An automatic adjustment method and device for a driver's seat and an external rearview mirror

Abstract

The present application discloses an automatic adjustment method and device for a driver's seat and an external rearview mirror. The automatic adjustment method includes: receiving the driver's height, the pixel positions of the driver's current eyes, and the current height of the steering wheel; calculating the target positions of the driver's eyes based on the driver's height, the current positions of the driver's eyes, and the current height of the steering wheel; automatically adjusting the driver's seat according to the target positions of the driver's eyes; calculating the adjustment angles of the left and right external rearview mirrors based on the positions of the driver's eyes corresponding to the adjusted seat position; and automatically adjusting the left and right external rearview mirrors according to the adjustment angles. The present application automatically calculates and adjusts the adjustment parameters of the seat by using the driver's height and the positions of the driver's eyes, and automatically adjusts the external rearview mirrors according to the positions of the driver's eyes corresponding to the adjusted seat, avoiding being affected by the experience of the operator, improving the adjustment accuracy of the seat and the external rearview mirror, and improving the driving comfort and safety.

Description

Technical Field

[0001] The present application relates to the technical field of cockpit intelligent control, and more specifically, to an automatic adjustment method and device for a driver's seat and an external rearview mirror. Background Art

[0002] The external rearview mirror and the vehicle seat are essential configurations of a vehicle. The lens angle of the external rearview mirror affects driving safety, and the posture of the seat affects the riding comfort. Therefore, the lens angle and the posture of the seat directly affect the driving and riding experience.

[0003] Currently, the adjustment of the lens angle and the seat posture is mainly achieved through an electric adjustment system. In one adjustment scheme, the longitudinal and transverse adjustment outputs of the external rearview mirror adjustment switch form a closed-loop circuit with the lens adjustment common output terminal. The driver controls the rotation of the left and right external rearview mirror adjustment motors by operating the external rearview mirror adjustment switch, and then realizes the longitudinal and transverse angle adjustment of the left and right external rearview mirror lenses. Moreover, the output terminal of the driver's seat adjustment switch is directly connected to the driver's seat adjustment motor to form a closed-loop circuit. The driver realizes the rotation of the adjustment motor by operating the driver's seat adjustment switch, and then realizes the front-back sliding of the driver's seat, as well as the adjustment of the backrest pitch angle, the main height of the seat, and the height of the front part of the seat cushion.

[0004] In another adjustment scheme, the external rearview mirror adjustment switch and the driver's seat adjustment switch respectively transmit adjustment signals to the corresponding controllers. The controllers control the adjustment of the external rearview mirror and the seat according to the control signals and receive the feedback signals of the external rearview mirror and the seat. Meanwhile, the memory position information of the seat and the external rearview mirror can also be called through the position memory switch, and the seat and the external rearview mirror are automatically adjusted to the memory position.

[0005] However, both of the above two adjustment schemes adjust the external rearview mirror and the seat according to the driver's manual adjustment instructions, relying too much on the experience of the driver and passengers. This poses a great challenge to novice drivers, and the adjustment of the external rearview mirror and the seat in inappropriate positions is likely to cause fatigue and safety accidents. Summary of the Invention

[0006] The present application provides an automatic adjustment method and device for a driver's seat and an external rearview mirror, which automatically calculate and adjust the adjustment parameters of the seat by using the driver's height and the positions of the driver's eyes, and automatically adjust the external rearview mirror according to the positions of the driver's eyes corresponding to the adjusted seat, avoiding being affected by the experience of the operator, improving the adjustment accuracy of the seat and the external rearview mirror, and enhancing the driving comfort and safety.

[0007] The present application provides an automatic adjustment method for a driver's seat and an external rearview mirror, including:

[0008] Receive the driver's height, the pixel positions of the driver's current eyes, and the current height of the steering wheel;

[0009] Calculate the target positions of the driver's eyes based on the driver's height, the current positions of the driver's eyes, and the current height of the steering wheel;

[0010] Automatically adjust the driver's seat according to the target positions of the driver's eyes;

[0011] Calculate the adjustment angles of the left and right outside rearview mirrors based on the positions of the driver's eyes corresponding to the adjusted seat position;

[0012] Automatically adjust the left and right outside rearview mirrors according to the adjustment angles.

[0013] Preferably, calculating the target positions of the driver's eyes based on the driver's height, the current positions of the driver's eyes, and the current height of the steering wheel specifically includes:

[0014] Determine the actual position of the current driver based on the current positions of the driver's eyes and the current height of the steering wheel;

[0015] Calculate the second pose parameters of the driver based on the neck angle of the driver in a normal sitting posture, the current eye point determined by the actual position of the current driver, the driver's height, and the first pose parameters of the driver; wherein, the first pose parameters include the hip point of the driver corresponding to the current seat position, the distance between the driver's ankle point and the preset heel point, and the distance between the driver's ankle point and the sole of the foot, and the second pose parameters include the knee angle of the driver corresponding to the current seat position, the trunk tilt angle of the driver, the distance between the driver's shoulder point and the current eye point, and the trunk length of the driver;

[0016] Determine the height coordinate and longitudinal coordinate of the target position of the driver's eyes based on the pose parameters of the driver corresponding to the current seat position;

[0017] Among them, the height coordinate corresponds to the target main height of the seat, the longitudinal coordinate corresponds to the target front-back position of the seat, and the trunk tilt angle of the driver corresponds to the target pitch angle of the seat.

