Vehicle control method and device, computer readable storage medium, and terminal

Abstract

A vehicle control method and device, computer-readable storage medium, and terminal are disclosed. The vehicle control method includes: after detecting that a driver has taken a seat, obtaining leg and eye information of the driver based on reflected signals received by radar, wherein the leg information indicates the amount of space in front of the driver's legs, and the eye information indicates the position of the driver's eyes; estimating seat position adjustment information based on the leg and eye information; and adjusting the seat position based on the seat position adjustment information. This solution can improve the convenience of seat adjustment and enhance the user experience.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle control technology, and more particularly, to a vehicle control method and device, a computer-readable storage medium, and a terminal. Background Art

[0002] With the rapid development of science and technology and the improvement of people's living standards, more and more families own cars, and people are increasingly traveling by car. Currently, the automobile manufacturing industry has made great progress in manufacturing technology, and cars are becoming increasingly intelligent. However, most smart car technologies currently focus on autonomous driving and road condition recognition.

[0003] During driving, seat comfort directly impacts the user's driving experience and safety. Currently, users typically manually adjust the seat's fore-aft and up-and-down distance, as well as the seatback angle. After adjusting the seat, the rearview mirror angle must be adjusted based on the current sitting posture, making the seat adjustment process cumbersome. Because different users have different preferences for seat fore-aft and up-and-down distance, especially after another user uses the vehicle, the seat position must be readjusted, making seat adjustment a cumbersome process and a poor user experience. Summary of the Invention

[0004] The technical problem solved by the embodiments of the present invention is that the seat adjustment operation is relatively cumbersome and the user experience is poor.

[0005] To solve the above technical problems, an embodiment of the present invention provides a vehicle control method, comprising: after detecting that the driver has taken his seat, obtaining the driver's leg information and eye information based on the reflected signal received by the radar, the leg information being used to indicate the size of the space in front of the driver's legs, and the eye information being used to indicate the position of the driver's eyes; estimating seat position adjustment information of the seat based on the leg information and the eye information; and adjusting the position of the seat based on the seat position adjustment information.

[0006] Optionally, estimating the seat position adjustment information of the seat based on the leg information and the eye information includes: determining the size of the space in front of the driver's legs based on the leg information; determining the distance between the driver's head and the roof and the distance between the driver's head and the front windshield based on the eye information; estimating the seat position adjustment information based on the size of the space in front of the driver's legs, the distance between the driver's head and the roof, and the distance between the driver's head and the front windshield.

[0007] Optionally, the seat position adjustment information is estimated based on the size of the space in front of the driver's legs, the distance between the driver's head and the roof, and the distance between the driver's head and the front windshield, including: determining the distance between the driver's knees and the vehicle compartment in front of the legs, and the height of the knees from the ground based on the size of the space in front of the legs; determining the height adjustment information of the seat based on the height of the knees from the ground and the distance between the driver's head and the roof; determining the fore-and-aft adjustment information of the seat based on the distance between the driver's knees and the front vehicle compartment and the distance between the driver's head and the front windshield, the fore-and-aft direction being consistent with the front direction of the vehicle.

[0008] Optionally, the vehicle control method further includes: associating the driver's identity information with the seat position adjustment information, and storing the association relationship between the driver's identity information and the seat position adjustment information, wherein the association relationship is used to subsequently search for the associated seat position adjustment information based on the driver's identity information, and to adjust the position of the seat.

[0009] Optionally, the vehicle control method further includes: after adjusting the position of the seat according to the seat position adjustment information, in the adjusted seat position, obtaining the driver's eye information again according to the reflected signal received by the radar; determining the azimuth of the driver's eyes relative to the radar and the relative distance between the eyes and the radar based on the driver's eye information obtained again; determining the rearview mirror adjustment information according to the relative position of the radar and the rearview mirror, the azimuth of the driver's eyes relative to the radar, the relative distance between the eyes and the radar, and the preset relative position of the eyes and the rearview mirror, the rearview mirror adjustment information is used to indicate the relative position of the rearview mirror and the vehicle body; adjusting the rearview mirror according to the rearview mirror adjustment information, the rearview mirror including: an exterior rearview mirror and / or an interior rearview mirror.

[0010] Optionally, estimating the seat position adjustment information of the seat based on the leg information and the eye information includes: inputting the leg information and the eye information into a human driving position adjustment model; estimating the seat position adjustment information using the human driving position adjustment model; wherein the human driving position adjustment model is trained based on at least the vehicle attribute information of the vehicle and a training sample set containing user habitual position information; wherein the vehicle attribute information includes at least one of the following: brake position, throttle position, roof height, maximum front and rear adjustment position of the seat, maximum adjustment height of the seat, and size of the leg space; wherein the leg space refers to the space at the front end of the vehicle compartment for placing the driver's legs.

