct exposure to the eyes. The size of the effective imaging light spot can be adjusted according to the size of the canopy glass to ensure that the effective imaging light spot is completely projected onto the target projection area of ​​the canopy glass, with a certain margin to prevent the edges of the projected image from exceeding the target projection area of ​​the canopy glass. Simultaneously, by adjusting the projection angle, the center of the redundant light spot is offset from directly above the human eye, ensuring that the redundant light spot does not directly expose the eyes, and preventing glare even if passengers slightly adjust their posture. Figure 4As shown, the center of the redundant light spot 301 is adjusted to the right side of the projection image 303 on the skylight glass, forming a certain angle with the position of the human eye. This ensures that the projected image is clearly visible while preventing the redundant light spot from shining directly on the screen.

[0027] Here, the roof glass is a transparent glass structure on the top of the vehicle, which serves as the projection carrier for the projection unit. Its spatial orientation is fixed (relative to the vehicle body). When the central control module calculates the optical path, it needs to make precise calculations based on the spatial orientation of the roof glass (such as tilt angle and installation height) to ensure that the projected image can be projected onto the roof glass roughly vertically, thus avoiding image distortion.

[0028] In one optional implementation, when the central control module calculates the optimal projection light path based on the received three-dimensional coordinates of the human eye, it specifically performs the following: based on the physical installation position of the projection unit and the position of its mirror-reflected virtual image, it calculates all feasible light paths that can completely project the projection image onto the target projection area of ​​the canopy glass and whose redundant light spots do not overlap with the projection image; based on the received three-dimensional coordinates of the human eye, it filters each feasible light path and determines the optimal projection light path from which neither the redundant light spots nor the projection light rays directly hit the human eye area.

[0029] First, based on the physical installation position of the projection unit and the position of its specular reflection virtual image, all feasible optical paths are calculated that can completely project the projected image onto the target projection area of ​​the canopy glass, and the redundant light spots do not overlap with the projected image. Optionally, the central control module first determines the corresponding specular reflection virtual image position based on the physical installation position of the projection unit and the spatial orientation of the canopy glass; starting from this specular reflection virtual image position, a projection ray beam covering the complete imaging field of view of the projection unit is constructed; the intersection points between each projection ray beam in the projection ray beam and the target projection area of ​​the canopy glass are calculated to obtain the effective imaging light spot corresponding to each projection ray beam; the projection ray beams that all have effective imaging light spots located within the target projection area of ​​the canopy glass and whose redundant light spots do not overlap with the projected image are determined as all feasible optical paths that can completely project the projected image onto the target projection area of ​​the canopy glass, and whose redundant light spots do not overlap with the projected image.

[0030] In the above steps, the spatial attitude of the panoramic glass can include parameters such as its tilt angle, installation height, and spatial orientation within the vehicle's interior space. Since its spatial attitude is relatively fixed relative to the vehicle body, these parameters can be obtained in advance through vehicle-wide measurements, eliminating the need for real-time adjustments, reducing system computational load, and improving response speed. The position of the specular reflection virtual image is the spatial position of the virtual image formed by the projection unit after reflection by the panoramic glass, and it is symmetrically distributed with respect to the actual installation position of the projection unit about the panoramic glass. Using the position of the specular reflection virtual image to construct the projection light beam allows for the rapid and accurate determination of the optical path range that can completely project the image onto the panoramic glass, simplifying the optical path calculation process, improving calculation efficiency, and ensuring that the projection light beam fully covers the imaging range of the projection unit, without overlooking any possible feasible optical paths.

[0031] Optionally, the position of the virtual image reflected by the specular surface can be calculated by combining the coordinates of the actual installation position of the projection unit with the spatial equation of the dome glass. Specifically, firstly, the perpendicular distance from the actual position of the projection unit to the dome glass is calculated using a spatial geometric algorithm. Then, based on the symmetry of specular reflection, a point equidistant from the actual position to the dome glass is taken on the other side of the perpendicular line. This point is the position of the virtual image reflected by the specular surface.

[0032] Then, starting from the pre-calculated position of the specular reflection virtual image, projection ray beams are constructed according to the complete imaging field of view of the projection unit, ensuring that the projection ray beams can fully cover the maximum imaging range of the projection unit. Since the field of view of the projection unit determines its projection range, the construction of the projection ray beams must be precisely matched with the field of view to avoid the ray beam range being too large, leading to increased computation, or too small, leading to the omission of feasible optical paths. The complete imaging field of view of the projection unit is the maximum angle range that the projection unit can project, determined by the lens specifications of the projection unit, and is pre-stored in the central control module. The projection ray beam is a collection of multiple projection rays starting from the position of the specular reflection virtual image and covering the complete imaging field of view of the projection unit. Each ray represents a possible projection optical path, and its propagation direction is consistent with the direction of the light actually projected by the projection unit.