[0018] Preferably, determine the height coordinate of the target position of the driver's eyes based on the neck angle of the driver in a normal sitting posture, the current eye point, the trunk tilt angle of the driver, the distance between the driver's shoulder point and the current eye point, the trunk length of the driver, the Z coordinate of the preset heel point, the Z-direction distance between the hip point of the driver corresponding to the current seat position and the preset heel point, the Z-direction distance from the most comfortable hip point to the heel point, and the most ideal reference eye point.

[0019] Preferably, the longitudinal coordinate of the target position of the driver's binoculars is determined based on the knee angle of the driver corresponding to the current seat position, the most comfortable knee angle, and the most ideal reference eye point coordinates.

[0020] Preferably, the automatic adjustment method further includes determining the movement amount of the foremost end of the seat cushion and automatically adjusting the height of the foremost end of the seat cushion according to the movement amount of the foremost end of the seat cushion.

[0021] Preferably, the adjustment angle of the left or right exterior mirror is calculated based on the target position of the driver's binoculars, specifically including:

[0022] Determining the current normal vector of the left or right exterior mirror lens at the corresponding geometric center point based on the target eye point corresponding to the target position of the driver's binoculars, the geometric center point of the left or right exterior mirror, and the lens angle of the left or right exterior mirror in the current pose;

[0023] Determining the target normal vector of the left or right exterior mirror lens at the corresponding geometric center point based on the target eye point corresponding to the target position of the driver's binoculars, the geometric center point of the left or right exterior mirror, and the projection point of the geometric center under the best viewing angle;

[0024] Taking the included angle between the projections of the current normal vector and the target normal vector on the specified adjustment plane as the adjustment angle on the specified adjustment plane.

[0025] This application also provides an automatic adjustment device for the driver's seat and exterior mirrors, including a receiving module, a target position calculation module, a seat adjustment module, an adjustment angle calculation module, and an exterior mirror adjustment module;

[0026] The receiving module is used to receive the driver's height, the pixel position of the current driver's binoculars, and the current height of the steering wheel;

[0027] The target position calculation module is used to calculate the target position of the driver's binoculars based on the driver's height, the current position of the driver's binoculars, and the current height of the steering wheel;

[0028] The seat adjustment module is used to automatically adjust the driver's seat based on the target position of the driver's binoculars;

[0029] The adjustment angle calculation module is used to calculate the adjustment angles of the left and right exterior mirrors based on the position of the driver's binoculars corresponding to the adjusted seat position;

[0030] The exterior mirror adjustment module is used to automatically adjust the left and right exterior mirrors according to the adjustment angles.

[0031] Preferably, the target position calculation module includes an actual position determination module, a pose parameter calculation module, and a coordinate determination module;

[0032] The actual position determination module is used to determine the actual position of the current driver based on the current positions of the driver's binocular eyes and the current height of the steering wheel;

[0033] The pose parameter calculation module is used to calculate the second pose parameter of the driver based on the neck angle of the driver in the normal sitting posture, the current eye point determined by the actual position of the current driver, the driver's height, and the first pose parameter of the driver; wherein, the first pose parameter includes the hip point of the driver corresponding to the current seat position, the distance between the driver's ankle point and the preset clock point, and the distance between the driver's ankle point and the sole of the foot, and the second pose parameter includes the knee angle of the driver corresponding to the current seat position, the trunk tilt angle of the driver, the distance between the shoulder point of the driver and the current eye point, and the trunk length of the driver;

[0034] The coordinate determination module is used to determine the height coordinate and longitudinal coordinate of the target position of the driver's binocular eyes based on the pose parameters of the driver corresponding to the current seat position;

[0035] Among them, the height coordinate corresponds to the target main height of the seat, the longitudinal coordinate corresponds to the target front-back position of the seat, and the trunk tilt angle of the driver corresponds to the target pitch angle of the seat.

[0036] Preferably, the automatic adjustment device further includes a seat cushion movement amount determination module, and the seat cushion movement amount determination module is used to determine the movement amount of the front end of the seat cushion;

[0037] The seat adjustment module is further used to automatically adjust the height of the front end of the seat cushion according to the movement amount of the front end of the seat cushion.

