A method and apparatus for controlling the transmittance of glass

Abstract

This application provides a method for controlling the transmittance of a variable-transmittance glass, which is installed on a target vehicle. The method includes: acquiring the elevation angle and yaw angle of a light source, where the elevation angle represents the angle between the direction of the light from the light source toward the target vehicle and the horizontal plane, and the yaw angle represents the angle between the line connecting the projection of the light source onto the horizontal plane and the center of mass of the target vehicle and the direction of travel of the target vehicle; acquiring the position information of a target object; obtaining the projection area of ​​the target object projected onto the variable-transmittance glass based on the position information of the target object, the elevation angle of the light source, and the yaw angle, wherein the target object is located inside the target vehicle; and adjusting the transmittance of the projection area on the variable-transmittance glass. This method for controlling the transmittance of a variable-transmittance glass can achieve more precise control over the transmittance of a portion of the variable glass by using the elevation angle and yaw angle of the light source, as well as the position information of the object requiring shading.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more particularly to a method and apparatus for controlling glass with variable light transmittance. Background Technology

[0002] Light pollution is receiving increasing attention, especially in the transportation sector, where strong light interferes with drivers' vision and poses a significant safety hazard. For example, the high beams of oncoming vehicles, the gantry lights commonly found on highways, and roadside advertising screens can all cause varying degrees of glare for drivers at night, potentially leading to traffic accidents. Similarly, sunlight shining directly into drivers' eyes can also cause glare. Current conventional solutions to this problem involve rotating sun visors installed in front of the driver to block glare. However, adjusting the visor's range of coverage is insufficient to completely address glare from different directions and may even obstruct the driver's view.

[0003] Besides the driving safety hazards mentioned above, strong sunlight can also cause discomfort for passengers, such as glare for the front passenger. In particular, with the increasing trend of glass roofs or panoramic sunroofs, sun protection becomes unavoidable. The current conventional solution is to apply sun-protective film to the glass of the roof or sunroof, which solves the problem of blocking sunlight, but also sacrifices the spacious feel of the sunroof or glass roof. Summary of the Invention

[0004] To address the problem of inadequate shading of strong light in existing technologies, this application provides a technical solution for achieving shading by controlling the light transmittance of a variable glass.

[0005] In a first aspect, embodiments of this application provide a method for controlling a variable transmittance glass, wherein the variable transmittance glass is disposed on a target vehicle. The method includes: acquiring the elevation angle and yaw angle of a light source, wherein the elevation angle represents the angle between the direction of the light from the light source toward the target vehicle and the horizontal plane, and the yaw angle represents the angle between the line connecting the projection of the light source on the horizontal plane and the center of mass of the target vehicle and the direction of travel of the target vehicle; acquiring the position information of a target object; obtaining the projection area of ​​the target object projected onto the variable transmittance glass based on the position information of the target object, the elevation angle and the yaw angle of the light source, wherein the target object is located inside the target vehicle; and adjusting the transmittance of the projection area on the variable transmittance glass.

[0006] One possible implementation method further includes: acquiring the orientation information of the light source relative to the target vehicle.

[0007] One possible implementation is that obtaining the elevation angle and yaw angle of the light source includes: obtaining the elevation angle and yaw angle of the light source based on a first illuminance value and a second illuminance value, wherein the first illuminance value is the illuminance value detected by a top illuminance sensor installed on the top of the target vehicle, and the second illuminance value includes the illuminance value detected by an illuminance sensor installed on the target vehicle corresponding to the orientation information.

[0008] One possible implementation method for obtaining the elevation angle and yaw angle of the light source includes: obtaining a first elevation angle and a first yaw angle of the light source based on an image containing the light source acquired by the camera and the camera's intrinsic parameters; obtaining a second elevation angle and a second yaw angle of the light source based on a third illuminance value and a fourth illuminance value, wherein the third illuminance value is the illuminance value detected by a top illuminance sensor installed on the top of the target vehicle, and the fourth illuminance value includes the illuminance value detected by an illuminance sensor installed on the target vehicle corresponding to the orientation information; and obtaining the elevation angle and yaw angle of the light source based on the first elevation angle, the second elevation angle, the first yaw angle, and the second yaw angle.

[0009] One possible implementation involves obtaining the elevation angle and yaw angle of the light source based on the first elevation angle, the second elevation angle, the first yaw angle, and the second yaw angle, including: obtaining the elevation angle of the light source based on the difference between the first elevation angle and the second elevation angle, and the difference between the first yaw angle and the second yaw angle, and obtaining the yaw angle of the light source based on the first yaw angle and the second yaw angle.

[0010] One possible implementation involves obtaining the orientation information of the light source relative to the target vehicle by: obtaining the orientation information based on the illuminance value detected by an illuminance sensor installed on the target vehicle.

[0011] One possible implementation involves obtaining the mapping area of ​​the target object on the variable transmittance glass based on the position information of the target object, the elevation angle of the light source, and the yaw angle. This includes: obtaining the mapping area of ​​the target object on a vertical plane based on the position information of the target object, the elevation angle of the light source, and the yaw angle. The vertical plane refers to a plane that is perpendicular to the plane where the target vehicle chassis is located and passes through the upper edge line of the variable transmittance glass; and obtaining the mapping area of ​​the target object on the variable transmittance glass based on the angle between the vertical plane and the variable transmittance glass and the mapping area of ​​the target object on the vertical plane.

[0012] Secondly, embodiments of this application provide an apparatus for controlling a glass with variable light transmittance, characterized in that it includes a processor and a memory, wherein the memory stores instructions, and when the instructions stored in the memory are invoked by the processor, they are used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0013] Thirdly, embodiments of this application provide a computer-readable storage medium including a program that, when run on a computer, causes the computer to perform the method described in the first aspect or any possible implementation of the first aspect.

[0014] This application provides a variable glass for controlling light transmittance, which can more accurately control the light transmittance of a portion of the variable glass by using information such as the height angle and yaw angle of the light source and the position of the object requiring shading. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments of this application will be described below.

