A steering wheel adaptive adjustment method, device, equipment and readable storage medium

Abstract

The application relates to a steering wheel adaptive adjustment method and device, equipment and a readable storage medium, and relates to the technical field of vehicle control. The application comprises the following steps: controlling the steering wheel to be adjusted forward and backward according to the size relationship between the real-time elbow joint angle value of a driver and a preset comfortable joint angle value; determining the projection of a vehicle-mounted instrument on the steering wheel according to the eye point position information of the driver and the boundary information of the vehicle-mounted instrument; and controlling the steering wheel to be adjusted upward and downward according to the size relationship between a first interval and a second interval, wherein the first interval is the minimum distance between the upper boundary of the projection and the upper boundary of the maximum visible boundary of the steering wheel, and the second interval is the minimum distance between the lower boundary of the projection and the lower boundary of the maximum visible boundary of the steering wheel. Through the application, adaptive and personalized adjustment of the steering wheel is realized.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a steering wheel adaptive adjustment method, device, equipment, and readable storage medium. Background Technology

[0002] With rapid economic development and the continuous improvement of people's living standards, automobiles have become an indispensable means of transportation. After entering the vehicle, drivers often adjust their driving posture (mainly the seat and steering wheel). The general adjustment sequence is as follows: determine the fore-and-aft position of the seat based on the pedal position; determine the seat height based on forward visibility and personal preference; and finally, determine the up-and-down and fore-and-aft position of the steering wheel based on the needs for instrument visibility and arm reach.

[0003] Vehicle steering wheels typically feature fore-and-aft and height adjustment to accommodate the driving and adjustment needs of drivers of different sizes. In related technologies, when adjusting the steering wheel, users often manually adjust its position according to their needs. This involves unlocking the steering wheel lock lever and manually extending and rotating the steering wheel axially, which is cumbersome and laborious. Alternatively, users can adjust the steering wheel's height and fore-and-aft position electrically. This involves operating four-way adjustment buttons, which in turn activate a motor to drive the steering wheel's axial extension and rotation. While less strenuous, this method lacks automation.

[0004] Therefore, it is clear that both manual and electric adjustment are user-initiated adjustments, rather than adaptive and personalized adjustments based on user needs, which does not conform to the future development trend of intelligent vehicles. Summary of the Invention

[0005] This application provides a steering wheel adaptive adjustment method, device, equipment, and readable storage medium to solve the problem that adaptive steering wheel adjustment cannot be achieved in related technologies.

[0006] Firstly, a method for adaptive steering wheel adjustment is provided, including the following steps:

[0007] The steering wheel is adjusted forward and backward based on the relationship between the driver's real-time elbow joint angle value and the preset comfort joint angle value.

[0008] The projection of the vehicle instrument on the steering wheel is determined based on the driver's eye position information and the boundary information of the vehicle instrument.

[0009] The steering wheel is adjusted up and down according to the relationship between the first spacing and the second spacing. The first spacing is the minimum distance between the upper boundary of the projection and the upper boundary of the maximum visible boundary of the steering wheel, and the second spacing is the minimum distance between the lower boundary of the projection and the lower boundary of the maximum visible boundary of the steering wheel.

[0010] In some embodiments, prior to the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value, the method further includes:

[0011] A top-down view of the driver's sitting posture is obtained by a first camera module fixed above the driver;

[0012] A side view of the driver's sitting posture is obtained by a second camera module fixed to the side of the driver;

[0013] The real-time elbow joint angle value is calculated based on the top and side views of the driver's sitting posture.

[0014] The top view and the side view both include the driver's upper limb position information and the driver's eye position information.

[0015] In some embodiments, calculating the real-time elbow joint angle value based on the top and side views of the driver's seating position includes:

[0016] The elbow joint angle of the driver in the top view is calculated based on the coordinates of the driver's shoulder joint, elbow joint, and hand gripping point in the top view.

[0017] The elbow joint angle value of the driver in the side view is calculated based on the coordinates of the driver's shoulder joint, elbow joint, and hand gripping point in the side view.

[0018] The real-time elbow joint angle of the driver in three-dimensional human form is calculated based on the elbow joint angle values ​​of the driver in the top view and the side view.

[0019] In some embodiments, prior to the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value, the method further includes:

[0020] The driver's real-time elbow joint angle value is calculated by an angle sensing module fixed to the driver's upper limb position.

[0021] In some embodiments, after the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value, the method further includes:

[0022] The driver's new elbow joint angle value is recalculated after a preset time.

[0023] If the new elbow joint angle value is not equal to the comfortable joint angle value, the fore-and-aft position of the steering wheel will not be adjusted.

[0024] In some embodiments, controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value includes:

[0025] If the real-time elbow joint angle value is greater than the comfortable joint angle value, then the steering wheel is adjusted to be closer to the driver.

[0026] If the real-time elbow joint angle value is equal to the comfortable joint angle value, then the steering wheel fore-and-aft adjustment is not controlled;

[0027] If the real-time elbow joint angle value is less than the comfortable joint angle value, then the steering wheel is adjusted to move away from the driver.