[0038] Preferably, the adjustment angle calculation module includes a current normal vector determination module, a target normal vector determination module, and an included angle determination module;

[0039] The current normal vector determination module is used to determine the current normal vector of the left or right outer rearview mirror lens at the corresponding geometric center point according to the target eye point corresponding to the target position of the driver's binocular eyes, the geometric center point of the left or right outer rearview mirror, and the lens angle of the left or right outer rearview mirror in the current pose;

[0040] The target normal vector determination module is used to determine the target normal vector of the left or right outer rearview mirror lens at the corresponding geometric center point according to the target eye point corresponding to the target position of the driver's binocular eyes, the geometric center point of the left or right outer rearview mirror, and the projection point of the geometric center under the best viewing angle;

[0041] The included angle determination module is used to use the included angle between the projections of the current normal vector and the target normal vector on the specified adjustment plane as the adjustment angle on the specified adjustment plane.

[0042] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. Description of the Drawings

[0043] The drawings incorporated in and forming a part of this specification illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0044] Figure 1 Schematic structural diagram of the automatic adjustment system for the driver's seat and the exterior rearview mirror provided by the present application;

[0045] Figure 2 Flowchart of the automatic adjustment method for the driver's seat and the exterior rearview mirror provided by the present application;

[0046] Figure 3 Schematic diagram of the driver's dimensions provided by the present application;

[0047] Figure 4 Schematic diagram of the driver's pose parameters provided by the present application;

[0048] Figure 5 Schematic diagram of the visual range of the left exterior rearview mirror provided by the present application;

[0049] Figure 6 Schematic diagram of the geometric center projection range of the left exterior rearview mirror at the best viewing angle provided by the present application;

[0050] Figure 7 Structural diagram of the automatic adjustment device for the driver's seat and the exterior rearview mirror provided by the present application. Detailed Description of the Embodiments

[0051] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application.

[0052] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the present application or its application or use.

[0053] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be considered as part of the specification.

[0054] In all examples shown and discussed herein, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of exemplary embodiments may have different values.

[0055] The present application provides an automatic adjustment method and device for a driver's seat and an external rearview mirror, which automatically calculate and adjust the adjustment parameters of the seat by using the driver's height and the positions of the driver's eyes, and automatically adjust the external rearview mirror according to the positions of the driver's eyes corresponding to the adjusted seat, avoiding being affected by the experience of the operator, improving the adjustment accuracy of the seat and the external rearview mirror, and enhancing the driving comfort and safety.

[0056] As Figure 1 shown, the automatic adjustment system for the driver's seat and the external rearview mirror provided by the present application includes a driver monitoring module 110, a human-machine interaction module 120, a steering wheel height adjustment module 130, and a controller 140.

[0057] The driver monitoring module 110 is a camera system for monitoring the driver's face, which is installed on the steering wheel and moves up and down with the steering wheel. In this system, the driver monitoring module 110 mainly extracts the pixel position information of the driver's eyes through a vision algorithm and sends the pixel position information to the controller 140 through the vehicle network.

[0058] The human-machine interaction module 120 is used for the driver to input his / her height information and control the opening and closing of the automatic control functions of the vehicle seat and the external rearview mirror. As an embodiment, the human-machine interaction module 120 can be a central control screen.

[0059] Since the camera system of the driver monitoring module 110 is installed on the steering wheel, the adjustment of the steering wheel will affect the position of the camera system. Therefore, the pixel position information of the driver's eyes collected by the camera will change, and the human eye position information collected by the camera needs to be corrected by the height information of the steering wheel. Specifically, the steering wheel height adjustment module 130 sends the height information of the steering wheel to the controller 140 through the vehicle network.

[0060] The controller 140 calculates the actual position information of the driver's eyes based on the received pixel position information of the driver's both eyes and the steering wheel height information, calculates the seat adjustment parameters and the outside rearview mirror adjustment parameters according to the received information, and controls the seat adjustment and the adjustment of the outside rearview mirror. Specifically, the controller 140 is used to adjust the main height of the driver's seat, adjust the eye height of the driver to a suitable position, and ensure that the driver has an open front view. The controller 140 determines the leg length of the driver according to the driver's height information and the actual position of the both eyes, and adjusts the front-back position of the seat and the position of the front end of the seat cushion to ensure that the driver has a comfortable foot operation space. The controller 140 is also used to adjust the front-back angle (i.e., the pitch angle) of the driver's seat backrest to ensure that the driver has a comfortable back support. The controller 140 also adjusts the outside rearview mirror according to the position of the driver's both eyes after the seat is adjusted to ensure that the driver has a reasonable rear view. The controller 140 is also used to receive the feedback information of the driver's seat and the outside rearview mirror on the adjustment instruction.

[0061] Embodiment 1

[0062] Based on the above, as Figure 2 shown, the automatic adjustment method for the driver's seat and the outside rearview mirror provided by the present application is applicable to the controller, and it includes:

[0063] S210: Receive the driver's height, the pixel position of the current driver's both eyes, and the current height of the steering wheel.