[0016] Figure 1 This is a schematic diagram of a vehicle system architecture provided in an embodiment of this application;

[0017] Figure 2 This is a schematic diagram of a vehicle provided in an embodiment of this application;

[0018] Figure 3 This is a schematic flowchart of a method for controlling the light transmittance of a variable glass according to an embodiment of this application;

[0019] Figure 4 This is a flowchart of an illuminance method for obtaining the elevation angle and yaw angle of a light source, provided in an embodiment of this application.

[0020] Figure 5 This is a schematic diagram of the angle relationship between the vertical planes provided in the embodiments of this application;

[0021] Figure 6 This is a schematic diagram showing the relationship between the light source projection onto the image provided in the embodiments of this application;

[0022] Figure 7 This is a schematic diagram of a system for controlling the light transmittance of a variable glass according to an embodiment of this application;

[0023] Figure 8 This is a schematic flowchart of another method for controlling the transmittance of a variable glass provided in an embodiment of this application;

[0024] Figure 9 This is a schematic diagram of the windshield and vertical plane provided in an embodiment of this application;

[0025] Figure 10 This is a schematic diagram of the light-shielding device provided in the embodiments of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0027] Figure 1 This is a schematic diagram of the system architecture of a vehicle 100 provided in an embodiment of this application. The vehicle 100 includes multiple vehicle integration units (VIUs) 11, a telematic box (T-BOX) 12, a cockpit domain controller (CDC), a mobile data center (MDC) 14, and a vehicle domain controller (VDC) 15.

[0028] The vehicle 100 also includes various types of sensors mounted on the vehicle body, including: lidar 21, millimeter-wave radar 22, ultrasonic radar 23, and camera device 24. Multiple of each type of sensor may be included. It should be understood that, although... Figure 1 The diagram shows the different sensor placement layouts on vehicle 100, but... Figure 1 The number and location of sensors shown are for illustrative purposes only. Those skilled in the art can choose the type, number, and location of sensors appropriately according to their needs.

[0029] exist Figure 1 The image shows four VIUs. It should be understood that... Figure 1 The number and location of VIUs shown are merely examples; those skilled in the art can select the appropriate number and location of VIUs based on actual needs.

[0030] The Vehicle Integration Unit (VIU) 11 provides some or all of the data processing or control functions required by multiple vehicle components. The VIU may have one or more of the following functions.

[0031] 1. Electronic control functions, which refer to the electronic control functions provided by the electronic control unit (ECU) inside some or all vehicle components using the VIU. Examples include the control functions required by a specific vehicle component, and the data processing functions required by a specific vehicle component.

[0032] 2. Same functions as the gateway: The VIU can also have some or all of the same functions as the gateway, such as protocol conversion, protocol encapsulation and forwarding, and data format conversion.

[0033] 3. Data processing function across vehicle components, that is, processing and calculating data obtained from actuators of multiple vehicle components.

[0034] It should be noted that the data involved in the above functions may include the operating data of actuators in vehicle components, such as the motion parameters and working status of the actuators. The data involved in the above functions may also be data collected by the data acquisition unit (e.g., sensitive element) of the vehicle components, such as road information or weather information collected by the vehicle's sensitive element. This application embodiment does not specifically limit this.

[0035] exist Figure 1 In the example of vehicle 100, vehicle 100 can be divided into multiple domains, each with its own domain controller. Specifically, in... Figure 1 The diagram shows two types of domain controllers: the cockpit domain controller CDC13 and the vehicle domain controller VDC 15.

[0036] The Cockpit Domain Controller 13 can be used to implement functional control of 100 cockpit areas in a vehicle. Vehicle components in the cockpit area may include head-up display (HUD), instrument panel, radio, central control screen, navigation, camera, etc.

[0037] The vehicle domain controller VDC 15 can be used to coordinate the control of the vehicle's power battery and engine 141 to improve the power performance of the vehicle 100.

[0038] Figure 1 The document also showcases the vehicle-to-everything (V2X) device T-BOX 12 and the mobile data center MDC 13. T-BOX 12 enables communication between vehicle 100 and internal and external devices. T-BOX can acquire data from in-vehicle devices via the vehicle 100's bus and can also connect to the user's mobile phone via a wireless network. The mobile data center MDC 13, based on core control algorithms such as environmental perception and positioning, intelligent planning and decision-making, and vehicle motion control, outputs drive, transmission, steering, and braking commands to achieve automatic control of vehicle 100. It also enables human-machine interaction of vehicle driving information through a human-machine interface.

[0039] exist Figure 1The four VIUs 11 form a ring topology network. Each VIU 11 communicates with its nearest neighboring sensors. T-BOX 12, CDC 13, MDC 14, and VDC 15 communicate with the VIU ring topology network. VIU 11 can acquire information from each sensor and report the acquired information to CDC 13, MDC 14, and VDC 15. Through the ring topology network, T-BOX 12, CDC 13, MDC 14, and VDC 15 can also communicate with each other.

[0040] It should be understood that the above-described ring topology connection is merely an illustration, and those skilled in the art can choose other suitable VIU connection methods according to their needs.

[0041] Connections between VIUs can be made using, for example, Ethernet. Connections between VIUs and T-BOX 12, CDC 13, MDC 14, and VDC 15 can be made using, for example, Ethernet or peripheral component interconnect express (PCIe) technology. Connections between VIUs and sensors can be made using, for example, controller area network (CAN), local interconnect network (LIN), FlexRay, media oriented system transport (MOST), etc.

[0042] like Figure 2 As shown in the embodiments of this application, the vehicle 100 may further include illuminance sensors arranged at different positions on the vehicle: a front illuminance sensor 31, a left illuminance sensor 32, a top illuminance sensor 33, a right illuminance sensor 34, and a rear illuminance sensor 35. Illuminance sensors are used to detect the illuminance of the area where the sensor is located. Illuminance, also known as light intensity, refers to the luminous flux of visible light received per unit area. It can represent the intensity of light and the degree to which an object's surface area is illuminated. The unit of illuminance is lumens per square meter (lm), and its unit is lux (lux or lx), i.e., 1 lux = 1 lm / m². An illuminance sensor is a device that converts light signals into electrical signals based on the photoelectric effect. The photosensitive element of the illuminance sensor can be a photoresistor or a photodiode.