[0011] Optionally, the vehicle control method further includes: receiving a seat adjustment instruction input by a user; adjusting the position of the seat in response to the seat adjustment instruction; obtaining leg information and eye information of the driver based on the reflected signal received by the radar at the adjusted seat position; and using the adjusted seat position and the leg information and eye information of the driver obtained at the adjusted seat position as training data to train the human driving position model.

[0012] Optionally, the eye information of the driver is obtained based on the reflected signal received by the radar, including: determining the changing trend of the relative distance between the driver's upper eyelid and lower eyelid based on the changing trend of the reflected signal continuously received by the radar; determining the relative distance between the driver's eyes and the radar based on the transmitted signal and the corresponding reflected signal that can determine the changing trend of the relative distance between the driver's upper eyelid and lower eyelid, as well as the transmission time of the transmitted signal and the reception time of the reflected signal; obtaining the azimuth of the driver's eyes relative to the radar based on the phase difference between the reflected signal reflected from the driver's eyes and the corresponding transmitted signal, wherein the eye information includes: the relative distance between the driver's eyes and the radar and the azimuth of the driver's eyes relative to the radar.

[0013] An embodiment of the present invention also provides a vehicle control device, comprising: an information determination unit, for obtaining leg information and eye information of the driver based on the reflected signal received by the radar after detecting that the driver has taken his seat, the leg information being used to indicate the size of the space in front of the driver's legs, and the eye information being used to indicate the position of the driver's eyes; an estimation unit, for estimating seat position adjustment information of the seat based on the leg information and the eye information; and an adjustment unit, for adjusting the position of the seat based on the seat position adjustment information.

[0014] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the above-mentioned vehicle control methods are executed.

[0015] An embodiment of the present invention further provides a terminal including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor executes the steps of any of the above-mentioned vehicle control methods when running the computer program.

[0016] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0017] In an embodiment of the present invention, after the driver is seated, the driver's leg and eye information are obtained based on the reflected signal received by the radar. Because the leg information indicates the amount of space in front of the driver's legs, and the eye information indicates the position of the driver's eyes, seat position adjustment information can be estimated based on the leg and eye information. This allows the seat position adjustment information to be determined based on the actual leg and eye positions of the driver after they sit down. Automatic seat adjustment is then achieved based on this information, eliminating the need for manual adjustment by the user, improving the convenience of seat adjustment and enhancing the user experience.

[0018] Furthermore, in the adjusted seat position, the adjustment information of the rearview mirror is determined based on the eye information obtained again, so that the rearview mirror can be automatically adjusted according to the position of the human eye, eliminating the trouble of manually adjusting the rearview mirror and further improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0020] Figure 2 It is a structural schematic diagram of a vehicle control device in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] As mentioned above, seat comfort directly impacts the user's driving experience and safety. Existing vehicle seat adjustment methods typically require the user to manually adjust the seat's fore-aft, up-and-down distance, or the seatback angle. After adjusting the seat, the user must also adjust the rearview mirror angle based on their current sitting posture, a cumbersome process. Because different users have varying preferences for seat fore-aft and up-and-down distance, the seat position must be readjusted after another user arrives, making seat adjustment more cumbersome and resulting in a poor user experience.

[0022] In addition, some current solutions adjust the angle and position of the seat based on the user's weight. However, there is a certain degree of error in judging based on weight. For example, if a driver of 1.8 meters tall and a driver of 1.5 meters tall have the same weight, the gravity sensor will collect the same data, but these two drivers obviously have different requirements for the seat, which may result in a worse experience. Other solutions rely on imaging devices, such as cameras, to detect human posture and then adjust the seat posture. However, this solution is more susceptible to occlusion, resulting in inaccurate judgment.

[0023] To address the above issues, in an embodiment of the present invention, after the driver is seated, the driver's leg and eye information is obtained based on the reflected signal received by the radar. Because the leg information indicates the amount of space in front of the driver's legs, and the eye information indicates the position of the driver's eyes, the seat position adjustment information can be estimated based on the leg and eye information. This allows the seat position adjustment information to be determined based on the actual leg and eye positions of the driver after they sit down in the driver's seat. Automatic seat adjustment is then achieved based on this seat position adjustment information, eliminating the need for manual adjustment by the user, improving the convenience of seat adjustment, and enhancing the user experience.