[0064] Specifically, the controller receives the height information transmitted by the human-computer interaction module, receives the pixel position of the current driver's both eyes transmitted by the driver monitoring module, and receives the current height of the steering wheel transmitted by the steering wheel height adjustment module. The pixel position of the current driver's both eyes is used as the current position of the driver's both eyes.

[0065] S220: Calculate the target position of the driver's both eyes based on the driver's height, the current position of the driver's both eyes, and the current height of the steering wheel. Assume that the target eye point corresponding to the target position of the driver's both eyes is Ee(x e , y e , z e ), and the target eye point represents the comprehensive position of the eyes when the driver's both eyes are at the target position.

[0066] Specifically, calculating the target position of the driver's both eyes based on the driver's height, the current position of the driver's both eyes, and the current height of the steering wheel specifically includes:

[0067] S2201: Determine the actual position of the current driver's both eyes based on the current position of the driver's both eyes and the current height of the steering wheel, that is, correct the current position of the driver's both eyes by using the current height of the steering wheel.

[0068] The driver monitoring module is installed on the tube beam under the steering wheel. Adjusting the height of the steering wheel will directly change the position of the camera in the entire vehicle coordinate system. Let the coordinates of the camera projection center point in the vehicle be (x c ,y c ,z c ). The corresponding relationship between this coordinate value and the steering wheel height can be obtained through actual calibration. Therefore, the coordinate value of the camera projection center point corresponding to the steering wheel height is directly determined by looking up the table.

[0069] Let the pixel coordinates of a certain point in the image captured by the camera be (u, v). Taking the camera projection center point as the origin, the horizontal scanning axis of the camera imaging plane as the Xc axis, the vertical scanning as the Yc axis, and the optical axis direction as the Zc axis, the established camera coordinate system is (O c ,X c ,Y c ,Z c ). Then there are the following relationships:

[0070]

[0071] Among them, Z c is the Z coordinate of the spatial point in the camera coordinate system, and (X, Y, Z) are the coordinate values of the spatial point in the vehicle coordinate system. M is a 3×4 matrix, and the value of M is determined by the internal and external parameters of the lens. The internal parameters are determined at the factory, and the external parameters are obtained through the coordinates (x c ,y c ,Z c ) of the camera projection center point. Therefore, for any point in space, as long as the Z coordinate value Z c in the camera coordinate system and its pixel coordinates are known, its coordinate value in the vehicle coordinate system can be obtained.

[0072] Since the eye distance of the human body is within a constant range, this application sets it as a constant. The distance of the eye distance in the image coordinate system can be obtained from the image. Therefore, through geometric relationships, the Z coordinate Z c of the driver's two eyes in the camera coordinate system can be obtained, and then the actual positions of the current driver's two eyes in the vehicle coordinate system can be obtained.

[0073] After obtaining the actual positions of the current driver's two eyes, an eye point is determined using the coordinates of the two eyes as the current eye point (such as the point E in Figure 3 ), representing the comprehensive position of the current driver's eyes. Compared with combining the coordinates of the two eyes, using the eye point coordinates is more convenient for determining information about other parts of the driver.

[0074] Assume that the actual position coordinates of the left eye are (x1, y1, z1), and the actual position coordinates of the right eye are (x2, y2, z2). The current eye point coordinates are E(x0, y0, z0), then

[0075]

[0076] where a is a preset correction parameter.

[0077] Since the driver's seat cannot be adjusted horizontally, preferably, in this application, only the longitudinal coordinates (i.e., the front-rear direction of the vehicle, denoted as the X direction) and the height coordinates (i.e., the height direction of the vehicle, denoted as the Z direction) are concerned, that is, E(x0, z0).

[0078] S2202: Calculate the second pose parameter of the driver based on the neck angle A of the driver in the normal sitting posture 41 , the current eye point E determined by the actual positions of the driver's two eyes, the driver's height h, and the first pose parameter of the driver; where the first pose parameter includes the Z coordinate z of the hip point H of the driver corresponding to the current seat position h , the distance w between the driver's ankle point W and the preset clock point A(x a , z a ), the distance w' between the driver's ankle point W and the sole of the foot, and the second pose parameter includes the knee angle A of the driver corresponding to the current seat position 44 , the trunk tilt angle A of the driver 40 , the distance B3 between the shoulder point S of the driver and the current eye point E, and the trunk length B1 of the driver.

[0079] For the above various pose parameters, please refer to Figure 3 and 4 , where Figure 4 is the driver's pose corresponding to the current seat position. It can be understood that while determining the above pose parameters, other pose parameters can also be determined, such as the Z-direction distance H between the H point and the A point 30 , the X coordinate x of the H point h , the distance WH between the H point and the W point, the calf length L1', etc.

