Controller six-degree-of-freedom picture generation method, device, equipment and storage medium

Abstract

The disclosure provides a controller six-freedom picture generation method and device, equipment and storage medium, relates to the technical field of artificial intelligence, and includes the following steps: acquiring a transmission time of electromagnetic waves emitted by a first device; acquiring attitude information of a controller, a receiving time and echo data of the electromagnetic waves; processing the echo data to determine scattering cross-section characteristics corresponding to the echo data; determining a spatial position of the controller according to the scattering cross-section characteristics, the transmission time and the receiving time; and generating a virtual reality picture containing six degrees of freedom of the controller based on the spatial position and the attitude information. Therefore, since the electromagnetic waves are not mechanical waves and sound waves, the superposition of sound waves caused by ultrasonic wave reflection is avoided, the accuracy of controller positioning is improved, the displacement information of the controller is calculated by using the characteristics of the electromagnetic waves, and finally a virtual reality picture containing six degrees of freedom of the controller is generated. Since a power device does not need to be arranged in the controller, the endurance time of the controller is improved.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence technology, and in particular to a method, apparatus, computer device, and storage medium for generating six-degrees-of-freedom images of a controller. Background Technology

[0002] In vehicles, by using simple controllers for 6DOF (6 degrees of freedom) positioning and tracking, and in conjunction with virtual reality equipment, users can have a very rich visual experience inside the car.

[0003] The controller's position and attitude information are essential for generating 6DOF virtual reality images. The gyroscope built into the controller can measure the controller's attitude, and the controller's positioning detection technology is the key to identifying the controller's position.

[0004] In related technologies, ultrasonic waves are often used for controller positioning. However, ultrasonic waves are mechanical waves that are easily reflected inside a vehicle, resulting in superposition of ultrasonic waves that significantly affects positioning accuracy. Therefore, determining a positioning scheme that is unaffected by sound wave superposition is a pressing problem that needs to be solved. Summary of the Invention

[0005] This disclosure aims to at least partially address one of the technical problems in the related art.

[0006] The first aspect of this disclosure proposes a method for generating a six-degree-of-freedom (DOF) controller screen, comprising:

[0007] Obtain the transmission time of the electromagnetic wave emitted by the first device;

[0008] The attitude information of the controller, the reception time of the electromagnetic wave echo received by the first device, and the echo data of the electromagnetic wave are obtained.

[0009] The echo data is processed to determine the scattering cross-section characteristics corresponding to the echo data;

[0010] The spatial location of the controller is determined based on the scattering cross-section characteristics, the transmission time, and the reception time.

[0011] Based on the spatial location and the posture information, a virtual reality scene containing the six degrees of freedom of the controller is generated.

[0012] A second aspect of this disclosure provides an apparatus for generating a six-degree-of-freedom (DOF) view of a controller, comprising:

[0013] The transmitting module is used to obtain the transmission time of the electromagnetic waves emitted by the first device;

[0014] The receiving module is used to acquire the attitude information of the controller, the reception time of the electromagnetic wave echo received by the first device, and the electromagnetic wave echo data.

[0015] The first determining module is used to process the echo data to determine the scattering cross-section characteristics corresponding to the echo data;

[0016] The second determining module is used to determine the spatial location of the controller based on the scattering cross-section characteristics, the transmission time, and the reception time.

[0017] The generation module is used to generate a virtual reality screen containing the six degrees of freedom of the controller based on the spatial position and the posture information.

[0018] A third aspect of this disclosure provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements a method for generating a six-degree-of-freedom controller screen as proposed in the first and / or second aspects of this disclosure.

[0019] The fourth aspect of this disclosure provides a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements a method for generating a six-degree-of-freedom controller screen as proposed in the first and / or second aspects of this disclosure.