[0028] In some embodiments, determining the projection of the vehicle instrument on the steering wheel based on the driver's eye position information and the boundary information of the vehicle instrument includes:

[0029] The visual envelope boundary of the vehicle instrument is generated based on the driver's eye position information and the boundary information of the vehicle instrument.

[0030] The area formed by the intersection of the visible envelope boundary and the steering wheel plane is taken as the projection of the vehicle instrument on the steering wheel.

[0031] In some embodiments, controlling the steering wheel to adjust up and down based on the size relationship between the first spacing and the second spacing includes:

[0032] When the first gap is smaller than the second gap, the steering wheel is controlled to adjust upwards;

[0033] When the first spacing is equal to the second spacing, the steering wheel is not controlled to adjust up and down;

[0034] When the first spacing is greater than the second spacing, the steering wheel is controlled to adjust downwards.

[0035] In some embodiments, controlling the steering wheel to adjust upward includes:

[0036] The upward adjustment distance is calculated based on the first spacing and the second spacing.

[0037] The rotation angle of the steering wheel axis is calculated based on the upward adjustment distance and the steering wheel's rotation radius.

[0038] The rotation of the steering wheel axis is controlled based on the rotation angle, so that the steering wheel is adjusted upward by the specified upward adjustment distance.

[0039] In some embodiments, controlling the steering wheel to adjust downwards includes:

[0040] The downward adjustment distance is calculated based on the first spacing and the second spacing.

[0041] The rotation angle of the steering wheel axis is calculated based on the downward adjustment distance and the steering wheel's rotation radius.

[0042] The rotation of the steering wheel axis is controlled based on the rotation angle, so that the steering wheel is adjusted downward by the specified downward adjustment distance.

[0043] In some embodiments, the relationship between the rotation angle and the first spacing and the second spacing is as follows:

[0044] |h1-h2| / 2=2*R*sin(A / 2)

[0045] In the formula, h1 represents the first spacing, h2 represents the second spacing, R represents the steering wheel's rotation radius, and A represents the rotation angle.

[0046] In some embodiments, after the step of controlling the steering wheel to adjust up and down according to the size relationship between the first spacing and the second spacing, the method further includes:

[0047] After a preset time, reacquire the new first spacing and the new second spacing;

[0048] If the new first spacing is not equal to the new second spacing, then the vertical position of the steering wheel will not be adjusted.

[0049] Secondly, a steering wheel adaptive adjustment device is provided, including: an analysis module and an adjustment module;

[0050] The adjustment module is used to control the steering wheel to adjust forward and backward according to the relationship between the driver's real-time elbow joint angle value and the preset comfort joint angle value.

[0051] The analysis module is used to determine the projection of the vehicle instrument on the steering wheel based on the driver's eye position information and the boundary information of the vehicle instrument.

[0052] The adjustment module is also used to control the steering wheel to adjust up and down according to the size relationship between the first spacing and the second spacing. The first spacing is the minimum distance between the upper boundary of the projection and the upper boundary of the maximum visible boundary of the steering wheel, and the second spacing is the minimum distance between the lower boundary of the projection and the lower boundary of the maximum visible boundary of the steering wheel.

[0053] Thirdly, a steering wheel adaptive adjustment device is provided, comprising: a memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the aforementioned steering wheel adaptive adjustment method.

[0054] Fourthly, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned adaptive steering wheel adjustment method.

[0055] This application provides a steering wheel adaptive adjustment method, device, equipment, and readable storage medium, including controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value; determining the projection of the vehicle instrument on the steering wheel based on the driver's eye position information and the boundary information of the vehicle instrument; and controlling the steering wheel to adjust up and down based on the relationship between a first distance and a second distance, wherein the first distance is the minimum distance between the upper boundary of the projection and the upper boundary of the maximum visible boundary of the steering wheel, and the second distance is the minimum distance between the lower boundary of the projection and the lower boundary of the maximum visible boundary of the steering wheel. Through this application, the forward and backward position of the steering wheel can be adaptively adjusted according to the driver's elbow joint angle value and the comfort joint angle value, and simultaneously, the up and down position of the steering wheel can be adaptively adjusted according to the driver's eye position information, the boundary information of the vehicle instrument, and the maximum visible boundary of the steering wheel, thereby achieving adaptive and personalized steering wheel adjustment. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A flowchart illustrating a steering wheel adaptive adjustment method provided in an embodiment of this application;

[0058] Figure 2 A top view of the driver's elbow joint angle provided for an embodiment of this application;

[0059] Figure 3 A schematic diagram of the driver's elbow joint angle from a side view, provided for an embodiment of this application;

[0060] Figure 4 A schematic diagram of the elbow joint angle of a driver in a three-dimensional human body provided for an embodiment of this application;

[0061] Figure 5 A schematic diagram illustrating the relationship between the eye point, steering wheel, and vehicle instrument panel provided in an embodiment of this application;

[0062] Figure 6 A schematic diagram of the visible area of ​​the vehicle instrument panel when viewed through the steering wheel, provided for an embodiment of this application;

[0063] Figure 7 A schematic diagram illustrating the adjustment of the steering column provided in an embodiment of this application;

[0064] Figure 8 This is a schematic diagram of the structure of a steering wheel adaptive adjustment device provided in an embodiment of this application.