[0043] Optionally, vehicle 100 also includes a windshield 200, a sunroof 300, a rear windshield 400, a forward-facing camera 500, and window glass 600. Optionally, the windshield 200 includes at least two areas: area 201 and area 202. Area 201 can perform the functions of a conventional automotive windshield, and its material can be, for example, tempered glass or laminated glass. Area 202 can adjust its light transmittance according to a control signal. The adjustable range of the light transmittance of area 202 varies depending on the hardware parameters and functional requirements of area 202. Optionally, the light transmittance of area 202 can be adjusted between 0% and 100%. The higher the light transmittance, the better the light transmission; however, no transparent material can achieve 100% light transmittance, with the highest being only around 95%. The light transmittance of area 202 can be set to two values: one value indicating that area 202 is transparent, and the other value indicating that area 202 is opaque. Optionally, the light transmittance of region 202 can be adjusted so that the transparency of region 202 is the same as or similar to that of region 201, meaning that the visual perception of a person cannot discern a clear boundary between region 201 and region 202. Optionally, region 202 can be achieved by embedding a light-shielding layer with adjustable light transmittance into the glass interlayer of a portion of the windshield 200. "Light-shielding layer" is a general term used for convenience. The light transmittance of the light-shielding layer can be adjusted under the control of a control signal. Correspondingly, the other areas of the windshield 200 are referred to as region 201. For example, the windshield 200 is a double-layer glass structure, with a polymer and liquid crystal composite sandwiched between two layers of glass in a portion of the windshield. Through integral molding technology, a windshield 200 including regions 201 and 202 can be obtained. The polymer and liquid crystal composite can be called the light-shielding layer, and the area of ​​the windshield with the polymer and liquid crystal composite added between the two layers of glass is region 202. Common components that can be used as a light-shielding layer include polymer dispersed liquid crystal (PDLC) or inverted PDLC. The windshield 200, including regions 201 and 202, can also be achieved using other existing technologies.

[0044] For ease of description below, the glass in area 202 and similar areas 202 in this embodiment is referred to as variable transmittance glass. This glass allows for transparency (meaning a very high transmittance that essentially does not obstruct the driver's or passenger's view) by adjusting its transmittance, and similarly, it allows for blocking external light sources from affecting the driver or passenger inside the vehicle, such as PDLC glass. Optionally, the sunroof glass 300, rear windshield glass 400, and window glass 600 may also include variable transmittance glass, or the sunroof glass 300, rear windshield glass 400, and window glass 600 as a whole may be variable transmittance glass. The variable transmittance glass installed on the windshield 200 can both prevent glare from external light sources (such as high beams from oncoming vehicles or sunlight shining into the cabin) and provide shading for the driver or front passenger. Especially with the increasing popularity of integrated windshields in new energy vehicles, where the windshield extends all the way to the roof to form a panoramic sunroof, certain areas of the glass can be made with variable transmittance glass. This provides shading for external light sources, particularly strong sunlight, within the vehicle's cabin. The 300mm sunroof glass, 400mm rear windshield glass, and 600mm side windows are all equipped with variable transmittance glass. In practical applications, this allows for sunshade functionality by controlling the light transmittance of the glass, thus enhancing the passenger experience.

[0045] Furthermore, Figure 1 and Figure 2 The vehicle 100 shown also includes a cockpit camera 1 and a cockpit camera 2. Cockpit camera 1 is a camera located in the front cabin area of ​​the vehicle's passenger compartment, used to detect the radiation area of ​​the driver's seat and front passenger seat in the front passenger area. For example, it can be located in the rearview mirror area or the A-pillar area of ​​the cabin to detect the driver's head posture or eye posture. Cockpit camera 2 is a camera located in the rear cabin area of ​​the vehicle's passenger compartment, used to detect the radiation area of ​​the rear seats in the rear cabin area. For example, it can be located in the B-pillar area of ​​the cabin to detect the posture of passengers and items in the rear seats. It should be noted that there are no specific limitations on the number of cockpit cameras 1 and 2 or their specific installation areas.

[0046] This application provides a method for controlling the light transmittance of variable-transmittance glass, which can be applied to a target vehicle. By adjusting the light transmittance of the variable-transmittance glass, it blocks light from shining onto a target object inside the vehicle, thus achieving the purpose of shading and improving driving safety, driving, and passenger experience. Figure 3 As shown, the method for controlling the transmittance of variable glass includes:

[0047] S100, Obtain the elevation angle and yaw angle of the light source. The light source can be the sun, or other light sources that may affect the driving or riding experience, especially strong light. The purpose of shading can be to prevent safety hazards caused by strong light affecting the driver's eyes, to provide shade for the driver or passengers, or to prevent external light sources from interfering with the interior environment of the vehicle, such as for sun protection. The elevation angle represents the angle between the direction of the light from the light source towards the target vehicle and the horizontal plane, and the yaw angle represents the angle between the line connecting the projection of the light source on the horizontal plane and the center of mass of the target vehicle and the direction of travel of the target vehicle. Optionally, the elevation angle and yaw angle of the light source can be determined using the illuminance method and camera method described in the embodiments of this application. The illuminance method refers to calculating the elevation angle and yaw angle of the light source based on an illuminance sensor installed on the target vehicle. The camera method refers to calculating the elevation angle and yaw angle of the light source within the perception range of a vision sensor installed on the target vehicle, for example... Figure 2 The forward-facing camera 400 shown is positioned in front of the target vehicle and can be used to calculate the elevation angle and yaw angle of the light source located in front of the target vehicle.