[0020] The method, apparatus, computer equipment, and storage medium for generating six-degree-of-freedom controller screens disclosed herein have the following beneficial effects:

[0021] In this embodiment, the transmission time of the electromagnetic wave emitted by the first device is first obtained. Then, the attitude information of the controller, the reception time of the echo of the electromagnetic wave received by the first device, and the echo data of the electromagnetic wave are obtained. The echo data is then processed to determine the scattering cross-section characteristics corresponding to the echo data. Then, based on the scattering cross-section characteristics, the transmission time, and the reception time, the spatial position of the controller is determined. Finally, based on the spatial position and the attitude information, a virtual reality screen containing the six degrees of freedom of the controller is generated. Therefore, since electromagnetic waves are neither mechanical waves nor sound waves, the superposition of sound waves caused by ultrasonic wave reflection can be avoided, improving the accuracy and precision of controller positioning. By utilizing the characteristics of electromagnetic waves, the displacement information of the controller is calculated, thereby ultimately generating a virtual reality screen containing the six degrees of freedom of the controller. Since there is no need to place power devices inside the controller, the controller's battery life is improved, data transmission is reduced, and the system's responsiveness is improved.

[0022] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 This is a flowchart illustrating the method for generating a six-DOF controller screen according to the first embodiment of this disclosure;

[0025] Figure 2 This is a flowchart illustrating the method for generating a six-DOF (degrees of freedom) controller screen according to the second embodiment of this disclosure.

[0026] Figure 3 This is a structural block diagram of the controller six-degree-of-freedom screen generation device provided in the third embodiment of this disclosure;

[0027] Figure 4 A block diagram of an exemplary computer device suitable for implementing embodiments of the present disclosure is shown. Detailed Implementation

[0028] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0029] The following description, with reference to the accompanying drawings, outlines a method, apparatus, computer device, and storage medium for generating a six-degree-of-freedom controller screen according to embodiments of the present disclosure.

[0030] Figure 1 This is a schematic flowchart illustrating the method for generating a six-degree-of-freedom controller screen according to the first embodiment of this disclosure.

[0031] It should be noted that the execution subject of the six-degree-of-freedom screen generation method of the controller in this embodiment is the six-degree-of-freedom screen generation device of the controller. This device can be implemented by software and / or hardware. This device can be configured in the server on the vehicle side, that is, the vehicle-mounted unit. The six-degree-of-freedom screen generation method of the controller proposed in this disclosure will be described below with the vehicle-mounted unit as the execution subject, and no limitation is made here.

[0032] like Figure 1 As shown, the method for generating a six-DOF (degrees of freedom) view of the controller may include the following steps:

[0033] Step 101: Obtain the transmission time of the electromagnetic wave emitted by the first device.

[0034] The first device may be an electromagnetic transmitter antenna that is pre-installed in the vehicle. The electromagnetic transmitter antenna may be pre-installed on the top of the vehicle interior, and the electromagnetic waves emitted by the electromagnetic transmitter antenna cover the interior space of the vehicle.

[0035] Alternatively, the first device could be an electromagnetic transceiver in the controller.

[0036] The first embodiment of this disclosure is described below with the first device being an electromagnetic transmitter antenna pre-installed in a vehicle, and is not intended to limit this disclosure.

[0037] The transmission time can be the time it takes for the vehicle to transmit electromagnetic waves through the first device.

[0038] It should be noted that after the vehicle's infotainment system activates the electromagnetic transmitter antenna located inside the roof, the antenna can emit semi-directional electromagnetic waves at a higher frequency, covering the entire interior space of the vehicle. In addition, if a single electromagnetic transmitter antenna is insufficient, the number of electromagnetic transmitter antennas can be increased to ensure that electromagnetic waves cover the vehicle's interior space.

[0039] In addition, the scanning frequency of electromagnetic waves can be adjusted according to the refresh rate and the bandwidth of the wiring harness. If a high refresh rate is required and the bandwidth can handle a large amount of data, the scanning frequency can be increased.

[0040] It should be noted that the electromagnetic wave transmitter antenna can transmit electromagnetic waves at a certain period, or at a time interval of one unit of time.