[0065] In the diagram: 1-Eye point, 2-Steering wheel, 3-Vehicle instrument panel, 4-Steering column, 5-Rotation axis, 6-Visible envelope boundary, 7-Projection, 8-First elbow joint angle, 9-Second elbow joint angle, 10-Third elbow joint angle, 11-Maximum visible boundary of steering wheel, 12-First spacing, 13-Second spacing, 14-Upward adjustment position, 15-Downward adjustment position. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0067] This application provides a steering wheel adaptive adjustment method, device, equipment, and readable storage medium, which can solve the problem that adaptive steering wheel adjustment cannot be achieved in related technologies.

[0068] Figure 1 This application provides a steering wheel adaptive adjustment method, which includes the following steps:

[0069] Step S10: Adjust the steering wheel forward and backward according to the relationship between the driver's real-time elbow joint angle value and the preset comfort joint angle value;

[0070] As an example, in this embodiment, the fore-and-aft position of the steering wheel will be analyzed and identified using human joint information (such as the elbow joint angle). Specifically, this embodiment uses the elbow joint angle as an example: the steering wheel fore-and-aft position analysis module can analyze and determine whether the driver's real-time elbow joint angle meets the optimal angle, thereby sending a fore-and-aft adjustment signal to the steering wheel fore-and-aft adjustment module. Upon receiving the fore-and-aft adjustment signal from the steering wheel fore-and-aft position analysis module, the steering wheel fore-and-aft adjustment module drives the motor to adjust by a unit adjustment amount until the real-time elbow joint angle reaches the optimal angle, thus completing the fore-and-aft adjustment of the steering wheel 2.

[0071] Specifically, the comfortable joint angle value (i.e., the optimal angle) is first defined. This can be obtained through competitive analysis, simulation analysis, or actual user evaluation and data collection. For example, through simulation analysis, the most comfortable elbow joint angle value is obtained as X under a real 3D human body. This is the most comfortable joint angle for most users, so the comfortable joint angle value can be preset to X. Then, the obtained real-time elbow joint angle value is compared with the comfortable joint angle value. Based on the comparison result, it is determined whether the distance between the steering wheel and the driver is too close or too far, and then the fore-and-aft position of the steering wheel is adjusted. It should be noted that in this embodiment, "forward" is defined as the direction away from the driver, and "backward" is defined as the direction closer to the driver.

[0072] Furthermore, the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfortable joint angle value includes:

[0073] If the real-time elbow joint angle value is greater than the comfortable joint angle value, then the steering wheel is adjusted to be closer to the driver.

[0074] If the real-time elbow joint angle value is equal to the comfortable joint angle value, then the steering wheel fore-and-aft adjustment is not controlled;

[0075] If the real-time elbow joint angle value is less than the comfortable joint angle value, then the steering wheel is adjusted to move away from the driver.

[0076] In this exemplary embodiment, the real-time elbow joint angle value is compared with the comfortable joint angle value. If the real-time elbow joint angle value is less than the comfortable joint angle value, it indicates that the steering wheel 2 is too close to the person, and a forward adjustment signal (i.e., adjusting away from the driver) needs to be sent to the steering wheel fore-and-aft adjustment module. At this time, the steering wheel fore-and-aft adjustment module will control the drive motor to adjust the steering wheel 2 forward along its steering column 4. If the real-time elbow joint angle value is greater than the comfortable joint angle value, it indicates that the steering wheel 2 is too far from the person, and a backward adjustment signal (i.e., adjusting towards the driver) needs to be sent to the steering wheel fore-and-aft adjustment module. At this time, the steering wheel fore-and-aft adjustment module will control the drive motor to adjust the steering wheel 2 backward along its steering column 4.

[0077] It should be understood that when making fore-and-aft adjustments, the above steps can be repeated in 10mm increments until the real-time elbow joint angle value is equal to or approximately equal to the comfortable joint angle value (i.e. until the steering wheel fore-and-aft analysis module no longer sends an adjustment signal), thus achieving the optimal fore-and-aft comfortable position adjustment of the steering wheel 2.

[0078] Furthermore, prior to the step of calculating the real-time elbow joint angle value based on the top and side views of the driver's seating position, the method further includes:

[0079] A top-down view of the driver's sitting posture is obtained by a first camera module fixed above the driver;

[0080] A side view of the driver's sitting posture is obtained by a second camera module fixed to the side of the driver;

[0081] The real-time elbow joint angle value is calculated based on the top and side views of the driver's sitting posture.

[0082] The top view and the side view both include the driver's upper limb position information and the driver's eye position information.

[0083] As an example, in this embodiment, the driver's real-time elbow joint angle value will be obtained through image analysis. Specifically, a human body information acquisition module is provided, which includes cameras arranged on the roof (above the driver) and on the door (to the side of the driver). The two cameras can take pictures and collect the driver's eye position information and upper limb position information from top and side angles, respectively, to obtain a top view and a side view including the driver's upper limb position information and eye position information.