[0048] S200, Obtain the location information of the target object. The target object can be the driver's head, eyes, seat, etc. The location information of the target object can be a coordinate matrix of the target object in a coordinate system, such as the vehicle coordinate system or camera coordinate system. If the target object is a movable person's head, eyes, upper body, etc., the coordinate matrix of the target object in the camera coordinate system can be obtained through cameras installed in the vehicle cabin (such as cabin camera 1 and cabin camera 2 described in the above embodiment). If the target object is a fixed rear seat, front passenger seat, etc., since the rear seat or front passenger seat is fixed relative to the target vehicle, the coordinate matrix in the vehicle coordinate system can be obtained from a storage device or from the cloud. The coordinate matrix is ​​a set of coordinates indicating the points of the target object in a coordinate system.

[0049] S300: Based on the position information of the target object and the elevation angle and yaw angle of the light source, the projection area of ​​the target object onto the variable transmittance glass is obtained. The projection area can be represented by a projection coordinate matrix of the target object on the variable transmittance glass. Optionally, the variable transmittance glass can be a type of glass with variable transmittance, such as a windshield, left and right side windows, sunroof, or rear window. For example, a windshield equipped with variable transmittance glass can use the shading method provided in this embodiment to block direct sunlight / oncoming headlights from shining into the driver's eyes, thus preventing glare. Specifically, a spatial projection vector is obtained based on the elevation angle and yaw angle of the light source, and then the projection area of ​​the target object onto the variable transmittance glass is obtained based on the position information of the target object and the spatial projection vector. In specific implementations, coordinate system transformation of the target coordinate position information is also involved; that is, the method of converting coordinates (or coordinate matrices) in one coordinate system to coordinates (or coordinate matrices) in another coordinate system can use existing technologies and is not limited.

[0050] S400 adjusts the transmittance of the projected area on the variable transmittance glass. Specifically, it also includes: detecting the brightness of the target object's surface in real time via a camera; when the brightness of the target object's surface reaches a preset brightness, it stops adjusting the transmittance of the area corresponding to the projected coordinate matrix on the variable transmittance glass.

[0051] Optionally, this application provides an illuminance method for obtaining the elevation angle and yaw angle of a light source, such as... Figure 4 As shown, it specifically includes:

[0052] S101, Obtain the orientation information of the light source relative to the target vehicle. Specifically, the orientation information of the light source relative to the target vehicle refers to the location of the light source within the target vehicle, such as in front, behind, to the left, to the right, to the left front, to the right front, to the left rear, or to the right rear. The target vehicle refers to the vehicle requiring shading treatment; the target vehicle can be... Figure 1 and Figure 2 The vehicle shown is 100.

[0053] There are many methods for obtaining the orientation information of a light source relative to a target vehicle, such as detection by external vision sensors or user input. This application provides a method for obtaining the orientation information of a light source. This method determines the orientation of the light source relative to the target vehicle using illuminance sensors arranged on the target vehicle. The placement and number of illuminance sensors on the target vehicle can be determined according to design or functional requirements. Figure 2 Take vehicle 100 as an example. Figure 2The vehicle 100 shown has five illuminance sensors installed on its front, left, right, rear, and top sides: a front illuminance sensor 31, a left illuminance sensor 32, a top illuminance sensor 33, a right illuminance sensor 34, and a rear illuminance sensor 35. The method for obtaining the light source's orientation information is specifically described as follows:

[0054] If the illuminance value detected by the current side illuminance sensor 31 is greater than that detected by the rear side illuminance sensor 35, and the illuminance value detected by the left side illuminance sensor 32 is greater than that detected by the right side illuminance sensor 34, then the light source's orientation is determined to be in the left front direction of the target vehicle. If the illuminance value detected by the current side illuminance sensor 31 is less than that detected by the rear side illuminance sensor 35, and the illuminance value detected by the left side illuminance sensor 32 is greater than that detected by the right side illuminance sensor 34, then the light source's orientation is determined to be in the left rear direction of the target vehicle. If the illuminance value detected by the current side illuminance sensor 31 is greater than that detected by the rear side illuminance sensor 35, and the illuminance value detected by the left side illuminance sensor 32 is less than that detected by the right side illuminance sensor 34, then the light source's orientation is determined to be in the right front direction of the target vehicle. If the illuminance value detected by the current side illuminance sensor 31 is less than the illuminance value detected by the rear side illuminance sensor 35, and the illuminance value detected by the left side illuminance sensor 32 is less than the illuminance value detected by the right side illuminance sensor 34, then the light source orientation information can be determined as the light source being located to the right rear of the target vehicle. It should be noted that the terms "less than" and "greater than" described above do not exclude the case of "equal to," meaning "less than" can include "equal to," or "greater than" can include "equal to."

[0055] S102, acquire the illuminance value detected by the top illuminance sensor and the illuminance value detected by the illuminance sensor corresponding to the orientation information of the light source. Here, "illuminance sensor corresponding to the orientation information of the light source" refers to the illuminance sensor located at the position of the light source. In this embodiment, if the light source is at the front left of the target vehicle, the illuminance sensors corresponding to the orientation information of the light source are the front illuminance sensor 31 and the left illuminance sensor 32. If the light source is at the rear left of the target vehicle, the illuminance sensors corresponding to the orientation information of the light source are the left illuminance sensor 32 and the rear illuminance sensor 35. If the light source is at the front right of the target vehicle, the illuminance sensors corresponding to the orientation information of the light source are the front illuminance sensor 31 and the right illuminance sensor 34. If the light source is at the rear right of the target vehicle, the illuminance sensors corresponding to the orientation information of the light source are the right illuminance sensor 33 and the rear illuminance sensor 35.

[0056] S103, calculate the elevation angle and yaw angle of the light source based on the illuminance value detected by the top illuminance sensor and the illuminance value detected by the illuminance sensor corresponding to the orientation information of the light source.