[0024] Furthermore, since seat comfort is often related to leg and eye position, determining seat position adjustment information based on leg and eye information derived from reflected radar signals can improve the alignment of the obtained seat position adjustment information with the driver's actual needs. Because radar can avoid external interference and obstructions, the accuracy of the obtained seat position adjustment information can also be improved.

[0025] In order to make the above-mentioned objects, features and beneficial effects of the embodiments of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] An embodiment of the present invention provides a vehicle control method. The vehicle control method can be executed by a controller in the vehicle (such as a central controller), or by a chip or chip module with a vehicle control function in the controller, or by a chip or chip module with a data processing function in the vehicle, or by a baseband chip in the vehicle.

[0027] Reference Figure 1 , a flow chart of a vehicle control method according to an embodiment of the present invention is given, which may specifically include the following steps:

[0028] Step 11, after detecting that the driver has taken a seat, obtaining leg information and eye information of the driver based on the reflected signal received by the radar, wherein the leg information is used to indicate the amount of space in front of the driver's legs, and the eye information is used to indicate the position of the driver's eyes;

[0029] Step 12, estimating seat position adjustment information of the seat based on the leg information and the eye information;

[0030] Step 13: Adjust the position of the seat according to the seat position adjustment information.

[0031] In specific implementation, sitting down means that the driver gets on the bus and sits down in the driver's seat. In step 11, whether the driver has sat down is detected in a variety of ways.

[0032] For example, a pressure sensor is installed on the driver's seat, and the pressure detected by the pressure sensor is used to determine whether the driver has sat down. If the pressure detected by the pressure sensor is greater than or equal to a set pressure threshold, it is determined that the driver has sat down.

[0033] For another example, by judging whether the safety belt on the driver's seat is fastened, it is judged that the driver has finished sitting. When the safety belt on the driver's seat is fastened, it is judged that the driver has finished sitting.

[0034] For example, the system can determine whether the driver is seated by combining the pressure sensor installed on the driver's seat and whether the driver's seat belt is fastened. If the pressure detected by the pressure sensor is greater than or equal to the set pressure threshold and a seat belt fastening signal is received, the driver is determined to be seated.

[0035] In a specific implementation, at least two radars may be installed in the vehicle.

[0036] One of the radars is installed in a suitable location in the legroom. It only needs to be located in front of the driver's legs when the driver is seated. For example, the radar can be installed above the accelerator or brake pedal. Legroom refers to the space available for the driver's legs when the driver is seated. For ease of description, this application refers to the space in front of the driver's legs as the front space.

[0037] Another radar is installed at any position in front of the driver, for example, on the front windshield of the vehicle without affecting the driver's vision during driving.

[0038] The radar transmits radio signals and receives reflected signals from the driver's legs and eyes. The reflected signals can be used to obtain information about the driver's legs and eyes. The leg information indicates the amount of space in front of the driver's legs, and the eye information indicates the position of the driver's eyes.

[0039] In some non-limiting embodiments, the radar may be a millimeter wave radar. A millimeter wave radar is a radar operating in the millimeter wave band. The frequency of a millimeter wave radar is typically 30 to 300 GHz, and the wavelength is 1 to 10 millimeters.

[0040] In some non-limiting embodiments, the radar can be controlled to transmit signals after the driver is seated. In other embodiments, the radar can continue to transmit signals, even if the driver is not seated. However, only after the driver is seated can the driver's leg and eye information be obtained based on the reflected signals corresponding to the radar's transmitted signals after the driver is seated. In other words, the reflected signals used to obtain the driver's leg and eye information are received after the test driver is seated, and the reflected signals are the reflected signals corresponding to the radar's transmitted signals after the test driver is seated.

[0041] In a specific implementation, the leg information may include a relative distance between the leg and the radar.

[0042] Radars (such as millimeter-wave radars) can use frequency modulated continuous wave (FMCW) to measure distance. Radars transmit a continuous signal with a certain bandwidth and a linearly varying frequency. This continuous signal is reflected by the legs, and the radar receives a continuous reflection signal. A fast Fourier transform is performed on the received continuous reflection signal, and the time difference between the transmitted and reflected signals is calculated based on the frequency difference between the transmitted and reflected signals. The distance between the legs and the radar is calculated from this time difference and the signal propagation speed. Radar signals are typically electromagnetic waves, and the signal propagation speed is equal to the speed of the electromagnetic wave.