[0041] Step 102: Obtain the controller's attitude information, the reception time of the electromagnetic wave echo received by the first device, and the electromagnetic wave echo data.

[0042] The controller can be an electronic interactive device, which may include communication modules such as Bluetooth and NFC modules, enabling it to communicate with the vehicle's infotainment system and transmit information such as battery level, physical address (MAC) information, controller type information, and model information, etc. There are no specific limitations on this. Additionally, the controller may also be equipped with attitude sensors such as gyroscopes to collect the controller's attitude information.

[0043] It should be noted that the controller in this disclosure can be a simple controller, such as a ring-shaped controller, a watch-shaped controller, a ball-shaped controller, a handle-shaped controller, etc., and is not limited here.

[0044] The attitude information can be obtained by the controller's inertial measurement sensors, such as gyroscopes, and may include data such as the controller's acceleration and angular velocity, including pitch and yaw angles, without limitation. The controller's attitude information can be received in real time by the vehicle's infotainment system via Bluetooth or Wi-Fi communication with the controller.

[0045] The receiving time can be the time it takes for the first device to receive electromagnetic waves.

[0046] It should be noted that if the first device is an electromagnetic wave transmitter antenna, the electromagnetic wave transmitter antenna can immediately switch to receiving mode after transmitting electromagnetic waves to receive the echo of the electromagnetic waves. When the electromagnetic waves are transmitted to the controller, part of the electromagnetic waves are transmitted and part of the electromagnetic waves are diffracted. The electromagnetic wave transmitter antenna in this disclosure can receive the reflected electromagnetic waves, that is, the echo of the electromagnetic waves.

[0047] It should be noted that the controller can communicate with the vehicle's infotainment system via a pre-set communication module, allowing the vehicle's infotainment system to obtain the controller's attitude information. Alternatively, a communication module can be pre-installed in the first device, enabling it to transmit the reception time of the electromagnetic wave echo and the echo data to the vehicle's infotainment system in real time.

[0048] Step 103: Process the echo data to determine the scattering cross-section characteristics corresponding to the echo data.

[0049] Optionally, the vehicle-mounted system can filter the echo to retain the target echo data corresponding to the second device, where the second device is a reference device or the controller. Then, electromagnetic calculations are performed based on the echo data to determine the scattering cross-section characteristics corresponding to the echo data.

[0050] The following embodiments of this disclosure are illustrated using a second device as a controller, but are not limited thereto.

[0051] Among them, the target echo data is the echo data corresponding to the second device.

[0052] It should be noted that the surface of the controller can be made of electromagnetically sensitive materials, which have a stronger reflectivity to electromagnetic waves.

[0053] In this disclosure, the controller can be tested in advance in a microwave anechoic chamber and the parameters corresponding to the electromagnetically sensitive material on the current controller can be recorded. Then, the echo is filtered to retain the electromagnetic waves that are reflected only on the controller.

[0054] It should be noted that when electromagnetic waves are emitted to the controller, the scattering cross-section characteristics are different for different cross-sections of the controller. In other words, if the controller is at different angles relative to the electromagnetic transmitter antenna, the reflected electromagnetic wave echo will also be different. More specifically, this can be seen in the fact that when electromagnetic waves collide with the controller, the scattering probability of microscopic particles corresponding to different collision cross-sections is different. The microscopic particles, influenced by the potential field of the target particles, can deviate from the incident direction at different angles. Therefore, the scattering cross-section characteristics can reflect the angle of the controller relative to the electromagnetic transmitter antenna.

[0055] Specifically, the echoes can be filtered to remove those not reflected from the controller, thus retaining the echoes corresponding to the controller's electromagnetically sensitive material. By performing electromagnetic calculations on the echoes, the characteristic value of the scattering cross section corresponding to the echo can be determined.

[0056] Step 104: Determine the spatial location of the controller based on the scattering cross-section characteristics, the transmission time, and the reception time.