[0057] Specifically, the placement of the illuminance sensors involved in calculating the elevation angle and yaw angle of the light source can satisfy the angular relationship between the vertical planes. Figure 2 Taking the illuminance sensor arrangement shown as an example, the following can be obtained: Figure 5 The diagram shows the angle relationship between the vertical planes. Taking the light source's orientation as being located at the left outer front of the target vehicle as an example, the elevation angle and yaw angle of the light source are calculated from the illuminance values ​​detected by the front illuminance sensor 31, the left illuminance sensor 32, and the top illuminance sensor, respectively. Figure 5 The angle relationship between the vertical planes shown can be used to derive the following formula:

[0058] a1=acosαcosβ (1)

[0059] a2=acosαsinβ (2)

[0060] a3=asinα (3)

[0061] Based on formulas (1), (2), and (3), we can obtain the following formula:

[0062]

[0063]

[0064] In the above formula, 'a' represents the normal illuminance of the light source, 'a1' represents the illuminance value detected by the front illuminance sensor, 'a2' represents the illuminance value detected by the left illuminance sensor, 'a3' represents the illuminance value detected by the top illuminance sensor, 'α' represents the elevation angle of the light source, and 'β' represents the yaw angle of the light source.

[0065] Optionally, this application provides a camera method for obtaining the elevation angle and yaw angle of a light source, specifically including:

[0066] S110: An image containing a light source is acquired by a camera mounted on the exterior of the target vehicle. The light source is within the sensing range of the camera.

[0067] S120 calculates the elevation angle and yaw angle of the light source based on its coordinates in the image coordinate system and image parameters. (Refer to...) Figure 6 The elevation angle and yaw angle of the light source can be calculated using the following formulas:

[0068]

[0069]

[0070] In the above formula, θ represents the elevation angle of the light source, δ represents the yaw angle of the light source, (x1, y1) represents the coordinate point of the light source in the image captured by the camera, w is half the width of the image captured by the camera, h is half the height of the image captured by the camera, and θ0 represents half the cone angle of the camera.

[0071] Optionally, in conjunction with the illuminance method and camera method described above, this application embodiment also provides a dual-judgment mode based on the combination of the illuminance method and camera method to obtain the elevation angle and yaw angle of the light source. This dual-judgment mode has higher accuracy than the results obtained by using the illuminance method or camera method alone, and the effect is better. Specifically, it may include:

[0072] The difference between the elevation angle α of the light source obtained by the illuminance method and the elevation angle θ of the light source obtained by the camera method is obtained. The difference between the yaw angle β of the light source obtained by the illuminance method and the yaw angle δ of the light source obtained by the camera method is obtained. The difference mentioned above is the absolute value of the difference between the two.

[0073] When the difference between the elevation angle α and the elevation angle θ is less than or equal to the preset value, and the difference between the yaw angle β and the yaw angle δ is less than or equal to the preset value, then the elevation angle of the light source is the average of the elevation angle α and the elevation angle θ, that is, the elevation angle of the light source = (α + θ) / 2, and the yaw angle of the light source is the average of the yaw angle β and the yaw angle δ, that is, the yaw angle of the light source = (β + δ) / 2.

[0074] When the difference between the elevation angle α and the elevation angle θ is less than or equal to the preset value, and the difference between the yaw angle β and the yaw angle δ is greater than the preset value, the elevation angle of the light source is the average of the elevation angle α and the elevation angle θ, that is, the elevation angle of the light source = (α+θ) / 2, and the yaw angle of the light source includes the yaw angle β and the yaw angle δ, which can be expressed as the yaw angle of the light source = β+δ.

[0075] When the difference between the elevation angle α and the elevation angle θ is greater than the preset value, and the difference between the yaw angle β and the yaw angle δ is less than or equal to the preset value, the elevation angle of the light source includes the elevation angle α and the elevation angle θ, which can be expressed as the elevation angle of the light source = α + θ. The yaw angle of the light source is the average value of the yaw angle β and the yaw angle δ, that is, the yaw angle of the light source = (β + δ) / 2.

[0076] When the difference between the elevation angle α and the elevation angle θ is greater than the preset value, and the difference between the yaw angle β and the yaw angle δ is greater than the preset value, the elevation angle of the light source is the average of the elevation angle α and the elevation angle θ, that is, the elevation angle of the light source = (α + θ) / 2, and the yaw angle of the light source is the average of the yaw angle β and the yaw angle δ, that is, the yaw angle of the light source = (β + δ) / 2.

[0077] It should be noted that the "preset value" mentioned above is a pre-set angle value, such as preset value = 1° or 2° or 3°, etc.

[0078] In the specific implementation, when the sun (i.e. the light source) is in front of the target vehicle, the elevation angle and yaw angle of the light source are obtained through a dual judgment mode; when the sun (i.e. the light source) is not in front of the target vehicle, the elevation angle and yaw angle of the light source are obtained through the illuminance method.

[0079] This application also provides a system for controlling the light transmittance of variable glass, which can be used in vehicles, for example. Figure 1 and Figure 2 On the vehicle 100 shown, such as Figure 7 As shown, the system for controlling the variable transmittance glass specifically includes: a light source positioning module 100, a target object positioning module 200, and a CDC 300 (e.g., Figure 1 The CDC 13 shown includes a variable transmittance glass system, an external camera, an illuminance sensor, and a cockpit camera. The external camera can be, for example,... Figure 2 The forward-facing camera 500 shown can also be Figure 2 Cameras not marked as being installed on the left, right, or rear sides of the vehicle are positioned here according to actual light-shielding requirements. This embodiment uses... Figure 2 The image shows a forward-looking camera as an example. The illumination sensor uses, for example... Figure 2 The following are examples: front illuminance sensor 31, left illuminance sensor 32, top illuminance sensor 33, right illuminance sensor 34, and rear illuminance sensor 35. The cockpit cameras may include cockpit camera 1, located in the front cabin area, and cockpit camera 2, located in the rear cabin area, as described above.

[0080] The aforementioned light source positioning module 100 is used to determine the elevation angle and yaw angle of the light source, for example, to execute step S100 described in the embodiments of this application. Specifically, the light source positioning module 100 may include a visual positioning unit 101 and an illuminance positioning unit 102, wherein the visual positioning unit 101 is used to determine the elevation angle and yaw angle of the light source using a camera method, and the illuminance positioning unit 102 is used to determine the elevation angle and yaw angle of the light source using an illuminance method. The camera method and illuminance method can be found in the detailed descriptions of the relevant embodiments of this application above.