[0080] Specifically, the parameters preset by the system are as follows:

[0081]

[0082] Figure 3 and 4 Among them, the known parameters are as follows:

[0083]

[0084] Calculate the trunk tilt angle A of the driver according to the following formula (2)40 The distance B3 between the shoulder point S of the driver and the current eye point E, the trunk length B1 of the driver, the distance between the shoulder point S of the driver and the top of the driver's head, the calf length + ankle height L1, and the thigh length L2:

[0085]

[0086] Thereby calculating the Z - direction distance H between the H - point and the A - point 30 :

[0087] H 30 = z0 - B1×cos(A 40 ) + B3×cos(A 41 - A 40 ) - z a (3)

[0088] The X - coordinate x of the H - point is calculated by the following formula (4), the distance WH between the H - point and the W - point, the calf length L1′, and the knee angle A of the driver corresponding to the current seat position h : 44 :

[0089]

[0090] Specifically, the knee angle A of the driver corresponding to the current seat position 44 The expression is:

[0091]

[0092] S2203: Determine the height coordinate z of the target position of the driver's eyes according to the pose parameters of the driver corresponding to the current seat position e and the longitudinal coordinate x e . Among them, the height coordinate corresponds to the target main height of the seat, the longitudinal coordinate corresponds to the target front - rear position of the seat, and the trunk tilt angle of the driver corresponds to the target pitch angle of the seat.

[0093] As an embodiment, according to the neck angle A of the driver in the normal sitting posture 41 , the current eye point E, the trunk tilt angle A of the driver 40 , the distance B3 between the shoulder point S of the driver and the current eye point E, the trunk length B1 of the driver, the Z - coordinate z of the preset heel point A a , the Z - direction distance H between the hip point H of the driver corresponding to the current seat position and the preset heel point A 30 , the Z - direction distance H′ from the most comfortable hip point H′ to the heel point A 30 , the most ideal reference eye point Ed to determine the height coordinate z of the target position of the driver's eyes e .

[0094] Specifically, as shown in formula (3), H 30 is determined by the neck angle A of the driver in the normal sitting position 41 , the Z coordinate z0 of the current eye point E, the torso tilt angle A 40 of the driver, the distance B3 between the shoulder point S and the current eye point E of the driver, the torso length B1 of the driver, and the Z coordinate z of the preset heel point A a . On this basis, assuming that the Z - direction distance from the most comfortable hip point H′ to the heel point A is H′ 30 , the most ideal reference eye point is Ed(x d , z d )(H′ 30 and Ed are determined by the system). Assuming that the coordinates of the driver's both eyes at any position are (x′, z′), then solve the following formula (6). The z′ value when formula (6) takes the minimum value is the height coordinate z of the target position e :

[0095] (H 30 - H′ 30 ) 2 +f(z′ - z d ) 2 (6)

[0096] where f is a preset scale factor

[0097] As an embodiment, according to the knee angle A 44 of the driver corresponding to the current seat position 44 , the most comfortable knee angle A′ e , and the most ideal reference eye point Ed, determine the longitudinal coordinate x

[0098] of the target position of the driver's both eyes e :

[0099] (A 44 - A′ 44 ) 2 +j(x′ - x d ) 2 (7)

[0100] where j is a preset scale factor

[0101] S230: Automatically adjust the driver's seat according to the target position of the driver's both eyes

[0102] Specifically, based on the above, the main height position adjustment value of the driver's seat is (z e- z0), if the difference is positive, move the driver's seat upward; if the difference is negative, move the driver's seat downward.

[0103] The front - rear position adjustment value of the driver's seat is (x e - x0), if the difference is positive, move the driver's seat backward; if the difference is negative, move the driver's seat forward.

[0104] After the above adjustment, the driver's hip point is H′, and at this time, the driver's knee angle changes from A 44 to A′ 44 , the angle between the calf and the ground changes from A 46 to A′ 46 , and the angle between the thigh and the vertical plane changes from A 45 to A′ 45 .

[0105] Preferably, in this application, in step S220, it further includes determining the movement amount of the foremost end of the seat cushion of the seat so that the driver's knees can be better supported. Step S230 further includes automatically adjusting the height of the foremost end of the seat cushion.

[0106] Specifically, given that the length of the seat cushion is L2′, the height of the foremost end of the seat cushion corresponding to the adjusted front - seat position is u. Assume that the target height of the foremost end of the seat cushion is u′, and the movement amount of the foremost end of the seat cushion is Δu. A′ 46 and A′ 45 are calculated through the following formula (8):

[0107]

[0108] Based on the above,

[0109] When adjusting the height of the foremost end of the seat cushion, if Δu is positive, adjust the foremost end of the seat cushion upward; if Δu is negative, adjust the foremost end of the seat cushion downward.

[0110] Based on the above - mentioned preferred embodiment, the adjusted seat makes the knee angle A′ 44 , the Z - direction distance H′ between the hip point H and the preset heel point A 30 , the angle between the torso and the thigh A′ 42 within the comfortable range, and at the same time, the eye point at the position of the driver's eyes coincides with the target eye point Ee.