[0057] Optionally, if the scattering cross-section characteristics are the same as those of the controller, the spatial location of the controller can be determined based on the scattering cross-section characteristics, transmission time, reception time, and the coordinates of the electromagnetic transmitter antenna.

[0058] It should be noted that the vehicle-mounted system can determine the distance between the controller and the electromagnetic transmitter antenna based on the time difference between the transmission and reception times, as well as the speed of electromagnetic waves. Furthermore, the vehicle-mounted system can pre-record the scattering cross-section characteristics corresponding to various angles of the controller. Therefore, after acquiring these scattering cross-section characteristics, the system can calculate the angle of the controller relative to the electromagnetic transmitter antenna.

[0059] In this disclosure, the mapping relationship between the angle of each controller relative to the electromagnetic transmitter antenna and the scattering cross section characteristics can be pre-entered in the vehicle's infotainment system. After obtaining the scattering cross section characteristics, matching can be performed based on the scattering cross section characteristics to determine the corresponding angle relative to the electromagnetic transmitter antenna.

[0060] Specifically, after determining the angle and distance of the controller relative to the electromagnetic transmitter antenna, the spatial position of the controller inside the vehicle can be determined based on the coordinates of the electromagnetic transmitter antenna, that is, the three-dimensional coordinate information in the world coordinate system inside the vehicle.

[0061] Optionally, the vehicle system can first determine the angle of the current controller relative to the electromagnetic transmitter antenna based on the scattering cross-section characteristics, then determine the distance of the controller relative to the electromagnetic transmitter antenna based on the time difference between the transmission time and the reception time, and then determine the spatial position of the controller based on the distance, the angle, and the coordinates of the electromagnetic transmitter antenna.

[0062] One possible approach is to first match the scattering cross section features with each reference scattering cross section feature contained in a preset mapping table to determine the target reference scattering cross section feature corresponding to the scattering cross section feature. The preset mapping table contains the mapping relationship between each reference scattering cross section feature and the angle of the controller. Then, the angle of the controller corresponding to the target reference scattering cross section feature is determined as the angle of the controller relative to the electromagnetic transmitter antenna.

[0063] The reference scattering cross section (RSS) feature can be the RSS feature of the controller that has been pre-tested and entered. It should be noted that, to ensure the accuracy of the obtained angle of the controller relative to the electromagnetic transmitter antenna, the mapping table can include all the reference RSS features of the controller. That is, the controller needs to be thoroughly tested beforehand to ensure that the reference RSS features are sufficiently numerous and comprehensive.

[0064] When determining the distance between the controller and the electromagnetic transmitter antenna, if the transmission time is t1, the reception time is t2, and the wave speed of the electromagnetic wave is v, then the distance between the controller and the electromagnetic transmitter antenna can be calculated as s = 0.5v(t2-t1), which is not limited here.

[0065] The coordinates of the electromagnetic transmitter antenna can be in the world coordinate system.

[0066] Furthermore, in this disclosure, the spatial position of the controller within the vehicle, i.e., its three-dimensional coordinates within the vehicle, can be calculated based on the controller's position relative to the electromagnetic transmitter antenna, as well as the angle and coordinates of the electromagnetic transmitter antenna.

[0067] Step 105: Based on spatial location and posture information, generate a virtual reality scene containing six degrees of freedom of the controller.

[0068] Specifically, the vehicle's infotainment system can determine the controller's displacement information in the world coordinate system based on the current spatial location and historical spatial locations. The historical spatial location can be the spatial location determined in the previous unit of time.

[0069] It should be noted that since the controller position is measured by the vehicle system relative to the vehicle, the obtained position is absolute. There is no need to obtain the position from the virtual reality device and then combine it with the position of the virtual reality device to obtain the controller position through coordinate transformation. This saves data transmission time and improves the responsiveness of the system.

[0070] Subsequently, the vehicle's infotainment system can use a rendering-capable system to render the images captured by the virtual reality device based on the controller's displacement and attitude information in the world coordinate system, thereby generating a rendered virtual reality screen that can contain the controller's six degrees of freedom information.