[0081] The target object positioning module 200 described above is used to determine the projection area of ​​the target object on the variable transmittance glass, for example, to execute steps S200 and S300 described in the embodiments of this application. Specifically, the target object positioning module 200 further includes a position coordinate matrix unit 201 and a projection coordinate matrix unit 202, wherein the position coordinate matrix unit 201 is used to determine the position coordinate matrix of the target object in the coordinate system, for example, to execute step S200 described in the embodiments of this application. The projection coordinate matrix unit 202 is used to determine the projection coordinate matrix of the target object on the variable transmittance glass based on the spatial projection vector, for example, to execute step S300 described in the embodiments of this application.

[0082] The aforementioned CDC 300 is used to send control commands to the variable transmittance glass system 400 to adjust the transmittance of the projection area, thereby changing the transmittance of the projection area. The variable transmittance glass system 400 specifically includes a variable transmittance glass 401, a transmittance adjustment module 402, and a touch detection module 403. Specifically, the CDC 300 sends control commands to the transmittance adjustment module 402 to adjust the transmittance of the variable transmittance glass 401. Optionally, the control commands may include an indication to adjust the transmittance of the variable transmittance glass 401 to a specific level. The CDC 300 can also send control commands to the transmittance adjustment module 402 to stop adjusting the transmittance of the variable transmittance glass 401 based on brightness changes detected by the cockpit camera. That is, when a brightness change of the target object is detected to reach a preset level, the CDC 300 sends a control command to the transmittance adjustment module 402 to stop adjusting the transmittance of the variable transmittance glass 401.

[0083] It needs to be explained that, Figure 7 The system shown for controlling the transmittance of variable glass is merely an example. In a concrete implementation, one or more of the light source positioning module 100, target object positioning module 200, transmittance adjustment module 402, and touch detection module 403 can be integrated into the CDC 300. Optionally, the functionality of the CDC 300 can be implemented by... Figure 1 The MDC 14, VDC 15, or VIU implementation shown.

[0084] Based on the above description of the embodiments of this application, taking the sun as an example as the light source, the embodiments of this application provide a method for controlling the transmittance of variable glass. The target vehicle in the embodiments of this application can refer to... Figure 1 and Figure 2The corresponding embodiment describes the vehicle 100. Specifically, in this example, area 202 of the windshield 200 of the target vehicle is variable transmittance glass, the sunroof 300 is variable transmittance glass, the forward-facing camera 500 is optionally a binocular camera, cockpit camera 1 is located at the A-pillar inside the cockpit, and cockpit camera 2 is located at the B-pillar inside the cockpit. Figure 8 As shown, the method for controlling the transmittance of variable glass specifically includes:

[0085] S210, Obtain the azimuth information of the sun relative to the target vehicle. Specifically, the azimuth information of the light source relative to the target vehicle refers to the location of the light source relative to the target vehicle, such as whether the sun is in front of, behind, to the left of, or to the right of the target vehicle. Optionally, the azimuth information of the sun relative to the target vehicle can be obtained through the illuminance method. For a detailed description of the illuminance method, please refer to step S101 of the illuminance method described in the above embodiment of this application. Specifically, if the illuminance detected by the current side illuminance sensor 31 is greater than the illuminance detected by the rear side illuminance sensor 35, it can be determined that the sun is in front of the target vehicle. Obtaining the azimuth information of the sun relative to the target vehicle is to determine which areas require shading. In this embodiment of the application, there is an assumption: when the sun is roughly in front of the target vehicle, the target object requiring shading is the driver's head / eyes, and shading is achieved by adjusting the light transmittance of the variable glass on the windshield of the target vehicle.

[0086] Combination Figure 7 As shown, in a specific implementation, the illuminance positioning unit 102 determines the orientation information of the sun relative to the target vehicle based on the illuminance detected by the illuminance sensors (front illuminance sensor 31, left illuminance sensor 32, top illuminance sensor 33, right illuminance sensor 34, and rear illuminance sensor 35) and the position / orientation information of each illuminance sensor.

[0087] S220, if the sun is in front of the target vehicle, the sun's altitude angle and yaw angle are obtained through a dual-determination mode. The dual-determination mode is described in the relevant description of the above embodiment and will not be repeated here.

[0088] S230, if the sun is not in front of the target vehicle, the sun's altitude angle and yaw angle are obtained using the illuminance method. The illuminance method is described in the relevant section of the above embodiment and will not be repeated here.

[0089] In this embodiment, when the sun is in front of the vehicle, the transmittance of the variable-transmittance glass on the windshield is reduced to shield the driver's head from sunlight and improve driving safety. When the sun is not in front of the vehicle, the transmittance of the windows (which are variable-transmittance glass) is reduced to shield the occupants in the rear seats from sunlight, thus providing a glare protection function.

[0090] Following S220, the above method for controlling variable transmittance further includes the following steps:

[0091] S240, Obtain the driver's head position information. Since the driver's head position is constantly changing, it is necessary to obtain the driver's head position information in real time. Optionally, the driver's head position information can be identified using cockpit camera 1.

[0092] S250, based on the driver's head position information, the sun's altitude angle, and the yaw angle, obtains the first mapping area of ​​the driver's head on the first vertical plane. The first vertical plane refers to the plane perpendicular to the plane where the target vehicle chassis is located and passing through the upper edge of the windshield.

[0093] S260, based on the first mapping area, a second mapping area of ​​the driver's head on the windshield is obtained. The glass of the second mapping area is a glass with variable light transmittance. The second mapping area can be understood as the projection area of ​​the driver's head on the windshield in the opposite direction of the light source projection direction.

[0094] S270, adjust the light transmittance of the glass corresponding to the second mapping area. Specifically, reduce the light transmittance to achieve the desired level of light blocking.