[0033] Next, the intersection points between each projection ray in the projection beam and the target projection area of ​​the dome glass are calculated to obtain the effective imaging spot corresponding to each projection ray. Specifically, the projection position of each projection ray on the dome glass, i.e., the position of the effective imaging spot, is determined. By judging whether the position of the effective imaging spot is located within the target projection area of ​​the dome glass, feasible light paths that can completely project the image are selected. A projection ray is a single ray in the projection beam, and each ray corresponds to a possible projection light path. Its spatial equation is generated by the central control module according to the ray beam construction rules, which can accurately represent the propagation path of the light, including parameters such as the direction of the light and the coordinates of the starting point. The spatial equation of each projection ray is precisely calculated to ensure the accuracy of the intersection point calculation, thereby ensuring the accuracy of the effective imaging spot position. For example, the spatial equation of each projection ray can be in parametric form. For instance, the spatial equation of a projection ray might be x=kt, y=lt, z=mt+n (where t is a parameter, and k, l, m, and n are constants). The range of the parameter t is determined by the distance between the projection unit and the dome glass, ensuring that the projection ray reaches the target projection area of ​​the dome glass and forms an intersection point. The central control module solves the system of equations for each projection ray and the dome glass (ax+by+cz+d=0) simultaneously. By substituting the projection ray equations into the dome glass equations, the specific value of parameter t is obtained. Then, the t value is substituted back into the projection ray equations to obtain the three-dimensional coordinates of the intersection point, which represent the position of the effective imaging spot corresponding to that projection ray.

[0034] Finally, the projection light beams that ensure all effective imaging spots are located within the target projection area of ​​the canopy glass and that redundant spots do not overlap with the projected image are identified as all feasible optical paths where the projected image is completely projected onto the target projection area of ​​the canopy glass and the redundant spots do not overlap with the projected image. Feasible optical paths are determined through a two-layer constraint: the first constraint is image integrity, ensuring that all effective imaging spots constituting the projected image fall within the preset target projection area of ​​the canopy glass, guaranteeing a complete, uninterrupted, and boundary-crossing projection image; the second constraint is image quality, ensuring that redundant spots generated by scattering, spill, or reflection do not overlap with the projected image area, avoiding interference with imaging and eliminating ghosting and overexposure issues. The projection light beams that satisfy all of the above conditions are the only feasible optical paths where the image is completely projected and the redundant spots do not overlap with the projected image.

[0035] The above solution constructs and filters projection light beams to ensure that the effective imaging light spot falls completely into the target projection area and that redundant light spots do not interfere with the projected image, thereby achieving the technical effect of a complete, clear, and stray light-free image for vehicle-mounted skylight projection.

[0036] For example, the physical installation position of the projection unit is its actual position within the vehicle's interior space. A three-dimensional coordinate system is established with the initial position of the central armrest as the origin. These position parameters can be preset and calibrated in advance. Figure 3 and Figure 4 As shown, the specular reflection virtual image position 302 is the position in space of the virtual image formed by the projection unit after reflection by the skylight glass. It is symmetrical to the actual installation position of the projection unit about the skylight glass. Constructing a projection light beam starting from the specular reflection virtual image position 302 allows for the rapid and accurate determination of the optical path range that can completely project the projected image onto the skylight glass, simplifying the optical path calculation process and improving calculation efficiency. The feasible optical path is the projection light path that can completely project the projected image 303 onto the target projection area of ​​the skylight glass.

[0037] Then, based on the received three-dimensional coordinates of the human eye, each feasible optical path is screened to determine the optimal projection optical path from which neither redundant light spots nor projection rays directly hit the human eye area. Optionally, the central control module determines whether projection rays and redundant light spots in each feasible optical path enter the human eye area based on the received three-dimensional coordinates of the human eye; it filters out projection optical paths from which projection rays and redundant light spots enter the human eye area, obtaining effective optical paths from which neither redundant light spots nor projection rays directly hit the human eye area; and based on a preset screening priority, it determines the optimal projection optical path from the effective optical paths. Specifically, after receiving the three-dimensional coordinates of the human eye sent by the vision acquisition module, all feasible optical paths calculated in the first step are screened one by one. Projection optical paths that would cause redundant light spots or direct projection light into the human eye area are eliminated, and effective optical paths without redundant light spots or direct projection light into the human eye area are retained. Then, according to the preset screening priority, such as prioritizing image clarity, then ensuring optical path stability, and finally ensuring ease of adjustment, the optimal projection optical path is determined from the effective optical paths. This projection optical path can not only satisfy the complete projection of the image, but also ensure that redundant light spots completely avoid the human eye, while ensuring that the adjustment process is simple and stable.