[0071] It should be noted that the controller's position coordinates in the world coordinate system include the controller's position information along the X, Y, and Z rectangular coordinate axes, and the attitude information includes the controller's attitude information (Pitch, Yaw, and Roll) around the X, Y, and Z rectangular coordinate axes. Here, Pitch is the pitch angle around the X-axis, Yaw is the yaw angle around the Y-axis, and Roll is the roll angle around the Z-axis. Typically, the position information along the X, Y, and Z rectangular coordinate axes and the attitude information (Pitch, Yaw, and Roll) around the X, Y, and Z rectangular coordinate axes are collectively referred to as six degrees of freedom information.

[0072] In this embodiment, the transmission time of the electromagnetic wave emitted by the first device is first obtained. Then, the attitude information of the controller, the reception time of the echo of the electromagnetic wave received by the first device, and the echo data of the electromagnetic wave are obtained. The echo data is then processed to determine the scattering cross-section characteristics corresponding to the echo data. Then, based on the scattering cross-section characteristics, the transmission time, and the reception time, the spatial position of the controller is determined. Finally, based on the spatial position and the attitude information, a virtual reality screen containing the six degrees of freedom of the controller is generated. Therefore, since electromagnetic waves are neither mechanical waves nor sound waves, the superposition of sound waves caused by ultrasonic wave reflection can be avoided, improving the accuracy and precision of controller positioning. By utilizing the characteristics of electromagnetic waves, the displacement information of the controller is calculated, thereby ultimately generating a virtual reality screen containing the six degrees of freedom of the controller. Since there is no need to place power devices inside the controller, the controller's battery life is improved, data transmission is reduced, and the system's responsiveness is improved.

[0073] Figure 2 This is a schematic flowchart of a method for generating a six-degree-of-freedom controller screen according to a second embodiment of the present disclosure.

[0074] Step 201: Send an electromagnetic wave transmission command to the first device to control the first device to transmit electromagnetic waves and obtain the transmission time of the electromagnetic waves.

[0075] The second embodiment of this disclosure will be described below with the first device being an electromagnetic transceiver in the controller.

[0076] Among them, the electromagnetic wave transmission command is used to control the first device to start the electromagnetic wave transmitter to transmit electromagnetic waves.

[0077] In this disclosure, when the first device emits electromagnetic waves, it can record the moment of emission, i.e., the emission time, and return the emission time of the electromagnetic waves to the vehicle-mounted unit.

[0078] The controller can emit electromagnetic waves at a certain frequency, such as every unit time, like 1 ms, or 1 ms / emission. This frequency can be adjusted based on the refresh rate and harness bandwidth. For example, if a higher refresh rate is required and the bandwidth can handle a higher quantity, the unit time can be appropriately compressed, i.e., the transmission frequency can be increased, such as 0.8 ms / emission. No specific limitation is made here.

[0079] Step 202: Obtain the controller's attitude information, the reception time of the electromagnetic wave echo received by the first device, and the electromagnetic wave echo data.

[0080] Optionally, the vehicle-mounted system can receive the echo of electromagnetic waves from the first device and obtain the reception time and attitude information returned by the first device.

[0081] Specifically, after emitting electromagnetic waves, the controller can immediately enter the receiving state and use an electromagnetic wave receiver installed on the surface area to receive the echo of the electromagnetic waves. The echo of the electromagnetic waves is the wave reflected back after the electromagnetic waves reach the object.

[0082] It should be noted that electromagnetic waves may be emitted onto the human body, VR glasses, or any device inside a car, and then reflected back onto the object.

[0083] In this disclosure, when the controller receives electromagnetic waves, it also needs to record the time of the electromagnetic wave echo, that is, the reception time.

[0084] The attitude information can be obtained by the controller's inertial measurement sensors, such as gyroscopes, and may include data such as the controller's acceleration and angular velocity, including pitch and yaw angles, without limitation. The controller's attitude information can be received in real time by the vehicle's infotainment system via Bluetooth or Wi-Fi communication with the controller.