[0084] After obtaining the top and side views of the driver's seating position, the upper limb position information in the top and side views can be processed by the steering wheel fore-and-aft position analysis module to calculate the real-time elbow joint angle value (i.e., the angle formed between the elbow and the steering wheel) in 3D human body. It can be understood that the real-time elbow joint angle value can be used to determine whether the current fore-and-aft position of the steering wheel 2 is comfortable for the driver, that is, whether the lateral distance between the steering wheel 2 and the driver meets the driver's comfortable driving needs.

[0085] Furthermore, the upper limb position information includes shoulder joint coordinates, elbow joint coordinates, and hand gripping point coordinates. The calculation of the real-time elbow joint angle value based on the top and side views of the driver's seating posture includes:

[0086] The elbow joint angle of the driver in the top view is calculated based on the coordinates of the driver's shoulder joint, elbow joint, and hand gripping point in the top view.

[0087] The elbow joint angle value of the driver in the side view is calculated based on the coordinates of the driver's shoulder joint, elbow joint, and hand gripping point in the side view.

[0088] The real-time elbow joint angle of the driver in three-dimensional human form is calculated based on the elbow joint angle values ​​of the driver in the top view and the side view.

[0089] As an example, in this embodiment, see Figure 2 and Figure 3 As shown, based on the top and side views of the driver's seating posture, image analysis yields a triangle formed by the shoulder joint, elbow joint, and hand gripping point. Then, according to the triangle principle and the coordinates of the shoulder joint, elbow joint, and hand gripping point, the elbow joint angle value in the top view can be calculated (i.e.,...). Figure 2 The first elbow joint angle (8) in the middle and the elbow joint angle value in the side view (i.e. Figure 3 The second elbow joint angle (9) is calculated by combining the elbow joint angle values ​​in the top view and the side view based on the principles of 3D and 2D drawing to obtain the real-time 3D elbow joint angle value (i.e., the elbow joint angle in the top view and the elbow joint angle in the side view). Figure 4 The third elbow joint angle is 10°.

[0090] Furthermore, before the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value, the method further includes:

[0091] The driver's real-time elbow joint angle value is calculated by an angle sensing module fixed to the driver's upper limb position.

[0092] As an example, in this embodiment, the driver's real-time elbow joint angle value can also be obtained through an angle sensor. It is understood that the angle sensor can be directly worn on the driver's upper limb, and the real-time elbow joint angle value can be obtained by analyzing and calculating the signal collected by the angle sensor. It should be noted that the driver's real-time elbow joint angle value can also be obtained through other methods, which can be determined according to actual needs and are not limited here.

[0093] Furthermore, after the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value, the method further includes:

[0094] The driver's new elbow joint angle value is recalculated after a preset time.

[0095] If the new elbow joint angle value is not equal to the comfortable joint angle value, the fore-and-aft position of the steering wheel will not be adjusted.

[0096] As an example, it is understood that after adjusting the fore-and-aft position of the steering wheel 2 using the method in this embodiment, if the driver feels uncomfortable with the fore-and-aft position of the steering wheel 2, the driver may immediately readjust the fore-and-aft position of the steering wheel 2 to meet the driver's comfortable driving needs.

[0097] To address this issue, this embodiment provides a redundant judgment mechanism: after a preset time has elapsed since the steering wheel 2's fore-and-aft position adjustment, the driver's new elbow joint angle value is recalculated, and it is determined whether the new elbow joint angle value is equal to the comfortable joint angle value. If they are equal, it indicates that the fore-and-aft position of the steering wheel 2, adaptively adjusted by the method provided in this embodiment, is comfortable for the driver; if they are not equal, it indicates that the fore-and-aft position of the steering wheel 2, adaptively adjusted by the method provided in this embodiment, is uncomfortable for the driver, meaning the driver has readjusted the fore-and-aft position of the steering wheel 2 according to their own comfort requirements. In this case, it is necessary to control the method provided in this embodiment not to adjust the fore-and-aft position of the steering wheel 2 to ensure that the fore-and-aft position of the steering wheel 2 is comfortable for the driver. It should be noted that the specific setting of the preset time can be determined according to actual needs and is not limited thereto.

[0098] Step S20: Determine the projection of the vehicle instrument on the steering wheel based on the driver's eye position information and the boundary information of the vehicle instrument;

[0099] Exemplary and understandable, the in-vehicle instrument cluster 3 refers to the combination instrument panel inside the vehicle. This in-vehicle instrument cluster 3 can be square, round, or other shapes, depending on actual needs, and is not limited here. The boundaries of the in-vehicle instrument cluster 3 are known information; that is, the boundary information of the in-vehicle instrument cluster is known and can be directly obtained.

[0100] The driver's eye point 1 position information is obtained by the camera, and the projection 7 of the vehicle instrument 3 on the steering wheel 2 can be determined based on the position information of the eye point 1 and the boundary information of the vehicle instrument 3.

[0101] Furthermore, determining the projection of the vehicle instrument panel onto the steering wheel based on the driver's eye position information and the boundary information of the vehicle instrument panel includes:

[0102] The visual envelope boundary of the vehicle instrument is generated based on the driver's eye position information and the boundary information of the vehicle instrument.

[0103] The area formed by the intersection of the visible envelope boundary and the steering wheel plane is taken as the projection of the vehicle instrument on the steering wheel.