[0043] Once the installation position of the radar is determined, the relative position of the radar and the car body in front of the legs is fixed. Therefore, after obtaining the distance between the legs and the radar, the size of the space in front of the legs can be obtained, and then the distance between the driver's knees and the car body in front of the legs, as well as the height of the knees from the ground can be obtained.

[0044] In a specific implementation, the displacement change of the upper and lower eyelids caused by blinking can be used, and the position change of the upper and lower eyelids will cause the phase change of the FMCW signal in the range bin (Rang Bin). Therefore, the eye position can be identified and determined by the phase difference caused by the displacement generated by blinking.

[0045] For example, the relationship between the phase change and the position change of the upper eyelid and the lower eyelid can be represented by the following formula (1).

[0046]

[0047] Among them, Δφ b is the phase change; λ is the wavelength of the radar signal; ΔR is the displacement change between the upper and lower eyelids caused by blinking,

[0048] In some non-limiting embodiments, the driver's eye information can be obtained based on the reflected signal received by the radar in the following manner: based on the changing trend of the reflected signal continuously received by the radar, the changing trend of the relative distance between the driver's upper eyelid and lower eyelid can be determined; based on the transmitted signal and the corresponding reflected signal that can determine the changing trend of the relative distance between the driver's upper eyelid and lower eyelid, as well as the transmission time of the transmitted signal and the reception time of the reflected signal, the relative distance between the driver's eye and the radar is determined; based on the phase difference between the reflected signal reflected from the driver's eye and the corresponding transmitted signal, the azimuth angle of the driver's eye relative to the radar is obtained, wherein the eye information includes: the relative distance between the driver's eye and the radar, and the azimuth angle of the driver's eye relative to the radar.

[0049] For example, consider the relative distance d between the upper and lower eyelids. Assume that d = 1 when the eyes are open and d = 0 when the eyes are closed. When a person blinks, the relative distance d between the upper and lower eyelids changes from 1 to 0, and then back to 1. Blinking is typically achieved by the upward and downward movement of the upper eyelid, which takes approximately 0.3 seconds. Radar (such as millimeter-wave radar) identifies blinking by detecting the downward and upward movement of the upper eyelid and the time interval between these movements.

[0050] Based on the signal that detects the blinking action, a transmission signal that covers the eye position can be determined. This transmission signal that covers the eye position can also be referred to as a beam that covers the eye position. The transmission signal and the reflected signal of this beam are the transmission signal and the corresponding reflected signal that can determine the changing trend of the relative distance between the driver's upper and lower eyelids, and can be used to determine the relative distance between the driver's eyes and the radar.

[0051] After the radar transmits the transmission signal through the transmitting antenna, the parallel receiving antenna receives the phase difference between the electromagnetic wave reflected from the same monitoring target (eye) and the transmitted signal. The azimuth of the eye relative to the radar can be calculated using the angle-of-arrival (AOA) algorithm or the phase-difference-of-arrival (PDOA) algorithm.

[0052] Taking the millimeter-wave radar as an example, the millimeter-wave signal is emitted by the transmitting antenna of the millimeter-wave radar, and the azimuth angle of the eye relative to the millimeter-wave radar is calculated by the phase difference between the millimeter wave reflected from the same monitoring target (eye) and the transmitted millimeter wave through the parallel receiving antenna of the millimeter-wave radar.

[0053] In some non-limiting embodiments, the above step 12 can be implemented in the following ways, specifically: determining the size of the space in front of the driver's legs based on the leg information; determining the distance between the driver's head and the roof and the distance between the driver's head and the front windshield based on the eye information; estimating the seat position adjustment information of the seat based on the size of the space in front of the driver's legs, the distance between the driver's head and the roof, and the distance between the driver's head and the front windshield.

[0054] In a specific implementation, the leg information may include the relative distance between the leg and the radar. Since the relative position of the radar and the car in front of the leg is fixed after the radar installation position is determined, the size of the space in front of the leg can be obtained by obtaining the distance between the leg and the radar.

[0055] Since the eye information can indicate the driver's eye position, the height of the vehicle's roof and the installation position of the radar are known. After determining the driver's eye position based on the eye information, the distance between the driver's head and the roof, and the distance between the driver's head and the front windshield can be obtained.

[0056] When estimating the seat position adjustment information based on the amount of space in front of the driver's legs, the distance between the driver's head and the vehicle roof, and the distance between the driver's head and the front windshield, the distance between the driver's knees and the vehicle compartment in front of their legs, as well as the height of the knees from the ground, can be determined based on the amount of space in front of the legs; the height adjustment information of the seat can be determined based on the height of the knees from the ground and the distance between the driver's head and the vehicle roof; and the fore-aft adjustment information of the seat can be determined based on the distance between the driver's knees and the vehicle compartment in front and the distance between the driver's head and the front windshield. The fore-aft direction is consistent with the vehicle's front direction.