[0085] The receiving time can be the time it takes for the first device to receive electromagnetic waves.

[0086] Step 203: Filter the echo data to retain the target echo data corresponding to the second device, wherein the second device is a reference device or the controller.

[0087] The second device can be a reference device or a controller, and there is no limitation on it.

[0088] It should be noted that if the first device is an electromagnetic transceiver in the controller, then the second device can be a reference device. If the first device is a pre-installed electromagnetic transmitting antenna in the vehicle, then the second device is the controller.

[0089] The second embodiment of this disclosure is described with reference to a second device.

[0090] The target echo data is the echo data corresponding to the electromagnetic wave echo returned from the second device.

[0091] In this disclosure, the reference device can be an electronic device whose location information is predetermined. It is understood that the location information of the reference device can be assumed to be fixed, or it can be assumed that there is a certain positional relationship between the reference device and the controller. This positional relationship can be determined within a unit of time.

[0092] The specified time interval can be the time interval during which the controller emits electromagnetic waves, or it can be longer than this time interval. It is understood that within the specified time interval, the positional relationship between the reference device and the controller can be assumed to remain unchanged, or to change only slightly and be negligible.

[0093] The specific positional relationship can be a relative angle, distance, or direction, which is not limited here.

[0094] The reference device can be a virtual reality device, such as VR glasses or VR headset, or it can be a headset, AI helmet, AI glasses, AI headband, or electronic hardware accessories, such as a necklace, or clothing with hardware installed. There are no restrictions on the specific device.

[0095] Understandably, reference devices can use electromagnetically sensitive materials on their surface areas, thus exhibiting strong electromagnetic wave reflection capabilities and making them easier to identify and locate. Furthermore, reference devices can be pre-tested in a microwave anechoic chamber, allowing for the recording of various parameters, such as filtering characteristics. Therefore, when filtering the echo, the wave reflected from the reference device within the electromagnetic wave echo can be determined based on these filtering characteristics—that is, the echo corresponding to the reference device.

[0096] Optionally, after obtaining the electromagnetic wave echo, the echo can be filtered first, that is, invalid echoes can be filtered out, and only the echo returned by the reference device can be retained. Since the filtered echo is returned from the reference device, rather than from surrounding devices, the accuracy and reliability of the calculation results can be guaranteed.

[0097] It should be noted that, since the surface of the reference device has electromagnetically sensitive materials, other invalid echoes can be filtered out based on the characteristics of the echoes from the reference device during filtering.

[0098] The scattering cross section is a physical quantity that describes the probability of scattering by microscopic particles. It is also known as the collision cross section, or simply the cross section.

[0099] Among them, the scattering cross section feature is an electromagnetic scattering characteristic that is closely related to the target structure to be measured, i.e., the reference device. Different cross sections of the reference device correspond to different scattering cross section features. Therefore, the scattering cross section feature can uniquely characterize a surface of the reference device.

[0100] Step 204: Perform electromagnetic calculations based on the target echo data to determine the scattering cross-section characteristics corresponding to the target echo data.

[0101] In this disclosure, electromagnetic calculations can be performed using methods of computational electromagnetics, such as physical optics integration, geometric modeling, and the method of moments, to determine the scattering cross-section characteristics corresponding to the current filtered echo data. It should be noted that the scattering cross-section characteristics can better represent the complex surface shape of an object, i.e., the surface of the reference device, thus making the measured surface characteristics of the reference device more accurate.

[0102] Step 205: If the scattering cross-section feature is the scattering cross-section feature corresponding to the reference device, determine the angle of the reference device relative to the controller based on the scattering cross-section feature, wherein the reference device is an electronic device that has a specific positional relationship with the controller within a specified time interval.