[0038] The above solution achieves accurate calculation of the optimal projection optical path. Compared with traditional optical path adjustment methods, this method can fully cover all possible effective optical paths, ensuring that the selected optimal optical path not only meets the requirements of complete image projection, but also ensures that redundant light spots completely avoid the human eye area, eliminating glare. At the same time, by calculating the position of the virtual image reflected by the mirror, the optical path calculation process is simplified, improving the calculation efficiency and accuracy, ensuring that the central control module can quickly generate spatial pose adjustment commands, realize real-time adjustment of the projection unit, and further improve the system's response speed and user experience.

[0039] Furthermore, the spatial pose adjustment command is a command generated by the central control module based on the optimal projection light path, used to control the mechanical execution module to adjust the spatial position and attitude of the projection unit. This command can include displacement parameters and angle parameters, which can accurately control the sliding distance and deflection angle of the projection unit, ensuring that the projection unit can be adjusted to the optimal position, maintain the optimal projection light path, and avoid the light path deviation caused by adjusting the position or angle alone, which would affect the viewing effect and visual safety.

[0040] In one optional embodiment, when the central control module generates a spatial pose adjustment command based on the optimal projection optical path, it is specifically used to: calculate the target slip amount and target angle amount of the projection unit based on the optimal projection optical path; generate a handrail slip command and a projection unit angle adjustment command based on the current position and current angle of the projection unit, combined with the target slip amount and target angle amount; and integrate the handrail slip command and the projection unit angle adjustment command to form a spatial pose adjustment command.

[0041] The target slip amount is the displacement that the projection unit needs to achieve by sliding the handrail to realize the optimal projection optical path. It can include the sliding direction (forward or backward) and the sliding distance, which is calculated by the central control module based on the optimal projection optical path and the current position of the projector. For example, the central control module can determine the target position coordinates that the projection unit needs to reach based on the optimal projection optical path, subtract the current position coordinates of the projection unit, and obtain the target slip amount. The sliding direction can be determined by the sign of the coordinate difference (positive value for forward sliding, negative value for backward sliding), and the sliding distance is the absolute value of the coordinate difference. The calculation accuracy ensures that the projection unit can accurately reach the target position after the handrail slides.

[0042] The target angle is the angle that the projection unit needs to adjust via the projector adjustment mechanism to achieve the optimal projection optical path. It includes a pitch angle and a horizontal angle. Each angle includes an adjustment direction (up / down, left / right) and an adjustment angle value, calculated by the central control module based on the optimal projection optical path and the projector's current angle. For example, the central control module can determine the target pitch angle and target horizontal angle that the projection unit needs to achieve based on the optimal projection optical path, subtract the projector's current pitch angle and current horizontal angle from these values ​​to obtain the target pitch angle and target horizontal angle. The adjustment direction is determined by the sign of the angle difference (positive for pitch, upward adjustment; negative for pitch, downward adjustment; positive for horizontal, leftward adjustment; negative for rightward adjustment). The adjustment angle value is the absolute value of the angle difference, ensuring that the projection optical path accurately reaches its optimal state after the projector angle is adjusted.

[0043] The current position of the projection unit refers to the spatial coordinates of the projector, which is detected in real time by a displacement sensor in the mechanical execution module and fed back to the central control module. Based on this current position and the target sliding amount, the central control module calculates the specific parameters for the handrail to slide, ensuring the accuracy of the handrail's movement. Similarly, the current angle of the projection unit refers to the projector's current pitch and horizontal angles, which are detected in real time by an angle sensor in the mechanical execution module and fed back to the central control module. Based on this current angle and the target angle, the central control module calculates the specific parameters for the projector to adjust, ensuring the accuracy of the projector angle adjustment.

[0044] Specifically, the handrail sliding command is generated by the central control module and used to control the handrail sliding drive component in the mechanical execution module to drive the handrail to slide. It can include parameters such as sliding direction, sliding distance, and sliding speed, enabling precise control of the handrail's sliding action and ensuring that the handrail can slide smoothly and accurately to the target position. The projection unit angle adjustment command is generated by the central control module and used to control the projector adjustment mechanism in the mechanical execution module to adjust the projector angle. It can include parameters such as pitch angle adjustment direction, pitch angle adjustment amount, horizontal angle adjustment direction, horizontal angle adjustment amount, and adjustment speed, enabling precise control of the projector's angle adjustment action and ensuring that the projector can be accurately adjusted to the target angle.