[0057] In some implementations, a human body driving position adjustment model may be used to implement step 12. Specifically, the leg information and the eye information are input into the human body driving position adjustment model, and the seat position adjustment information is estimated using the human body driving position adjustment model.

[0058] The human driving position adjustment model is trained based on at least the vehicle attribute information of the vehicle and a training sample set containing the user's habitual position information. The vehicle attribute information includes at least one of the following: brake position, accelerator position, roof height, maximum fore-aft seat adjustment position, maximum seat height adjustment, and legroom. Legroom refers to the space at the front of the vehicle compartment for the driver's legs.

[0059] The vehicle attribute information may be manually input by the user, or may be automatically obtained based on the vehicle model input by the user or the vehicle model automatically identified.

[0060] During the training process of the human driving position adjustment model, based on the vehicle attribute information of this vehicle, the matching degree between the trained human driving position adjustment model and this vehicle can be improved, thereby improving the subsequent use of the human driving position adjustment model to estimate the seat position adjustment information and the seat position fit with the user's actual needs.

[0061] The training samples for the human driving position adjustment model can be derived from samples collected through big data statistics. The data corresponding to the training samples includes at least information that can represent the user's habitual position, such as leg space, head-to-roof distance, and head-to-windshield position. With user permission, the training sample data can also include driver-related information such as height, weight, and driving range.

[0062] The human driving position adjustment model can be obtained by training based on a neural network model, or by training based on other suitable models.

[0063] In practice, due to the different actual needs of different drivers, after adjusting the position of the seat according to the seat position adjustment information, the driver may fine-tune the position of the seat to make the height of the seat or the position in the front and rear directions more in line with his or her own driving habits.

[0064] In other implementations, in step 12, a leg space size range and an eye position range may be preset. A determination is then made as to whether the leg space in front of the driver indicated by the obtained leg information satisfies the preset leg space size range, and whether the eye position indicated by the obtained eye information satisfies the preset eye position range.

[0065] If the amount of legroom in front of the driver's leg indicated by the obtained legroom information does not satisfy a preset legroom size range, the seat position is adjusted in the fore-and-aft direction so that, in the adjusted seat position, the amount of legroom in front of the driver's leg indicated by the obtained legroom information tends to satisfy the preset legroom size range. The seat position corresponding to when the amount of legroom in front of the driver's leg indicated by the obtained legroom information tends to satisfy the preset legroom size range is estimated to obtain fore-and-aft adjustment information for the seat.

[0066] If the eye position indicated by the obtained eye information does not satisfy the preset eye position range, the seat position is adjusted in the height direction, i.e., the seat height is adjusted so that, at the adjusted seat position, the eye position indicated by the obtained eye information tends to satisfy the preset eye position range. The seat height corresponding to when the eye position indicated by the obtained eye information tends to satisfy the preset eye position range is estimated to obtain seat height adjustment information.

[0067] Correspondingly, if the size of the front space for the legs indicated by the obtained driver's leg information tends to meet the pre-set leg space size range, and the position of the eyes indicated by the obtained eye information tends to meet the pre-set eye position range, there is no need to adjust the seat position.

[0068] In some non-limiting embodiments, a seat adjustment instruction input by a user is received; the position of the seat is adjusted in response to the seat adjustment instruction; at the adjusted seat position, the driver's leg information and eye information are obtained based on the reflected signal received by the radar; the adjusted seat position and the driver's leg information and eye information obtained at the adjusted seat position are used as training data to train the human driving position model.

[0069] Using the driving data generated by the vehicle driver during the actual driving process to train the human driving position adjustment model can further improve the matching degree between the trained human driving position adjustment model and the vehicle and driver, and improve the matching degree between the seat position adjustment information estimated by the human driving position adjustment model and the actual needs of the driver.

[0070] In some embodiments, the driver's identity information can be associated with the seat position adjustment information, and the association between the driver's identity information and the seat position adjustment information can be stored. This association is used to subsequently search for the associated seat position adjustment information based on the driver's identity information and adjust the seat position. The driver's identity information may include gender, weight, height, etc.