[0103] Optionally, the vehicle system can first match the scattering cross section feature with a preset feature data table to determine the matching degree between the scattering cross section feature and each reference scattering cross section feature. The feature data table contains the mapping relationship between each reference scattering cross section feature and the angle of the reference device relative to the controller. Then, the angle corresponding to the reference scattering cross section feature with the highest matching degree is determined as the angle of the reference device relative to the controller.

[0104] The preset feature data table can contain multiple reference scattering cross section features. It should be noted that the feature data table is generated through extensive testing; therefore, the multiple reference scattering cross section features in the feature data table can include features corresponding to each scattering cross section of the reference device, providing sufficient data support.

[0105] For example, the feature data table may include reference scattering cross-section features S1, S2, S3, S4, S5, S6...Sn, and the corresponding angles a1, a2, a3, a4, a5, a6...an for each reference scattering cross-section feature. Here, S1 corresponds to a1, S2 to a2, S3 to a3, S4 to a4, and so on, with Sn corresponding to an. If the currently determined scattering cross-section feature is S2, then a2 is the angle of the best-matching reference device relative to the controller, and this is not limited here.

[0106] Specifically, it should be noted that in this disclosure, the calculated scattering cross section features can be a set of values. Therefore, when matching the scattering cross section features in the feature data table, the reference scattering cross section feature with the highest matching degree with the set of values ​​can be used as the current target scattering cross section feature.

[0107] Alternatively, each reference scattering cross section feature can be a range. If the current scattering cross section feature is located within the range of the reference scattering cross section feature, then the angle corresponding to the reference scattering cross section feature can be used as the angle of the reference device relative to the controller.

[0108] Step 206: Determine the distance between the controller and the reference device based on the time difference between the transmission time and the reception time.

[0109] For example, if the transmission time is t1, the reception time is t2, and the speed of electromagnetic waves is v, then the distance between the controller and the reference device can be calculated as s = 0.5v(t2-t1), which is not limited here.

[0110] Step 207: Calculate the position of the controller based on the distance, the angle, and the currently saved position information of the reference device.

[0111] It is understandable that the position information of the reference device can be pre-calibrated, that is, a specified position is used as the position of the reference device. After determining the angle and position of the reference device relative to the controller, as well as the recorded position information of the reference device, the controller can perform calculations, that is, perform coordinate transformation, converting the coordinates of the reference device into the controller's own coordinates, and thus determining the position of the controller.

[0112] Step 208: Based on the spatial location and the posture information, generate a virtual reality screen containing the six degrees of freedom of the controller.

[0113] Specifically, the vehicle's infotainment system can determine the controller's displacement information in the world coordinate system based on the current location and historical spatial location. The historical spatial location can be the spatial location determined in the previous unit of time.

[0114] The attitude information can be obtained by the controller's inertial measurement sensors, such as gyroscopes, and may include data such as the controller's acceleration and angular velocity, including pitch and yaw angles, without limitation. The controller's attitude information can be received in real time by the vehicle's infotainment system via Bluetooth or Wi-Fi communication with the controller.

[0115] Subsequently, the vehicle's infotainment system can use a rendering-capable system to render the images captured by the virtual reality device based on the controller's displacement and attitude information in the world coordinate system, thereby generating a rendered virtual reality screen that can contain the controller's six degrees of freedom information.

[0116] It should be noted that the controller's position coordinates in the world coordinate system include the controller's position information along the X, Y, and Z rectangular coordinate axes, and the attitude information includes the controller's attitude information (Pitch, Yaw, and Roll) around the X, Y, and Z rectangular coordinate axes. Here, Pitch is the pitch angle around the X-axis, Yaw is the yaw angle around the Y-axis, and Roll is the roll angle around the Z-axis. Typically, the position information along the X, Y, and Z rectangular coordinate axes and the attitude information (Pitch, Yaw, and Roll) around the X, Y, and Z rectangular coordinate axes are collectively referred to as six degrees of freedom information.