[0104] As an example, in this embodiment, see Figure 5 As shown, based on the position information of eye point 1 and the boundary information of vehicle instrument 3, the visual envelope boundary 6 of vehicle instrument 3 can be generated; then, based on the intersection principle of the plane of steering wheel 2 and the visual envelope boundary 6, the projection 7 of vehicle instrument 3 on the plane of steering wheel 2 can be obtained. That is to say, the upper hollow area of ​​steering wheel 2 must be larger than the projection 7 of vehicle instrument 3 on the plane of steering wheel 2 to ensure the visibility of vehicle instrument 3 from eye point 1.

[0105] Step S30: Adjust the steering wheel up and down according to the size relationship between the first spacing and the second spacing. The first spacing is the minimum distance between the upper boundary of the projection and the upper boundary of the maximum visible boundary of the steering wheel, and the second spacing is the minimum distance between the lower boundary of the projection and the lower boundary of the maximum visible boundary of the steering wheel.

[0106] Exemplary, in this embodiment, the minimum distance between the upper boundary of projection 7 and the upper boundary of the maximum visible boundary 11 of the steering wheel (i.e., Figure 6 The minimum distance between the first spacing 12 in the middle and the lower boundary of the projection 7 and the lower boundary of the maximum visible boundary 11 of the steering wheel (i.e., Figure 6The second distance 13) is determined, and the vertical position of the steering wheel 2 is judged to be comfortable for the driver based on the relationship between the first and second distances. The vertical adjustment of the steering wheel 2 is then controlled to achieve the optimal comfortable position, thus realizing the adaptive adjustment of the steering wheel 2. It is understood that the adjustment principle in this embodiment is preferably to center the steering wheel 2 as much as possible. Of course, the adjustment principle can also be set according to the driver's individual needs, and is not limited here.

[0107] Furthermore, the step of controlling the steering wheel to adjust up and down based on the size relationship between the first and second spacing includes:

[0108] When the first gap is smaller than the second gap, the steering wheel is controlled to adjust upwards;

[0109] When the first spacing is equal to the second spacing, the steering wheel is not controlled to adjust up and down;

[0110] When the first spacing is greater than the second spacing, the steering wheel is controlled to adjust downwards.

[0111] In this exemplary embodiment, the vertical position of the vehicle instrument panel 3 within the hollowed-out area of ​​the steering wheel 2 is determined to obtain an upward or downward adjustment signal, which is then sent to the steering wheel vertical adjustment module. The steering wheel vertical adjustment module adjusts the vertical position of the steering wheel 2 based on this signal. Specifically, assuming the measured first distance 12 is h1 and the second distance 13 is h2, if h1 > h2, it indicates the steering wheel 2 is too high and requires downward adjustment. Assuming the adjustment principle is to center the steering wheel 2 as much as possible, the specific downward adjustment value is (h1 - h2) / 2. Conversely, if h1 < h2, it indicates the steering wheel 2 is too low and requires upward adjustment. Assuming the adjustment principle is also to center the steering wheel 2 as much as possible, the specific downward adjustment value is (h2 - h1) / 2. Furthermore, if h1 = h2, it indicates the steering wheel is in the centered position, and the vertical position of the steering wheel 2 does not require adjustment.

[0112] Furthermore, controlling the steering wheel to adjust upward includes:

[0113] The upward adjustment distance is calculated based on the first spacing and the second spacing.

[0114] The rotation angle of the steering wheel axis is calculated based on the upward adjustment distance and the steering wheel's rotation radius.

[0115] The rotation of the steering wheel axis is controlled based on the rotation angle, so that the steering wheel is adjusted upward by the specified upward adjustment distance.

[0116] The control of adjusting the steering wheel downwards includes:

[0117] The downward adjustment distance is calculated based on the first spacing and the second spacing.

[0118] The rotation angle of the steering wheel axis is calculated based on the downward adjustment distance and the steering wheel's rotation radius.

[0119] The rotation of the steering wheel axis is controlled based on the rotation angle, so that the steering wheel is adjusted downward by the specified downward adjustment distance.

[0120] The relationship between the rotation angle and the first spacing and the second spacing is as follows:

[0121] |h1-h2| / 2=2*R*sin(A / 2)

[0122] In the formula, h1 represents the first spacing, h2 represents the second spacing, R represents the steering wheel's rotation radius, and A represents the rotation angle.

[0123] As an example, in this embodiment, see Figure 7 As shown, after determining whether the steering wheel 2 needs to be adjusted downwards or upwards, the upward adjustment position 14 or downward adjustment position 15 will be determined according to the first and second gaps, and then the steering wheel 2 will be controlled to adjust up and down around the rotation axis 5 according to the upward adjustment position 14 or downward adjustment position 15.

[0124] For details, see Figure 6 As shown, the upward or downward adjustment value (i.e., upward adjustment distance or downward adjustment distance) of the steering wheel 2 is calculated as |h1-h2| / 2 based on the first spacing 12 and the second spacing 13. Given that the rotation radius of the steering wheel is R, and if the required rotation angle of the rotation axis 5 is set to A, then the relationship between the two is |h1-h2| / 2=2*R*sin(A / 2). Therefore, the specific method for adjusting the steering wheel 2 up and down is as follows: substitute the upward or downward adjustment distance into the above formula to calculate the rotation angle of the rotation axis 5. Then, based on this rotation angle, automatically control the drive motor to rotate and adjust the rotation axis, thus achieving the upward or downward adjustment of the steering wheel 2. Therefore, this embodiment can achieve automatic forward and backward adjustment of the steering wheel 2 along the steering column 4 and automatic up and down adjustment of the steering wheel 2 around the rotation axis 5, meaning that the steering wheel 2 can be axially extended and rotated without the driver's assistance.