[0045] Furthermore, the central control module integrates the parameters of the handrail sliding command and the projection unit angle adjustment command to generate a spatial pose adjustment command containing all adjustment parameters. The command header can be set with a command identifier for the mechanical execution module to identify the command as a spatial pose adjustment command. The handrail sliding parameters are set in the middle of the command, and the projector angle adjustment parameters are set at the end of the command, ensuring that the mechanical execution module can quickly parse the command and execute the handrail sliding and projector angle adjustment actions simultaneously.

[0046] The audio adjustment command, generated by the central control module based on the three-dimensional coordinates of the human eye, is used to control the audio-visual output module to adjust the audio parameters of the vehicle's audio system. This command can include target volume for each channel, target sound field parameters, and audio drive signals, enabling the vehicle's audio output to match the occupant's viewing posture with the spatial audio effect, achieving synchronized audio-visual adaptation and improving listening comfort. For example, when an occupant is lying flat in the back seat with their ears lower, the audio adjustment command generated by the central control module will increase the volume of the rear speakers and adjust the sound field delay parameters to lower the sound field center, aligning with the lying-down listening posture. When an occupant is sitting upright, the command will adjust the sound field center upwards to match the sitting listening needs.

[0047] Furthermore, when the central control module generates audio adjustment commands based on the three-dimensional coordinates of the human eye, the central control module is specifically used to: determine the spatial position of the occupant's ear based on the three-dimensional coordinates of the human eye, and determine the target volume and target sound field parameters for each channel based on the spatial position of the ear; perform audio signal processing based on the spatial position of the ear, the target volume, and the target sound field parameters, and perform beamforming calculation based on the audio signal processing results to generate sound field control data pointing to the spatial position of the ear; perform signal modulation and distribution based on the sound field control data to convert the sound field control data into audio drive signals executable by each channel; and generate audio adjustment commands based on the audio drive signals, the target volume, and the target sound field parameters.

[0048] The spatial position of the human ear is calculated from the three-dimensional coordinates of the human eye within the vehicle, and it has a fixed physiological offset relationship with the three-dimensional coordinates of the human eye. Specifically, after receiving the three-dimensional coordinates of the human eye, the central control module automatically calculates the spatial position of the human ear based on preset physiological offset parameters. The target volume is the volume value that each channel needs to reach based on the spatial position of the human ear, and the target sound field parameters are the channel balance parameters, sound field delay parameters, etc., required to ensure that the center of the sound field is aligned with the human ear position.

[0049] Optionally, the target volume and target sound field parameters can be determined based on the spatial position of the human ear and the distance between each speaker. The closer the distance, the lower the target volume; the farther the distance, the higher the target volume. Simultaneously, the sound field delay parameter is adjusted to ensure that the sound from each channel reaches the human ear simultaneously, avoiding sound delay or lead. Audio signal processing involves the central control module filtering, denoising, and adjusting the gain of the audio signal. Its purpose is to optimize audio signal quality, eliminate noise, and ensure clear and smooth audio output.

[0050] Specifically, beamforming calculation is the process of generating sound field control data pointing towards the user's ear based on audio signal processing results and the user's ear spatial position. Its function is to align the sound field center of the car audio system with the user's ear, enhancing sound directionality and immersion. For example, beamforming calculation can employ an adaptive beamforming algorithm. The central control module determines the phase and amplitude of each speaker's output based on the user's ear spatial position, generating sound field control data that causes the sounds emitted by each speaker to superimpose at the user's ear position, enhancing the sound intensity at the ear while weakening the sound intensity in other areas, thus achieving precise sound field directionality.

[0051] The signal modulation and distribution process involves converting sound field control data into executable audio drive signals for each channel and distributing them to the corresponding channel speakers. Its function is to translate the control commands from the central control module into actions that the speakers can perform, thereby adjusting the audio parameters. Specifically, signal modulation and distribution can be achieved through the signal modulation circuit built into the central control module. The audio drive signal is an electrical signal used to drive the speakers in the vehicle audio system, and its amplitude, frequency, and other parameters correspond to the target volume and target sound field parameters. Then, based on the audio drive signal, the target volume, and the target sound field parameters, audio adjustment commands are generated.

[0052] In one optional embodiment, the mechanical actuation module is used to perform spatial pose coordination adjustment of the projection unit according to the spatial pose adjustment command in order to maintain the optimal projection optical path.