[0111] S240: Calculate the adjustment angles of the left and right exterior mirrors according to the positions of the driver's both eyes corresponding to the adjusted seat position.

[0112] After adjusting the driver's seat to the most comfortable position for the driver, the positions of the driver's eyes are determined. On this basis, different angles of the outer rearview mirror lens can provide different visual ranges for the driver. Figure 5 Figure 520 shows the visual range of the driver at a certain angle of the left outer rearview mirror 510.

[0113] The visual range of a certain plane at the rear of the vehicle is actually the projection range of the outer rearview mirror lens. On a certain selected plane, the projection area of the best viewing angle can be found. Thus, as long as a certain angle of the lens can make the light passing through the geometric center point of the best viewing angle projection area be reflected by the geometric center point of the outer rearview mirror lens and enter the center position of the driver's eyes, then the angle of the lens at this time is the best angle. For the sake of easy implementation, as long as the projection of the geometric center of the lens behind the vehicle falls within a certain range of the standard position projection point, it can be considered that it is already the best viewing angle. Figure 6 Figure 6 shows the positional relationship between the geometric center point 610 of the left outer rearview mirror lens, the best viewing angle projection area 630 and its geometric center point 620.

[0114] Specifically, the adjustment angle of the left or right outer rearview mirror is calculated based on the target positions of the driver's eyes, specifically including:

[0115] S2401: Determine the current normal vector at the corresponding geometric center point of the left outer rearview mirror lens or the right outer rearview mirror lens based on the target eye point Ee(x e , y e , z e ) corresponding to the target positions of the driver's eyes, the geometric center point M(x m , y m , z m ) of the left outer rearview mirror or the right outer rearview mirror, and the lens angle of the left outer rearview mirror or the right outer rearview mirror in the current pose. This step can be implemented by the prior art, and the present application does not make any restrictions.

[0116] S2402: Determine the target normal vector at the corresponding geometric center point M of the left outer rearview mirror lens or the right outer rearview mirror lens based on the target eye point Ee(x e , y e , z e ) corresponding to the target positions of the driver's eyes, the geometric center point M(x m , y m , z m ) of the left outer rearview mirror or the right outer rearview mirror, and the geometric center projection point P(x p , y p , z p ) at the best viewing angle.

[0117] Specifically, the target normal vector is the vector corresponding to the bisector of ∠EMP. Assume is the vector of the best projection line, is the line vector formed by the target eye point Ee and the geometric center point M of the lens. Then, the target normal vector is solved according to the following formula

[0118]

[0119] S2403: Use the included angle between the projections of the current normal vector and the target normal vector on the specified adjustment plane as the adjustment angle on the specified adjustment plane.

[0120] The following takes the XY plane (as the specified adjustment plane) as an example to illustrate how to obtain the adjustment angle on the specified adjustment plane. The calculation method of the adjustment angle for other planes is the same.

[0121] The projection of the current normal vector on the XY plane is The projection of the target normal vector on the XY plane is The included angle between and

[0122]

[0123] is θ, that is, the adjustment angle on the XY plane. The included angle θ is obtained according to the following formula:

[0124] Specifically, if then the lens is adjusted by an angle θ from left to right, and vice versa from right to left.

[0125] Similarly, the adjustment angle and direction of the up and down adjustment of the lens can be obtained.

[0126] Embodiment 2

[0127] Based on the above adjustment method, the present application further provides an automatic adjustment device for the driver's seat and the external rearview mirror. As Figure 7 shown, the adjustment device includes a receiving module 710, a target position calculation module 720, a seat adjustment module 730, an adjustment angle calculation module 740, and an external rearview mirror adjustment module 750.

[0128] The receiving module 710 is used to receive the driver's height, the pixel positions of the current driver's both eyes, and the current height of the steering wheel.

[0129] The target position calculation module 720 is used to calculate the target position of the driver's eyes according to the driver's height, the current position of the driver's eyes, and the current height of the steering wheel.

[0130] The seat adjustment module 730 is used to automatically adjust the driver's seat according to the target position of the driver's eyes.

[0131] The adjustment angle calculation module 740 is used to calculate the adjustment angles of the left and right outside rearview mirrors according to the position of the driver's eyes corresponding to the adjusted seat position.

[0132] The outside rearview mirror adjustment module 750 is used to automatically adjust the left and right outside rearview mirrors according to the adjustment angles.

[0133] As an embodiment, the target position calculation module 720 includes an actual position determination module 7201, a pose parameter calculation module 7202, and a coordinate determination module 7203.

[0134] The actual position determination module 7201 is used to determine the actual position of the current driver according to the current position of the driver's eyes and the current height of the steering wheel.