[0125] Furthermore, after the step of controlling the steering wheel to adjust up and down according to the size relationship between the first spacing and the second spacing, the method further includes:

[0126] After a preset time, reacquire the new first spacing and the new second spacing;

[0127] If the new first spacing is not equal to the new second spacing, then the vertical position of the steering wheel will not be adjusted.

[0128] As an example, it is understood that after adjusting the vertical position of the steering wheel 2 using the method in this embodiment, if the driver feels uncomfortable with the vertical position of the steering wheel 2, the driver may immediately readjust the vertical position of the steering wheel 2 to meet the driver's comfortable driving needs.

[0129] To address this issue, this embodiment also provides a redundant judgment mechanism: after the preset time for adjusting the vertical position of the steering wheel 2 is completed, the driver's new first distance and new second distance are recalculated, and it is determined whether the new first distance is equal to the new second distance. If they are equal, it indicates that the vertical position of the steering wheel 2 adaptively adjusted by the method provided in this embodiment is comfortable for the driver; if they are not equal, it indicates that the vertical position of the steering wheel 2 adaptively adjusted by the method provided in this embodiment is uncomfortable for the driver, that is, the driver has readjusted the vertical position of the steering wheel 2 according to their own comfort requirements. In this case, it is necessary to control the method provided in this embodiment not to adjust the vertical position of the steering wheel 2 to ensure that the vertical position of the steering wheel 2 is comfortable for the driver. It should be noted that the specific setting of the preset time can be determined according to actual needs and is not limited here.

[0130] In summary, this application enables adaptive adjustment of the steering wheel's fore-and-aft position based on the driver's elbow joint angle and preset comfort joint angle values. Simultaneously, it allows adaptive adjustment of the steering wheel's vertical position based on the driver's eye position, the vehicle's instrument panel boundary information, and the steering wheel's maximum visible boundary. This achieves adaptive and personalized steering wheel adjustment without user intervention, replacing traditional manual or electric adjustment methods. It avoids cumbersome operations and saves effort, significantly improving the intelligence level of vehicle steering wheel control.

[0131] This application embodiment also provides a steering wheel adaptive adjustment device, including: an analysis module and an adjustment module;

[0132] The adjustment module is used to control the steering wheel to adjust forward and backward according to the relationship between the driver's real-time elbow joint angle value and the preset comfort joint angle value.

[0133] The analysis module is used to determine the projection of the vehicle instrument on the steering wheel based on the driver's eye position information and the boundary information of the vehicle instrument.

[0134] The adjustment module is also used to control the steering wheel to adjust up and down according to the size relationship between the first spacing and the second spacing. The first spacing is the minimum distance between the upper boundary of the projection and the upper boundary of the maximum visible boundary of the steering wheel, and the second spacing is the minimum distance between the lower boundary of the projection and the lower boundary of the maximum visible boundary of the steering wheel.

[0135] Furthermore, the device also includes a first camera module fixed above the driver and a second camera module fixed to the side of the driver;

[0136] The first camera module is used to acquire a top view of the driver's seating position;

[0137] The second camera module is used to acquire a side view of the driver's seating position;

[0138] The analysis module is also used to calculate the real-time elbow joint angle value based on the top view and side view of the driver's sitting posture.

[0139] The top view and the side view both include the driver's upper limb position information and the driver's eye position information.

[0140] Furthermore, the device also includes an angle sensing module fixed to the driver's upper limb position. The angle sensing module is used to collect the driver's joint angle signal, and the analysis module is also used to calculate the real-time elbow joint angle value based on the joint angle signal.

[0141] Furthermore, the analysis module is also used for:

[0142] The driver's new elbow joint angle value is recalculated after a preset time.

[0143] If the new elbow joint angle value is not equal to the comfortable joint angle value, the adjustment module will not adjust the fore-and-aft position of the steering wheel.

[0144] Furthermore, the analysis module is specifically used for:

[0145] If the real-time elbow joint angle value is greater than the comfortable joint angle value, then the steering wheel is adjusted to be closer to the driver.

[0146] If the real-time elbow joint angle value is equal to the comfortable joint angle value, then the steering wheel fore-and-aft adjustment is not controlled;

[0147] If the real-time elbow joint angle value is less than the comfortable joint angle value, then the steering wheel is adjusted to move away from the driver.

[0148] Furthermore, the analysis module is specifically used for:

[0149] The elbow joint angle of the driver in the top view is calculated based on the coordinates of the driver's shoulder joint, elbow joint, and hand gripping point in the top view.

[0150] The elbow joint angle value of the driver in the side view is calculated based on the coordinates of the driver's shoulder joint, elbow joint, and hand gripping point in the side view.