[0053] In one optional embodiment, a projection unit is installed on the handrail structure inside the vehicle. The mechanical actuation module includes a displacement driving mechanism and an angle adjustment mechanism. The displacement driving mechanism is connected to the handrail structure, and the angle adjustment mechanism is installed on the handrail structure and connected to the projection unit. The displacement drive mechanism is used to drive the handrail structure and projection unit to slide linearly according to the displacement parameters contained in the spatial posture adjustment command, so as to change the relative horizontal position of the projection unit and the skylight glass; the angle adjustment mechanism is used to drive the projection unit to adjust the angle according to the angle parameters contained in the spatial posture adjustment command, so as to change the projection direction of the projection light.

[0054] The displacement drive mechanism is an actuator used to drive the armrest structure and projection unit to slide linearly. It is fixedly connected to the armrest structure and receives displacement parameters from the spatial pose adjustment commands sent by the central control module. It precisely drives the armrest to slide linearly along a preset guide rail, changing the relative horizontal position of the projection unit and the canopy glass, thereby adjusting the projection light path to ensure the image is completely projected onto the canopy while avoiding the viewer's eye area. For example, the displacement drive mechanism uses a combination structure of a stepper motor, guide rail, and displacement sensor. The angle adjustment mechanism is an actuator used to drive the projection unit to adjust its angle. It is installed in a groove at the top of the armrest structure and fixedly connected to the projection unit. It receives angle parameters from the spatial pose adjustment commands sent by the central control module and drives the projection unit to adjust its angle in both pitch and horizontal directions, changing the projection direction of the projection light to ensure the projection light path avoids the viewer's eye and that the image is projected roughly vertically onto the canopy, avoiding image distortion. For example, the angle adjustment mechanism can use a two-degree-of-freedom servo motor.

[0055] Specifically, the displacement drive mechanism first drives the central armrest to move the projection unit forward and backward according to the displacement parameters in the spatial posture adjustment command. The displacement sensor provides real-time feedback on the sliding distance to ensure accurate sliding position. After the sliding is completed, the angle adjustment mechanism adjusts the pitch and horizontal angles of the projection unit according to the angle parameters in the spatial posture adjustment command. During the angle adjustment process, the vision acquisition module collects the coordinates of the human eye in real time and feeds them back to the central control module. The central control module fine-tunes the angle based on the feedback data to achieve closed-loop adjustment and maintain the optimal projection light path.

[0056] Here, the projection unit can be a miniature projector that projects images onto the panoramic glass. It is embedded in the top of the front center armrest, and its projection parameters (focal length, projection angle) can be adjusted according to the instructions of the central control module to ensure clear images and a reasonable light path. For example, the projection unit is embedded in a recess in the top of the center armrest, and the recess is equipped with a cushioning pad to prevent damage to the projector from vibrations during vehicle movement. The lens of the projection unit faces the panoramic glass and can be adjusted for tilt and horizontal angles via an adjustment mechanism to accommodate different viewing postures.

[0057] This embodiment of the application, by installing the projection unit on the vehicle's armrest structure and combining the collaborative work of the displacement drive mechanism and the angle adjustment mechanism, achieves precise adjustment of the projection unit's spatial posture, further optimizing the integrated layout of the vehicle projection, ensuring a compact structure that does not occupy space, while improving the accuracy of the projection light path adjustment, enabling more precise avoidance of the human eye area and enhancing viewing comfort. Furthermore, this structure is simple in design, easy to install, and adaptable to the armrest structures of different vehicle models, reusing the original vehicle armrest foundation, reducing modification costs, and enhancing the system's mass production feasibility. This eliminates redundant light spots and glare, improving viewing comfort and ensuring occupant visual safety; the projector is integrated into the front center armrest, with a compact structure that does not occupy space, providing clearer image quality at close range and stronger shock resistance; fully automatic adaptive adjustment offers fast response and high precision, adapting to various heights, reclining postures, and multi-person viewing scenarios.

[0058] In one optional embodiment, the audio-visual output module is used to adjust the audio output parameters of the corresponding channel of the vehicle audio system according to the audio adjustment command, and output a spatial audio effect that matches the viewing posture of the occupants.

[0059] Among them, the audio output parameters include the output volume of the car audio system, the channel balance parameters, and the sound field delay parameters. These parameters directly affect the audio output effect. The audio-visual output module can precisely adjust these parameters according to the audio adjustment commands to ensure that the audio effect matches the viewing posture of the passengers and enhance the immersive experience.