[0071] In this way, for a particular driver, when using the vehicle for the first time, the seat position adjustment information for the seat can be estimated based on the leg information and the eye information. An association between the driver and the seat position adjustment information is established. Subsequently, when the driver uses the vehicle again, the seat position adjustment information associated with the driver is obtained using the driver's identity information, and the seat position is adjusted based on the obtained seat position adjustment information. This improves the efficiency of seat adjustment.

[0072] In step 13, the seat position adjustment information can be included in an adjustment control command, which is then sent to the seat adjustment controller. The seat adjustment controller then adjusts the seat adjustment assembly to adjust the fore-aft position and height of the seat. For example, the seat adjustment assembly can be a sliding assembly consisting of a rail and a slider, used to adjust the fore-aft position of the seat. The seat adjustment assembly can also be a lifting mechanism to adjust the seat's ascent or descent.

[0073] It should be noted that the above examples of specific implementation methods of step 13 are non-limiting examples for ease of understanding. In practice, the specific structure of the seat adjustment component varies depending on the vehicle model and is not limited here.

[0074] As can be seen above, after the driver is seated, the driver's leg and eye information is obtained based on the reflected signal received by the radar. Since the leg information indicates the amount of space in front of the driver's legs, and the eye information indicates the position of the driver's eyes, the seat position adjustment information can be estimated based on the leg and eye information. The seat position adjustment information is determined based on the actual leg and eye positions of the driver after they sit down in the driver's seat, and the seat position is automatically adjusted based on the seat position adjustment information. This eliminates the need for manual adjustment by the user, improves the convenience of seat adjustment, and enhances the user experience.

[0075] In a specific implementation, after the seat position is adjusted according to the seat position adjustment information, the driver's eye information is again obtained based on the reflected signal received by the radar in the adjusted seat position; the azimuth of the driver's eyes relative to the radar and the relative distance between the eyes and the radar are determined based on the again obtained driver's eye information; rearview mirror adjustment information of the rearview mirror is determined based on the relative position of the radar and the rearview mirror, the azimuth of the driver's eyes relative to the radar, the relative distance between the eyes and the radar, and the preset relative position of the eyes and the rearview mirror; and the rearview mirror is adjusted based on the rearview mirror adjustment information. The rearview mirror includes an exterior rearview mirror and / or an interior rearview mirror.

[0076] In the adjusted seat position, the rearview mirror adjustment information is determined based on the newly acquired eye information. This allows for automatic rearview mirror adjustment based on the driver's eye position, eliminating the need for manual rearview mirror adjustment and further improving the user experience. The rearview mirror adjustment information indicates the relative position of the rearview mirror and the vehicle body, ensuring that the rearview mirror provides an optimal field of view for the driver.

[0077] Furthermore, the system can receive rearview mirror adjustment commands input by the user and adjust the rearview mirror in response to the rearview mirror adjustment commands. A relationship can be established between the rearview mirror adjustment information and the driver. When the driver subsequently drives the vehicle again, the system can obtain the rearview mirror adjustment parameters corresponding to the driver based on the driver's identity information. This improves the efficiency of rearview mirror adjustment and its fit with the user's actual needs, enabling one-time adjustment and reducing the likelihood of user fine-tuning.

[0078] In a specific implementation, the driver's identity information can be determined by the pressure detected by a pressure sensor installed on the driver's seat, or by an image acquisition device such as a camera, or by voiceprint recognition, or by the driver inputting his or her identity through a human-computer interaction interface or preset buttons.

[0079] In some implementations, the above-mentioned human driving position adjustment model can be used to obtain adjustment information of the rearview mirror.

[0080] Accordingly, during the training process of the human driving position adjustment model, the training samples include data related to rearview mirror adjustment.

[0081] In some non-limiting embodiments, the adjustment information of the rearview mirror can be carried in the adjustment control instruction, and the adjustment control instruction is sent to the rearview mirror controller, which adjusts the rearview mirror adjustment component to adjust the angle between the rearview mirror and the vehicle to provide the driver with a better field of view.

[0082] An embodiment of the present invention further provides a vehicle control device, which can be used to implement the above-mentioned vehicle control method.

[0083] Reference Figure 2 , a schematic diagram of the structure of a vehicle control device in an embodiment of the present invention is given. The vehicle control device 20 may include:

[0084] an information determining unit 21 for, after detecting that the driver has taken a seat, obtaining leg information and eye information of the driver based on the reflected signal received by the radar, wherein the leg information indicates the amount of space in front of the driver's legs, and the eye information indicates the position of the driver's eyes;

[0085] an estimating unit 22, configured to estimate seat position adjustment information of the seat based on the leg information and the eye information;

[0086] The adjusting unit 23 is configured to adjust the position of the seat according to the seat position adjustment information.