[0151] The real-time elbow joint angle of the driver in three-dimensional human form is calculated based on the elbow joint angle values ​​of the driver in the top view and the side view.

[0152] Furthermore, the analysis module is specifically used for:

[0153] The visual envelope boundary of the vehicle instrument is generated based on the driver's eye position information and the boundary information of the vehicle instrument.

[0154] The area formed by the intersection of the visible envelope boundary and the steering wheel plane is taken as the projection of the vehicle instrument on the steering wheel.

[0155] Furthermore, the adjustment module is specifically used for:

[0156] When the first gap is smaller than the second gap, the steering wheel is controlled to adjust upwards;

[0157] When the first spacing is equal to the second spacing, the steering wheel is not controlled to adjust up and down;

[0158] When the first spacing is greater than the second spacing, the steering wheel is controlled to adjust downwards.

[0159] Furthermore, the adjustment module is specifically used for:

[0160] The upward adjustment distance is calculated based on the first spacing and the second spacing.

[0161] The rotation angle of the steering wheel axis is calculated based on the upward adjustment distance and the steering wheel's rotation radius.

[0162] The rotation of the steering wheel axis is controlled based on the rotation angle, so that the steering wheel is adjusted upward by the specified upward adjustment distance.

[0163] Furthermore, the adjustment module is specifically used for:

[0164] The downward adjustment distance is calculated based on the first spacing and the second spacing.

[0165] The rotation angle of the steering wheel axis is calculated based on the downward adjustment distance and the steering wheel's rotation radius.

[0166] The rotation of the steering wheel axis is controlled based on the rotation angle, so that the steering wheel is adjusted downward by the specified downward adjustment distance.

[0167] Furthermore, the relationship between the rotation angle and the first spacing and the second spacing is as follows:

[0168] |h1-h2| / 2=2*R*sin(A / 2)

[0169] In the formula, h1 represents the first spacing, h2 represents the second spacing, R represents the steering wheel's rotation radius, and A represents the rotation angle.

[0170] Furthermore, the adjustment module is also used for:

[0171] After a preset time, reacquire the new first spacing and the new second spacing;

[0172] If the new first spacing is not equal to the new second spacing, then the vertical position of the steering wheel will not be adjusted.

[0173] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the device and each unit described above can be referred to the corresponding process in the aforementioned steering wheel adaptive adjustment method embodiment, and will not be repeated here.

[0174] The apparatus provided in the above embodiments can be implemented as a computer program, which can be used in, for example... Figure 8 The steering wheel adaptive adjustment device shown is running.

[0175] This application also provides a steering wheel adaptive adjustment device, including: a memory, a processor, and a network interface connected via a system bus. The memory stores at least one instruction, which is loaded and executed by the processor to implement all or part of the steps of the aforementioned steering wheel adaptive adjustment method.

[0176] The network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0177] A processor can be a CPU, or other general-purpose processors, DSPs (Digital Signal Processors), ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor, or any conventional processor. The processor is the control center of a computer device, connecting all parts of the computer device through various interfaces and lines.

[0178] Memory can be used to store computer programs and / or modules. The processor implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for at least one function (such as video playback, image playback, etc.), etc.; the data storage area can store data created based on the use of the mobile phone (such as video data, image data, etc.). Furthermore, memory can include high-speed random access memory (RAM), and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, SMC (SmartMediaCard), SD (SecureDigital) cards, flash memory cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0179] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements all or part of the steps of the aforementioned adaptive steering wheel adjustment method.

[0180] The embodiments of this application can implement all or part of the aforementioned processes, or they can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various methods described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, ROM (Read-Only memory), RAM (Random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added to or subtracted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0181] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, servers, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0182] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0183] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0184] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for adaptive adjustment of a steering wheel, characterized in that, Includes the following steps: The steering wheel is adjusted forward and backward based on the relationship between the driver's real-time elbow joint angle value and the preset comfort joint angle value. The projection of the vehicle instrument on the steering wheel is determined based on the driver's eye position information and the boundary information of the vehicle instrument. The steering wheel is adjusted up and down according to the size relationship between the first spacing and the second spacing. The first spacing is the minimum distance between the upper boundary of the projection and the upper boundary of the maximum visible boundary of the steering wheel, and the second spacing is the minimum distance between the lower boundary of the projection and the lower boundary of the maximum visible boundary of the steering wheel. The step of determining the projection of the vehicle instrument on the steering wheel based on the driver's eye position information and the boundary information of the vehicle instrument includes: The visual envelope boundary of the vehicle instrument is generated based on the driver's eye position information and the boundary information of the vehicle instrument. The area formed by the intersection of the visible envelope boundary and the steering wheel plane is taken as the projection of the vehicle instrument on the steering wheel; The method of controlling the steering wheel to adjust up and down based on the size relationship between the first and second spacing includes: When the first gap is smaller than the second gap, the steering wheel is controlled to adjust upwards; When the first spacing is equal to the second spacing, the steering wheel is not controlled to adjust up and down; When the first gap is greater than the second gap, the steering wheel is controlled to adjust downwards; After the step of controlling the steering wheel to adjust up and down according to the size relationship between the first spacing and the second spacing, the method further includes: After a preset time, reacquire the new first spacing and the new second spacing; If the new first spacing is not equal to the new second spacing, then the vertical position of the steering wheel will not be adjusted.