[0060] For example, the adjustment of audio output parameters can be based on the spatial position of the human ear. Different viewing postures correspond to different parameter combinations: when the passenger is lying down, the human ear is lower and closer to the back row, so the volume of the rear speakers is increased and the volume of the front speakers is appropriately decreased. The sound field delay parameter is adjusted to shift the sound field center downward, while the channel balance is optimized to ensure that the volume of the left and right channels is balanced. When multiple people are watching a movie, the volume of each channel is adjusted to be more balanced, and the global equalization sound field is switched to ensure the listening effect of all passengers.

[0061] Here, the spatial audio effect is a surround sound effect output from the car audio system that conforms to the viewing posture of the occupants, aligning the sound field center with the occupants' ears. This achieves sound following the movement of the person, breaking the limitations of fixed sound fields in existing technologies and solving the problem of a disconnect between audio and video experiences. Optionally, the spatial audio effect can be combined with beamforming calculations of the audio drive signal to direct the audio signal to the occupants' ears, creating an immersive surround sound effect. For example, when the occupants are lying down, beamforming calculations focus the audio signal on the rear occupants' ear area, allowing them to clearly hear the sound from each channel, and matching the sound source with the panoramic screen image, achieving synchronous integration of visuals and sound effects. When the occupants adjust their posture to a semi-reclined position, the central control module updates the occupants' ear positions in real time, and the audio-visual output module adjusts the audio parameters synchronously, ensuring that the sound field center follows the occupants' ear movements, always maintaining the optimal listening experience.

[0062] Furthermore, when the audio output module adjusts the audio output parameters of the corresponding channels of the vehicle audio system according to the audio adjustment commands, and outputs a spatial audio effect that matches the viewing posture of the occupants, it specifically performs the following functions: parsing the audio adjustment commands to obtain the target volume, target sound field parameters, and audio drive signals for each channel; adjusting the audio output parameters of the corresponding channels of the vehicle audio system according to the target volume and target sound field parameters, so that the sound field center of the vehicle audio system is aligned with the spatial position of the occupants' ears; the audio output parameters include output volume, channel balance parameters, and sound field delay parameters; controlling the speakers of the vehicle audio system to emit sound synchronously according to the audio drive signals, and superimposing the audio signals to output a spatial audio effect that matches the viewing posture of the occupants.

[0063] The audio-visual output module interprets the audio adjustment commands issued by the central control module, extracts key information such as the target volume of each channel, target sound field parameters, and audio drive signals, and converts this information into control signals that the audio-visual output module can recognize. By adjusting the output volume, channel balance parameters, and sound field delay parameters of each channel, the sounds emitted by each channel are superimposed at the human ear's spatial position, ensuring that the sound field center perceived by the human ear is consistent with their own position, thereby enhancing the immersion and adaptability of the sound.

[0064] Optionally, the audio-visual output module adjusts the output volume of each channel based on the analyzed target volume and target sound field parameters, making the volume of channels closer to the ear lower and the volume of channels farther away higher; it adjusts the channel balance parameters to shift the sound field towards the direction of the ear; and it adjusts the sound field delay parameters to ensure that the sound from each channel reaches the ear simultaneously, ultimately aligning the sound field center with the spatial position of the ear. In this system, each speaker in the vehicle audio system emits sound synchronously according to the audio drive signal, and the audio signals of each channel superimpose in space to create a spatial and surround sound effect, thereby enhancing the immersive audio experience and better matching the audio effect with the projected image. Furthermore, each speaker emits sound synchronously according to the phase and amplitude of the audio drive signal, and the audio signals of the four channels (left front, right front, left rear, and right rear) superimpose in space to create a surround sound effect that echoes the scene in the projected image, greatly enhancing the immersive viewing experience; when the occupant's posture changes, the parameters of the superimposed audio signals are also adjusted synchronously to ensure that the viewing posture is always adapted.

[0065] Based on the same inventive concept, this application also provides an adjustment method for vehicle-mounted panoramic projection corresponding to the adjustment system of vehicle-mounted panoramic projection. Since the principle of solving the problem by the method in this application is similar to the adjustment system of vehicle-mounted panoramic projection described above in this application, the implementation of the method can refer to the implementation of the system, and the repeated parts will not be described again.