[0087] In a specific implementation, the control device 20 of the above-mentioned vehicle can correspond to a chip with vehicle control function in the vehicle, such as SOC (System-On-a-Chip, system on chip), baseband chip, etc.; or correspond to a chip module with vehicle control function in the vehicle; or correspond to a chip module with a data processing function chip, or correspond to a central controller in the vehicle, or correspond to the vehicle itself.

[0088] In a specific implementation, the specific working principle and working process of the control device 20 of the above-mentioned vehicle can be found in the description of the control method of the above-mentioned vehicle in the above-mentioned embodiment, and will not be repeated here.

[0089] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle control method provided by any of the above embodiments of the present invention are executed.

[0090] The computer-readable storage medium may include a non-volatile memory or a non-transitory memory, and may also include an optical disk, a mechanical hard disk, a solid-state drive, etc.

[0091] Specifically, in the embodiment of the present invention, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0092] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0093] An embodiment of the present invention also provides a terminal, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor runs the computer program, the steps of the vehicle control method provided in any of the above embodiments are executed.

[0094] The memory is coupled to the processor, and the memory may be located inside or outside the terminal. The memory and the processor may be connected via a communication bus.

[0095] The terminal may include but is not limited to mobile phones, computers, tablet computers and other terminal devices, and may also be a server, cloud platform, etc.

[0096] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the units is merely a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0098] In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units. For example, for various devices and products applied to or integrated into a chip, the various modules / units contained therein may all be implemented in the form of hardware such as circuits, or at least some of the modules / units may be implemented in the form of software programs, which run on the processor integrated inside the chip, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits; for various devices and products applied to or integrated into a chip module, the various modules / units contained therein may all be implemented in the form of hardware such as circuits, and different modules / units may be located in the same component (such as a chip, circuit module, etc.) or different components of the chip module, or at least some of the modules / units may be implemented in the form of hardware such as circuits. The element can be implemented in the form of a software program, which runs on the processor integrated inside the chip module, and the remaining (if any) modules / units can be implemented in the form of hardware such as circuits; for various devices and products applied to or integrated in the terminal, the various modules / units contained therein can be implemented in the form of hardware such as circuits, and different modules / units can be located in the same component (for example, chip, circuit module, etc.) or different components in the terminal, or, at least some modules / units can be implemented in the form of a software program, which runs on the processor integrated inside the terminal, and the remaining (if any) modules / units can be implemented in the form of hardware such as circuits.

[0099] It should be understood that the term "and / or" as used herein simply describes an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " as used herein indicates that the related objects are in an "or" relationship.

[0100] The term "plurality" used in the embodiments of the present application refers to two or more.

[0101] The first, second, third, etc. descriptions appearing in the embodiments of this application are only for illustration and distinction of the description objects. There is no order, nor does it indicate any special limitation on the number of devices in the embodiments of this application, and cannot constitute any limitation on the embodiments of this application.

[0102] It should be noted that the serial numbers of the steps in this embodiment do not limit the execution order of the steps.

[0103] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A vehicle control method, characterized in that: include: After detecting that the driver has taken a seat, obtaining leg information and eye information of the driver based on the reflected signal received by the radar, wherein the leg information is used to indicate the size of the space in front of the driver's legs, and the eye information is used to indicate the position of the driver's eyes; estimating seat position adjustment information of the seat based on the leg information and the eye information; adjusting the position of the seat according to the seat position adjustment information; The estimating seat position adjustment information of the seat according to the leg information and the eye information includes: determining the space in front of the driver's legs based on the leg information; determining a distance between the driver's head and a vehicle roof and a distance between the driver's head and a front windshield according to the eye information; estimating the seat position adjustment information based on the amount of space in front of the driver's legs, the distance between the driver's head and the roof, and the distance between the driver's head and the front windshield; The step of obtaining the driver's eye information based on the reflected signal received by the radar includes: determining a change trend of the relative distance between the driver's upper eyelid and lower eyelid according to a change trend of the reflected signals continuously received by the radar; determining the relative distance between the driver's eyes and the radar based on a transmitted signal capable of determining a change trend of the relative distance between the driver's upper eyelid and lower eyelid, a corresponding reflected signal, and a transmission time of the transmitted signal and a reception time of the reflected signal; The azimuth of the driver's eyes relative to the radar is obtained based on the phase difference between the reflected signal reflected from the driver's eyes and the corresponding transmitted signal, wherein the eye information includes: the relative distance between the driver's eyes and the radar and the azimuth of the driver's eyes relative to the radar.