[0135] The pose parameter calculation module 7202 is used to calculate the second pose parameter of the driver according to the neck angle of the driver in the normal sitting posture, the current eye point determined by the actual position of the current driver, the driver's height, and the first pose parameter of the driver; wherein, the first pose parameter includes the Z coordinate of the hip point of the driver corresponding to the current seat position, the distance between the driver's ankle point and the preset clock point, and the distance between the driver's ankle point and the sole of the foot, and the second pose parameter includes the knee angle of the driver corresponding to the current seat position, the trunk tilt angle of the driver, the distance between the driver's shoulder point and the current eye point, and the trunk length of the driver.

[0136] The coordinate determination module 7203 is used to determine the height coordinate and longitudinal coordinate of the target position of the driver's eyes according to the pose parameters of the driver corresponding to the current seat position.

[0137] Among them, the height coordinate corresponds to the target main height of the seat, the longitudinal coordinate corresponds to the target front-back position of the seat, and the trunk tilt angle of the driver corresponds to the target pitch angle of the seat.

[0138] Preferably, the automatic adjustment device further includes a seat cushion movement amount determination module 760, and the seat cushion movement amount determination module 760 is used to determine the movement amount of the front end of the seat cushion.

[0139] The seat adjustment module 730 is further used to automatically adjust the height of the front end of the seat cushion according to the movement amount of the front end of the seat cushion.

[0140] As an embodiment, the angle adjustment calculation module 740 includes a current normal vector determination module 7401, a target normal vector determination module 7402, and an included angle determination module 7403.

[0141] The current normal vector determination module 7401 is configured to determine the current normal vector of the left or right outer rearview mirror lens at the corresponding geometric center point according to the target eye point corresponding to the target positions of the driver's binocular eyes, the geometric center point of the left or right outer rearview mirror, and the lens angle of the left or right outer rearview mirror in the current pose.

[0142] The target normal vector determination module 7402 is configured to determine the target normal vector of the left or right outer rearview mirror lens at the corresponding geometric center point according to the target eye point corresponding to the target positions of the driver's binocular eyes, the geometric center point of the left or right outer rearview mirror, and the projection point of the geometric center under the best viewing angle.

[0143] The included angle determination module 7403 is configured to use the included angle between the projections of the current normal vector and the target normal vector on the specified adjustment plane as the adjustment angle on the specified adjustment plane.

[0144] This application improves driving comfort, reduces driver fatigue, provides the best rear view for the driver, and improves the driving safety of the vehicle by identifying the position of the current driver's eyes and the characteristics of the sitting posture, automatically adjusting the seat to the best comfortable position, and automatically adjusting the left and right outer rearview mirrors to the best field of view.

[0145] Although some specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and not for limiting the scope of this application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. An automatic adjustment method for a driver's seat and an external rearview mirror, characterized in that Comprising: Receiving the driver's height, the pixel positions of the current driver's both eyes, and the current height of the steering wheel; Calculating the target positions of the driver's both eyes based on the driver's height, the current positions of the driver's both eyes, and the current height of the steering wheel; Automatically adjusting the driver's seat according to the target positions of the driver's both eyes; Calculating the adjustment angles of the left and right exterior mirrors based on the positions of the driver's both eyes corresponding to the adjusted seat position; Automatically adjusting the left and right exterior mirrors according to the adjustment angles; 2. The automatic adjustment method of the driver's seat and the exterior rearview mirror according to claim 1, characterized in that, Calculating the target positions of the driver's both eyes based on the driver's height, the current positions of the driver's both eyes, and the current height of the steering wheel, specifically including: Determining the actual position of the current driver based on the current positions of the driver's both eyes and the current height of the steering wheel; Calculating the second pose parameter of the driver based on the neck angle of the driver in a normal sitting posture, the current eye point determined by the actual position of the current driver, the driver's height, and the first pose parameter of the driver; wherein, the first pose parameter includes the hip point of the driver corresponding to the current seat position, the distance between the driver's ankle point and a preset clock point, and the distance between the driver's ankle point and the sole of the foot, and the second pose parameter includes the knee angle of the driver corresponding to the current seat position, the torso tilt angle of the driver, the distance between the driver's shoulder point and the current eye point, and the length of the driver's torso; Determining the height coordinate and longitudinal coordinate of the target position of the driver's both eyes based on the pose parameter of the driver corresponding to the current seat position; Wherein, the height coordinate corresponds to the target main height of the seat, the longitudinal coordinate corresponds to the target front - rear position of the seat, and the torso tilt angle of the driver corresponds to the target pitch angle of the seat; 3. The automatic adjustment method of the driver's seat and the outside rearview mirror according to claim 2, characterized in that, Determining the height coordinate of the target position of the driver's both eyes based on the neck angle of the driver in a normal sitting posture, the current eye point, the torso tilt angle of the driver, the distance between the driver's shoulder point and the current eye point, the length of the driver's torso, the Z coordinate of the preset clock point, the Z - direction distance between the hip point of the driver corresponding to the current seat position and the preset heel point, the Z - direction distance between the most comfortable hip point and the heel point, and the most ideal reference eye point; 4. The automatic adjustment method of the driver's seat and the outside rearview mirror according to claim 2, wherein Determining the longitudinal coordinate of the target position of the driver's both eyes based on the knee angle of the driver corresponding to the current seat position, the most comfortable knee angle, and the most ideal reference eye point coordinates; 5. The automatic adjustment method of the driver's seat and the outside rearview mirror according to claim 2, characterized in that, Further comprising determining the movement amount of the front - most end of the seat cushion and automatically adjusting the height of the front - most end of the seat cushion according to the movement amount of the front - most end of the seat cushion; 6. The automatic adjustment method of the driver's seat and the outside rearview mirror according to claim 1, characterized in that Calculating the adjustment angle of the left or right exterior mirror based on the target position of the driver's both eyes, specifically including: Determining the current normal vector of the left or right exterior mirror lens at the corresponding geometric center point based on the target eye point corresponding to the target position of the driver's both eyes, the geometric center point of the left or right exterior mirror, and the lens angle of the left or right exterior mirror in the current pose; Determine the target normal vector of the left or right outside rearview mirror lens at the corresponding geometric center point based on the target eye point corresponding to the target positions of the driver's two eyes, the geometric center point of the left or right outside rearview mirror, and the geometric center projection point under the best viewing angle; Take the included angle between the projection of the current normal vector and the target normal vector on the specified adjustment plane as the adjustment angle on the specified adjustment plane.