[0066] Please see Figure 5 , Figure 5 This is a flowchart illustrating an adjustment method for a vehicle-mounted panoramic projection provided in an embodiment of this application. The adjustment method provided in this embodiment is applied to, for example... Figure 1 The aforementioned vehicle-mounted panoramic projection adjustment system, the method comprising: S501. After the dome viewing mode is turned on, calculate the three-dimensional coordinates of the human eye and send the three-dimensional coordinates of the human eye to the central control module. S502, calculate the optimal projection light path based on the received three-dimensional coordinates of the human eye. The optimal projection light path refers to a projection light path in which neither the redundant light spot nor the projection light directly hits the human eye area, the projection image is completely projected onto the target projection area of ​​the canopy glass, and the redundant light spot and the projection image do not overlap. It is also used to generate spatial pose adjustment commands based on the optimal projection light path and send them to the mechanical execution module, and at the same time generate audio adjustment commands based on the three-dimensional coordinates of the human eye and send them to the audio-visual output module. S503. Perform spatial pose coordination adjustment on the projection unit according to the spatial pose adjustment command to maintain the optimal projection optical path; S504. According to the audio adjustment command, adjust the audio output parameters of the corresponding channel of the vehicle audio system, and output a spatial audio effect that matches the viewing posture of the occupants.

[0067] This application embodiment realizes human eye tracking and spatial pose adjustment, solves the defect of redundant light spots directly hitting the human eye in existing skylights, improves the visual comfort of watching movies, ensures the visual safety of passengers, requires no manual intervention, and enhances the user experience.

[0068] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An adjustment system for a vehicle-mounted panoramic projection system, characterized in that, include: The system includes a mechanical execution module, a visual acquisition module, a central control module, and an audio-visual output module, all of which are connected to the central control module. The visual acquisition module is used to calculate the three-dimensional coordinates of the human eye after the dome viewing mode is turned on, and send the three-dimensional coordinates of the human eye to the central control module. The central control module is used to calculate the optimal projection light path based on the received three-dimensional coordinates of the human eye. The optimal projection light path refers to a projection light path in which neither the redundant light spot nor the projection light rays directly hit the human eye area, the projection image is completely projected onto the canopy glass, and the redundant light spot does not overlap with the projection image. It is also used to generate a spatial pose adjustment command based on the optimal projection light path and send it to the mechanical execution module, and at the same time generate an audio adjustment command based on the three-dimensional coordinates of the human eye and send it to the audio-visual output module. The mechanical actuation module is used to perform spatial pose coordination adjustment of the projection unit according to the spatial pose adjustment command, so as to maintain the optimal projection optical path; The audio-visual output module is used to adjust the audio output parameters of the corresponding channel of the vehicle audio system according to the audio adjustment command, and output a spatial audio effect that matches the viewing posture of the occupants.

2. The regulating system according to claim 1, characterized in that, The projection unit is installed on the handrail structure inside the vehicle. The mechanical actuation module includes a displacement driving mechanism and an angle adjustment mechanism. The displacement driving mechanism is connected to the handrail structure, and the angle adjustment mechanism is installed on the handrail structure and connected to the projection unit. The displacement driving mechanism is used to drive the handrail structure and the projection unit to slide linearly according to the displacement parameters included in the spatial pose adjustment command, so as to change the relative horizontal position of the projection unit and the skylight glass. The angle adjustment mechanism is used to drive the projection unit to adjust the angle according to the angle parameters contained in the spatial pose adjustment command, so as to change the projection direction of the projection light.

3. The regulating system according to claim 1, characterized in that, When the visual acquisition module calculates the three-dimensional coordinates of the human eye and sends these coordinates to the central control module, it is specifically used for: The system simultaneously captures facial images of the occupants inside the vehicle using the first and second cameras, and outputs two original images with different perspectives. Key eye features are extracted from the two original images with different viewpoints to locate the human eye position. Based on the key eye features, the same key eye features are matched and the disparity is calculated. The three-dimensional coordinates of the human eye are calculated by combining the camera baseline distance and intrinsic parameters. The calculated three-dimensional coordinates of the human eye are sent to the central control module.

4. The regulating system according to claim 1, characterized in that, When the central control module calculates the optimal projection light path based on the received three-dimensional coordinates of the human eye, it is specifically used for: Based on the physical installation position of the projection unit and the position of its mirror reflection virtual image, calculate all feasible optical paths that can completely project the projection image onto the target projection area of ​​the skylight glass, and where the redundant light spot does not overlap with the projection image. Based on the received three-dimensional coordinates of the human eye, each feasible optical path is screened to determine the optimal projection optical path from which neither redundant light spots nor projection rays directly hit the area of ​​the human eye.