2. The adaptive steering wheel adjustment method as described in claim 1, characterized in that, Before the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value, the method further includes: A top-down view of the driver's sitting posture is obtained by a first camera module fixed above the driver; A side view of the driver's sitting posture is obtained by a second camera module fixed to the side of the driver; The real-time elbow joint angle value is calculated based on the top and side views of the driver's sitting posture. The top view and the side view both include the driver's upper limb position information and the driver's eye position information.

3. The adaptive steering wheel adjustment method as described in claim 2, characterized in that, The calculation of the real-time elbow joint angle value based on the top and side views of the driver's seating position includes: The elbow joint angle of the driver in the top view is calculated based on the coordinates of the driver's shoulder joint, elbow joint, and hand gripping point in the top view. The elbow joint angle value of the driver in the side view is calculated based on the coordinates of the driver's shoulder joint, elbow joint, and hand gripping point in the side view. The real-time elbow joint angle of the driver in three-dimensional human form is calculated based on the elbow joint angle values ​​of the driver in the top view and the side view.

4. The adaptive steering wheel adjustment method as described in claim 1, characterized in that, Before the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value, the method further includes: The driver's real-time elbow joint angle value is calculated by an angle sensing module fixed to the driver's upper limb position.

5. The adaptive steering wheel adjustment method as described in claim 2 or 4, characterized in that, After the step of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and a preset comfort joint angle value, the method further includes: The driver's new elbow joint angle value is recalculated after a preset time. If the new elbow joint angle value is not equal to the comfortable joint angle value, the fore-and-aft position of the steering wheel will not be adjusted.

6. The adaptive steering wheel adjustment method as described in claim 1, characterized in that, The method of controlling the steering wheel to adjust forward and backward based on the relationship between the driver's real-time elbow joint angle value and the preset comfort joint angle value includes: If the real-time elbow joint angle value is greater than the comfortable joint angle value, then the steering wheel is adjusted to be closer to the driver. If the real-time elbow joint angle value is equal to the comfortable joint angle value, then the steering wheel fore-and-aft adjustment is not controlled; If the real-time elbow joint angle value is less than the comfortable joint angle value, then the steering wheel is adjusted to move away from the driver.

7. The adaptive steering wheel adjustment method as described in claim 1, characterized in that, The control of adjusting the steering wheel upwards includes: The upward adjustment distance is calculated based on the first spacing and the second spacing. The rotation angle of the steering wheel axis is calculated based on the upward adjustment distance and the steering wheel's rotation radius. The rotation of the steering wheel axis is controlled based on the rotation angle, so that the steering wheel is adjusted upward by the specified upward adjustment distance.

8. The adaptive steering wheel adjustment method as described in claim 1, characterized in that, The control of adjusting the steering wheel downwards includes: The downward adjustment distance is calculated based on the first spacing and the second spacing. The rotation angle of the steering wheel axis is calculated based on the downward adjustment distance and the steering wheel's rotation radius. The rotation of the steering wheel axis is controlled based on the rotation angle, so that the steering wheel is adjusted downward by the specified downward adjustment distance.

9. The adaptive steering wheel adjustment method as described in claim 7 or 8, characterized in that, The relationship between the rotation angle and the first spacing and the second spacing is as follows: |h1-h2| / 2=2*R*sin(A / 2) In the formula, h1 represents the first spacing, h2 represents the second spacing, R represents the steering wheel's rotation radius, and A represents the rotation angle.

10. A steering wheel adaptive adjustment device, characterized in that, include: Analysis module and adjustment module; The adjustment module is used to control the steering wheel to adjust forward and backward according to the relationship between the driver's real-time elbow joint angle value and the preset comfort joint angle value. The analysis module is used to determine the projection of the vehicle instrument on the steering wheel based on the driver's eye position information and the boundary information of the vehicle instrument. The adjustment module is also used to control the steering wheel to adjust up and down according to the size relationship between the first spacing and the second spacing. The first spacing is the minimum distance between the upper boundary of the projection and the upper boundary of the maximum visible boundary of the steering wheel, and the second spacing is the minimum distance between the lower boundary of the projection and the lower boundary of the maximum visible boundary of the steering wheel. Specifically, the analysis module is further used to generate the visual envelope boundary of the vehicle instrument based on the driver's eye position information and the boundary information of the vehicle instrument; and to use the area formed by the intersection of the visual envelope boundary and the steering wheel plane as the projection of the vehicle instrument on the steering wheel. The adjustment module is specifically used to control the steering wheel to adjust upwards when the first distance is less than the second distance; not to control the steering wheel to adjust up or down when the first distance is equal to the second distance; and to control the steering wheel to adjust downwards when the first distance is greater than the second distance. The adjustment module is also used to reacquire a new first distance and a new second distance after a preset time; if the new first distance is not equal to the new second distance, the vertical position of the steering wheel is not adjusted.

11. A steering wheel adaptive adjustment device, characterized in that, include: A memory and a processor, wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement the steering wheel adaptive adjustment method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steering wheel adaptive adjustment method according to any one of claims 1 to 9.

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