7. An automatic adjustment device for a driver's seat and an outside rearview mirror, characterized in that, It includes a receiving module, a target position calculation module, a seat adjustment module, an adjustment angle calculation module, and an outside rearview mirror adjustment module; The receiving module is used to receive the driver's height, the pixel positions of the current driver's two eyes, and the current height of the steering wheel; The target position calculation module is used to calculate the target positions of the driver's two eyes based on the driver's height, the current positions of the driver's two eyes, and the current height of the steering wheel; The seat adjustment module is used to automatically adjust the driver's seat based on the target positions of the driver's two eyes; The adjustment angle calculation module is used to calculate the adjustment angles of the left and right outside rearview mirrors based on the positions of the driver's two eyes corresponding to the adjusted seat position; The outside rearview mirror adjustment module is used to automatically adjust the left and right outside rearview mirrors based on the adjustment angles; 8. The automatic adjustment device for the driver's seat and the exterior rearview mirror according to claim 7, characterized in that, The target position calculation module includes an actual position determination module, a pose parameter calculation module, and a coordinate determination module; The actual position determination module is used to determine the actual position of the current driver based on the current positions of the driver's two eyes and the current height of the steering wheel; The pose parameter calculation module is used to calculate the second pose parameter of the driver based on the neck angle of the driver in the normal sitting posture, the current eye point determined by the actual position of the current driver, the driver's height, and the first pose parameter of the driver; wherein, the first pose parameter includes the hip point of the driver corresponding to the current seat position, the distance between the driver's ankle point and a preset clock point, and the distance between the driver's ankle point and the sole of the foot, and the second pose parameter includes the knee angle of the driver corresponding to the current seat position, the torso tilt angle of the driver, the distance between the driver's shoulder point and the current eye point, and the torso length of the driver; The coordinate determination module is used to determine the height coordinate and longitudinal coordinate of the target position of the driver's two eyes based on the pose parameters of the driver corresponding to the current seat position; Wherein, the height coordinate corresponds to the target main height of the seat, the longitudinal coordinate corresponds to the target front-back position of the seat, and the torso tilt angle of the driver corresponds to the target pitch angle of the seat.

9. The automatic adjustment device for the driver's seat and the outside rearview mirror according to claim 7, characterized in that, It further includes a seat cushion movement amount determination module, and the seat cushion movement amount determination module is used to determine the movement amount of the front end of the seat cushion; The seat adjustment module is further used to automatically adjust the height of the front end of the seat cushion based on the movement amount of the front end of the seat cushion; 10. The automatic adjustment device for the driver's seat and the exterior rearview mirror according to claim 7, characterized in that, The adjustment angle calculation module includes a current normal vector determination module, a target normal vector determination module, and an included angle determination module; The current normal vector determination module is used to determine the current normal vector of the left or right exterior mirror lens at the corresponding geometric center point according to the target eye point corresponding to the target positions of the driver's binocular eyes, the geometric center point of the left or right exterior mirror, and the lens angle of the left or right exterior mirror in the current pose; The target normal vector determination module is used to determine the target normal vector of the left or right exterior mirror lens at the corresponding geometric center point according to the target eye point corresponding to the target positions of the driver's binocular eyes, the geometric center point of the left or right exterior mirror, and the projection point of the geometric center under the best viewing angle; The included angle determination module is used to use the included angle between the projections of the current normal vector and the target normal vector on the specified adjustment plane as the adjustment angle on the specified adjustment plane.

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