5. The adjustment system according to claim 4, characterized in that, The central control module, when calculating all feasible optical paths that can completely project the image onto the target projection area of ​​the canopy glass and whose redundant light spots do not overlap with the projected image, based on the physical position of the projection unit and the position of its mirror-reflected virtual image, is specifically used for: The position of the virtual image reflected by the mirror is determined based on the physical installation position of the projection unit and the spatial orientation of the skylight glass. Starting from the position of the virtual image reflected by the mirror, a projection ray beam is constructed that covers the entire imaging field of view of the projection unit; Calculate the intersection points between each projection ray in the projection ray beam and the target projection area of ​​the skylight glass to obtain the effective imaging spot corresponding to each projection ray; The projection beams that have all effective imaging spots located within the target projection area of ​​the canopy glass and whose redundant spots do not overlap with the projected image are determined as all feasible optical paths in which the projected image is completely projected onto the target projection area of ​​the canopy glass and the redundant spots do not overlap with the projected image.

6. The regulating system according to claim 5, characterized in that, When the central control module filters feasible optical paths based on the received three-dimensional coordinates of the human eye and determines the optimal projection optical path from which neither redundant light spots nor projection rays directly hit the human eye area, it is specifically used for: Based on the received three-dimensional coordinates of the human eye, determine whether the projected light rays and redundant light spots in each feasible optical path enter the human eye area; By filtering out the projection light and the redundant light spot incident on the human eye area, an effective light path is obtained in which neither the redundant light spot nor the projection light directly hits the human eye area. The optimal projection optical path is determined from the available optical paths based on the preset filtering priority.

7. The regulating system according to claim 1, characterized in that, When the central control module generates spatial pose adjustment commands based on the optimal projection optical path, it is specifically used for: Based on the optimal projection optical path, calculate the target slip and target angle of the projection unit; Based on the current position and angle of the projection unit, and combined with the target sliding amount and the target angle amount, a handrail sliding command and a projection unit angle adjustment command are generated; The handrail sliding command and the projection unit angle adjustment command are integrated to form a spatial pose adjustment command.

8. The regulating system according to claim 1, characterized in that, When the central control module generates audio adjustment commands based on the three-dimensional coordinates of the human eye, the central control module is specifically used for: The spatial position of the occupant's ear is determined based on the three-dimensional coordinates of the human eye, and the target volume and target sound field parameters of each channel are determined based on the spatial position of the human ear. Audio signal processing is performed based on the spatial position of the human ear, the target volume, and the target sound field parameters. Beamforming calculation is then performed based on the audio signal processing results to generate sound field control data pointing to the spatial position of the human ear. Based on the sound field control data, signal modulation and distribution are performed to convert the sound field control data into audio drive signals executable by each channel; An audio adjustment command is generated based on the audio drive signal, the target volume, and the target sound field parameters.

9. The regulating system according to claim 8, characterized in that, When the audio-visual output module adjusts the audio output parameters of the corresponding channel of the vehicle audio system according to the audio adjustment command, and outputs a spatial audio effect that matches the viewing posture of the occupants, it is specifically used for: The audio adjustment command is analyzed to obtain the target volume, target sound field parameters, and audio drive signal for each channel; According to the target volume and the target sound field parameters, adjust the audio output parameters of the corresponding channel of the car audio system so that the sound field center of the car audio system is aligned with the occupant's ear space position. The audio output parameters include output volume, channel balance parameters and sound field delay parameters. The audio drive signal controls the speakers of the vehicle audio system to emit sound synchronously, and the audio signals are superimposed to output a spatial audio effect that matches the viewing posture of the occupants.

10. A method for adjusting a vehicle-mounted panoramic sunroof projection, characterized in that, The method, applied to the adjustment system for vehicle-mounted panoramic projection as described in any one of claims 1 to 9, comprises: After the dome viewing mode is turned on, the three-dimensional coordinates of the human eye are calculated and sent to the central control module. The optimal projection light path is calculated based on the received three-dimensional coordinates of the human eye. The optimal projection light path refers to a projection light path in which neither the redundant light spot nor the projection light rays directly hit the human eye area, the projection image is completely projected onto the target projection area of ​​the canopy glass, and the redundant light spot does not overlap with the projection image. It is also used to generate spatial pose adjustment commands based on the optimal projection light path and send them to the mechanical execution module, and at the same time generate audio adjustment commands based on the three-dimensional coordinates of the human eye and send them to the audio-visual output module. The projection unit is adjusted in a coordinated manner according to the spatial pose adjustment command to maintain the optimal projection optical path. According to the audio adjustment command, the audio output parameters of the corresponding channel of the vehicle audio system are adjusted, and a spatial audio effect matching the viewing posture of the occupants is output.

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