2. The vehicle control method according to claim 1, wherein: The estimating the seat position adjustment information according to the space in front of the driver's legs, the distance between the driver's head and the roof, and the distance between the driver's head and the front windshield includes: Determining the distance between the driver's knees and the vehicle compartment in front of the legs, and the height of the knees from the ground, based on the size of the space in front of the legs; determining the height adjustment information of the seat according to the height of the knee from the ground and the distance between the driver's head and the roof of the vehicle; The front and rear adjustment information of the seat is determined according to the distance between the driver's knees and the front compartment and the distance between the driver's head and the front windshield, and the front and rear direction is consistent with the front direction of the vehicle.

3. The vehicle control method according to claim 1, wherein: Also includes: The driver's identity information is associated with the seat position adjustment information, and the association relationship between the driver's identity information and the seat position adjustment information is stored. The association relationship is used to subsequently search for the associated seat position adjustment information based on the driver's identity information and to adjust the position of the seat.

4. The vehicle control method according to claim 1, wherein: Also includes: After adjusting the position of the seat according to the seat position adjustment information, obtaining the driver's eye information again based on the reflected signal received by the radar in the adjusted seat position; determining, based on the driver's eye information obtained again, an azimuth of the driver's eyes relative to the radar and a relative distance between the driver's eyes and the radar; determining rearview mirror adjustment information based on the relative position of the radar and the rearview mirror, the azimuth of the driver's eyes relative to the radar, the relative distance between the eyes and the radar, and a preset relative position of the eyes and the rearview mirror, wherein the rearview mirror adjustment information is used to indicate the relative position of the rearview mirror and the vehicle body; The rearview mirror is adjusted according to the rearview mirror adjustment information, and the rearview mirror includes: an exterior rearview mirror and / or an interior rearview mirror.

5. The vehicle control method according to claim 1, wherein: The estimating seat position adjustment information of the seat according to the leg information and the eye information includes: Inputting the leg information and the eye information into a human driving position adjustment model; estimating the seat position adjustment information using the human driving position adjustment model, wherein the human driving position adjustment model is trained based on at least vehicle attribute information of the vehicle and a training sample set including user habitual position information; The vehicle attribute information includes at least one of the following: brake position, accelerator position, roof height, maximum front and rear adjustment position of the seat, maximum adjustment height of the seat, and legroom; The legroom refers to the space at the front end of the vehicle compartment for placing the driver's legs.

6. The vehicle control method according to claim 5, wherein: Also includes: receiving a seat adjustment instruction input by a user; adjusting the position of the seat in response to the seat adjustment command; At the adjusted seat position, obtaining the driver's leg information and eye information based on the reflected signal received by the radar; The adjusted seat position and the driver's leg information and eye information obtained at the adjusted seat position are used as training data to train the human driving position adjustment model.

7. A vehicle control device, characterized in that: include: an information determining unit, configured to, after detecting that the driver has taken a seat, obtain leg information and eye information of the driver based on the reflected signal received by the radar, wherein the leg information is used to indicate the amount of space in front of the driver's legs, and the eye information is used to indicate the position of the driver's eyes; an estimating unit, configured to estimate seat position adjustment information of the seat based on the leg information and the eye information; an adjusting unit, configured to adjust the position of the seat according to the seat position adjustment information; The estimation unit is configured to determine the space in front of the driver's legs based on the leg information; determining a distance between the driver's head and the vehicle roof and a distance between the driver's head and the front windshield based on the eye information; estimating seat position adjustment information based on the amount of space in front of the driver's legs, the distance between the driver's head and the vehicle roof, and the distance between the driver's head and the front windshield; The information determining unit is configured to determine a change trend of the relative distance between the upper eyelid and the lower eyelid of the driver according to a change trend of the reflected signals continuously received by the radar; The relative distance between the driver's eyes and the radar is determined based on a transmitted signal and a corresponding reflected signal that can determine the changing trend of the relative distance between the driver's upper eyelid and lower eyelid, as well as the transmission time of the transmitted signal and the reception time of the reflected signal; the azimuth of the driver's eyes relative to the radar is obtained based on the phase difference between the reflected signal reflected from the driver's eyes and the corresponding transmitted signal, wherein the eye information includes: the relative distance between the driver's eyes and the radar and the azimuth of the driver's eyes relative to the radar.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 6 are executed.

9. A terminal comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor runs the computer program, the processor performs the steps of the vehicle control method according to any one of claims 1 to 6.

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