[0095] like Figure 9 As shown, the xyz rectangular coordinate system is centered at the midpoint of the upper edge of the windshield 200, with the y-axis at the upper edge of the windshield 200, the z-axis passing through the midpoint of the upper edge of the windshield 200 and perpendicular to the plane where the target vehicle chassis is located, and the x-axis perpendicular to the y-axis and z-axis. Figure 9 In the diagram, 700 represents the first vertical plane, which is the plane formed by points x=0 in the three-dimensional coordinate system; 702 represents the first mapping region; 701 represents the second mapping region; and 800 represents the driver's head.

[0096] The driver's head position information described above is represented by a first coordinate matrix, which is the set of coordinates representing each point on the driver's head within a preset coordinate system. The preset coordinate system can be a camera coordinate system, such as a three-dimensional Cartesian coordinate system established with the cockpit camera 1 as the focus center and the optical axis of the cockpit camera 1 as the Z-axis. Alternatively, the preset coordinate system can be a vehicle coordinate system, such as one with the target vehicle's center of mass as the origin, the X-axis parallel to the ground and pointing forward, the Z-axis passing through the vehicle's center of mass and pointing upward, and the Y-axis pointing to the driver's left.

[0097] Step S250 specifically includes: determining the first mapping region 702 based on the first coordinate matrix and the spatial vector, where the spatial vector s = (cosαsinβ, sinβ, cosαcosβ), α is the solar altitude angle, and β is the solar yaw angle. Specifically, it includes:

[0098] Using the coordinates (x) of a point in the first coordinate matrix d ,y d ,z d For example, based on coordinates (x) d ,y d ,z d The equation of a line passing through a point is obtained from the given coordinates (x, y) and the spatial vector s. This equation represents the line passing through the coordinates (x, y). d ,y d ,z d The line containing the sun's rays, because the coordinates (x) d ,y d ,z d Let () represent a point on the driver's head, so the equation of a line passing through that point can also be called the equation of a line passing through the head. The formula for the equation of a line passing through a point is as follows:

[0099]

[0100] Furthermore, obtain the intersection point of the equation of the line passing through the point and the first perpendicular plane 70°. The intersection point of the equation of the line passing through the point and the first perpendicular plane is the coordinate (x). d ,y d ,z d The point mapped onto the first vertical plane 700. From Figure 9 It can be deduced that the x-coordinate of all points on the first vertical plane 70° is 0. Therefore, the x-coordinate of the intersection point of the line equation passing through the point and the first vertical plane is 0. Furthermore, based on the spatial vector and the line equation passing through the point, the intersection point can be obtained at... Figure 9 The coordinates in the three-dimensional rectangular coordinate system shown are as follows:

[0101]

[0102] Similarly, the point mapped by each point in the first coordinate matrix onto the first vertical plane 700 can be obtained, and the second coordinate matrix containing the coordinates of these points is used to represent the second mapping region 701, which represents the projection of the driver's head onto the first vertical plane.

[0103] Step S260 specifically includes: based on the angle γ between the first vertical plane and the windshield, mapping the points in the second coordinate matrix onto the windshield, that is, transforming the coordinates of each point in the second coordinate matrix into the coordinates of a point on the windshield. The point mapped onto the windshield can also be understood as the intersection of the equation of the line passing through that point and the windshield. The transformation of the coordinates of any point in the second coordinate matrix into the coordinates of a point on the windshield can be expressed as:

[0104]

[0105] Needs to be explained Figure 9This is merely an illustration. In reality, the windshield is curved, while the first vertical plane is flat. The angle γ between them varies depending on the position of a point on the windshield. In this case, angle γ is the angle between intersection lines A and B. Intersection line A is the intersection of the normal plane of a point (x, y, z) on the windshield and the plane represented by (x, 0, z) in the coordinate system. Intersection line B is the intersection of the first vertical plane and the plane represented by (x, 0, z) in the coordinate system. A third coordinate matrix, containing the coordinates of all points in the second coordinate matrix mapped onto the windshield, is used to represent the second mapping region 701, representing the projection of the driver's head onto the windshield. The third coordinate matrix is ​​shown below:

[0106]

[0107] Step S270 specifically includes: adjusting the light transmittance of the area corresponding to the third coordinate matrix of the windshield. Optionally, the light transmittance of the area corresponding to the third coordinate matrix can be adjusted to a fixed value (e.g., 0%, 20%, etc.). Optionally, the light transmittance of the area corresponding to the third coordinate matrix can be reduced, and the brightness of the driver's head can be detected while reducing the light transmittance. When the brightness of the driver's head is detected to reach a preset value, the reduction of the light transmittance can be stopped. Conversely, when the brightness of the driver's head is detected to be less than the preset value, the light transmittance of the area corresponding to the third coordinate matrix can be increased. It should be noted that the color displayed by the reduced light transmittance variable glass is not limited, and the reduction of light transmittance can be achieved to display a color image.

[0108] Similarly, after step S230, the embodiment described in this application describes: controlling the light transmittance of the window glass to provide shading for passengers in the rear seats, the process is similar to S240-S270, the difference being:

[0109] After step S230, as Figure 8 As shown, the above method for controlling the transmittance of variable glass further includes:

[0110] S280: Obtain the position information of the rear seats. Since the seats are fixed relative to the target vehicle, real-time detection of their position is unnecessary. The seat position information can be pre-stored in the target vehicle; for example, it can be represented by the coordinates of points on the rear seat outline within the vehicle's coordinate system. This example uses the rear seats, but could also be the front seats. Using the seat position information, rather than the occupants' position information, shading the area around the seat achieves shading for the occupants. This eliminates the need to detect the occupants' positions, improving efficiency. Furthermore, shading the seat provides better shading for the occupants, covering a wider area.

[0111] S290, based on the position information of the rear seats, the altitude angle of the sun, and the yaw angle, obtains the third mapping area of ​​the rear seats on the second vertical plane. The second vertical plane refers to the plane perpendicular to the plane where the target vehicle chassis is located and passing through the upper edge of the window glass.

[0112] S2100, based on the third mapping area, obtains a fourth mapping area of ​​the rear seats on the window glass. The glass in the fourth mapping area is variable transmittance glass. Optionally, the entire window glass is variable transmittance glass.

[0113] S2110, Adjust the light transmittance of the glass corresponding to the fourth mapping area on the window glass. For detailed descriptions of each step, please refer to the corresponding steps S240-S270 described above; they will not be repeated here.

[0114] The above-mentioned method for controlling the light transmittance of variable glass can be achieved by: Figure 7 The system for controlling the variable transmittance glass shown is implemented by the CDC 300 receiving the solar altitude angle and yaw angle output by the visual positioning unit 101, and the solar altitude angle and yaw angle output by the illuminance positioning unit 102; the CDC 300 determines the final solar altitude angle and yaw angle based on the received altitude angle and yaw angle output by the visual positioning unit 101 and / or the illuminance positioning unit 102. Further, the CDC 300 performs other steps.

[0115] This application provides a device for controlling the light transmittance of variable glass used in vehicles. See [link to relevant documentation]. Figure 10 The device 200 for controlling the variable transmittance of glass can achieve... Figure 3 , Figure 4 and Figure 8 The method for controlling variable light transmittance glass described in the corresponding embodiment. The apparatus 200 for controlling variable light transmittance glass includes: a memory 201, a processor 202, a communication interface 203, and a bus 204. The memory 201, processor 202, and communication interface 203 are interconnected via the bus 204.

[0116] The memory 201 can be a read-only memory, a static storage device, a dynamic storage device, or a random access memory. The memory 201 can store programs, which are then executed by the processor 202 when the program stored in the memory 201 is executed. Figure 3 , Figure 4 and Figure 8 The corresponding method 100 for controlling the transmittance of a variable glass described in the embodiments of this application.

[0117] The processor 202 may be a general-purpose central processing unit, microprocessor, application-specific integrated circuit, graphics processing unit (GPU), or one or more integrated circuits, for executing relevant programs to achieve the functions required by the system for controlling the variable transmittance glass in the embodiments of this application, or to execute the method for controlling the variable transmittance glass described in the embodiments of this application.

[0118] The processor 202 can also be an integrated circuit chip with signal processing capabilities. In implementation, each step of the method for controlling the transmittance of variable glass in this application embodiment can be completed by the integrated logic circuitry in the hardware of the processor 202 or by instructions in software form. The processor 202 described above can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory 201. The processor 202 reads the information in the memory 201 and, in conjunction with its hardware (e.g., variable transmittance glass), performs the functions required by the modules included in the system for controlling variable transmittance glass according to the present application embodiment, or executes the method for controlling variable transmittance glass according to the present application embodiment.

[0119] The communication interface 203 uses a transceiver device, such as, but not limited to, a transceiver, to enable communication between the device 200 controlling the variable transmittance glass and other devices or communication networks. For example, data output from a camera or illuminance sensor can be received through the communication interface 203.

[0120] Bus 204 may include a pathway for transmitting information between various components of the device 200 for controlling the variable transmittance glass (e.g., memory 201, processor 202, communication interface 203).

[0121] It should be noted that, although Figure 10The illustrated device 200 for controlling variable light transmittance glass only shows a memory, processor, and communication interface. However, those skilled in the art should understand that in specific implementations, the device 200 may also include other components necessary for normal operation. Furthermore, depending on specific needs, those skilled in the art should understand that the device 200 may also include hardware components for implementing other additional functions. Moreover, those skilled in the art should understand that the device 200 for controlling variable light transmittance glass may only include the components necessary for implementing the embodiments of this application, and may not necessarily include... Figure 10 All the devices shown.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method of controlling a light transmittance variable glass, characterized by, The method comprises: obtaining orientation information of a light source relative to a target vehicle; obtaining a first elevation angle and a first yaw angle of the light source according to an image containing the light source captured by a camera and internal parameters of the camera; obtaining a second elevation angle and a second yaw angle of the light source according to a third illumination value and a fourth illumination value, wherein the third illumination value is an illumination value detected by a top illumination sensor arranged on a top of the target vehicle, and the fourth illumination value includes an illumination value detected by an illumination sensor arranged on the target vehicle corresponding to the orientation information; obtaining an elevation angle and a yaw angle of the light source according to the first elevation angle, the second elevation angle, the first yaw angle and the second yaw angle, wherein the yaw angle represents an included angle between a line connecting a projection of the light source on a horizontal plane and a center of mass of the target vehicle and a driving direction of the target vehicle; obtaining position information of a target object; obtaining a mapping area of the target object on the light transmittance variable glass according to the position information of the target object and the elevation angle and the yaw angle of the light source; the target object is located in the target vehicle; and adjusting a light transmittance of the mapping area of the target object on the light transmittance variable glass.

2. The method of claim 1, wherein, The method further comprises: obtaining the elevation angle and the yaw angle of the light source according to a first illumination value and a second illumination value, wherein the first illumination value is an illumination value detected by a top illumination sensor arranged on a top of the target vehicle, and the second illumination value includes an illumination value detected by an illumination sensor arranged on the target vehicle corresponding to the orientation information.

3. The method of claim 1, wherein, The method further comprises: obtaining the elevation angle and the yaw angle of the light source according to a difference between the first elevation angle and the second elevation angle and a difference between the first yaw angle and the second yaw angle.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: obtaining the orientation information according to an illumination value detected by an illumination sensor arranged on the target vehicle.

5. The method according to any one of claims 1 or 4, characterized in that, The method further comprises: obtaining a mapping area of the target object on a vertical plane according to the position information of the target object and the elevation angle and the yaw angle of the light source, wherein the vertical plane indicates a plane perpendicular to a plane where a chassis of the target vehicle is located and passing through an edge line on the light transmittance variable glass; and obtaining the mapping area of the target object on the light transmittance variable glass based on an included angle between the vertical plane and the light transmittance variable glass and the mapping area of the target object on the vertical plane. The method further comprises a processor and a memory, wherein the memory stores instructions for executing the method according to any one of claims 1-5 when the instructions stored in the memory are called by the processor.

6. An apparatus for controlling light transmittance variable glass, characterized by, ​ 7. A computer-readable storage medium comprising a program which, when executed on a computer, causes the computer to carry out the method of any one of claims 1-5.

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