[0117] In summary, by having the controller emit electromagnetic waves and a reference device receive them, and then using the scattering cross-section data from the reference device and vector calculations, the characteristic angles and distances of the controller under test can be obtained. This makes the calculated position of the controller more accurate. Since there is no need to house power devices inside the controller, the controller's runtime is improved, data transmission is reduced, and the system's responsiveness is enhanced. Because there is no obstruction between the controller and the reference device, the calculation results are more accurate and reliable.

[0118] Figure 3 This is a schematic diagram of the structure of the controller six-degree-of-freedom screen generation device provided in the third embodiment of this disclosure.

[0119] like Figure 3As shown, the controller's six-DOF image generation device 500 may include: a transmitting module 310, a receiving module 320, a first determining module 330, a second determining module 340, and a generating module 350.

[0120] The transmitting module is used to obtain the transmission time of the electromagnetic waves emitted by the first device;

[0121] The receiving module is used to acquire the attitude information of the controller, the reception time of the electromagnetic wave echo received by the first device, and the electromagnetic wave echo data.

[0122] The first determining module is used to process the echo data to determine the scattering cross-section characteristics corresponding to the echo data;

[0123] The second determining module is used to determine the spatial location of the controller based on the scattering cross-section characteristics, the transmission time, and the reception time.

[0124] The generation module is used to generate a virtual reality screen containing the six degrees of freedom of the controller based on the spatial position and the posture information.

[0125] Optionally, the second determining module includes:

[0126] The first determining unit is configured to determine the position of the controller based on the scattering cross-section feature, the transmission time, the reception time, and the currently stored position information of the reference device, when the scattering cross-section feature is the scattering cross-section feature corresponding to the reference device. The reference device is an electronic device that has a specific positional relationship with the controller within a specified time interval.

[0127] The second determining unit is used to determine the spatial position of the controller based on the scattering cross-section feature, the transmission time, the reception time, and the coordinates of the electromagnetic transmitter antenna, when the scattering cross-section feature is the same as that of the controller.

[0128] Optionally, the first device is an electromagnetic transceiver in the controller or a preset electromagnetic transmitter antenna in the vehicle.

[0129] Optionally, the first determining module includes:

[0130] A filtering unit is used to filter the echo data to retain the target echo data corresponding to the second device, wherein the second device is a reference device or the controller;

[0131] The third determining unit is used to perform electromagnetic calculations based on the target echo data to determine the scattering cross-section characteristics corresponding to the target echo data.

[0132] Optionally, the filtering unit is specifically used for:

[0133] The filtering coefficients are determined based on the electromagnetically sensitive materials that make up the second device;

[0134] Based on the filtering coefficients, the echo data is filtered to determine the target echo data corresponding to the second device.

[0135] Optionally, the second determining module includes:

[0136] The fourth determining unit is used to determine the angle of the current controller relative to the electromagnetic transmitter antenna based on the scattering cross-section characteristics.

[0137] The fifth determining unit is used to determine the distance of the controller relative to the electromagnetic transmitter antenna based on the time difference between the transmission time and the reception time;

[0138] The sixth determining unit is used to determine the spatial position of the controller based on the distance, the angle, and the coordinates of the electromagnetic transmitter antenna.

[0139] Optionally, the fourth determining unit is specifically used for:

[0140] The scattering cross-section feature is matched with each reference scattering cross-section feature contained in a preset mapping table to determine the target reference scattering cross-section feature corresponding to the scattering cross-section feature.

[0141] The preset mapping table contains the mapping relationship between each reference scattering cross section feature and the angle of the controller;

[0142] The angle of the controller corresponding to the target reference scattering cross-section feature is determined as the angle of the controller relative to the electromagnetic transmitter antenna.

[0143] Optionally, the transmitting module is specifically used for:

[0144] Send an electromagnetic wave transmission command to the first device to control the first device to transmit electromagnetic waves, and obtain the transmission time of the electromagnetic waves.

[0145] Optionally, the electromagnetic transmitter antenna is pre-installed on the top of the vehicle interior, and the electromagnetic waves emitted by the electromagnetic transmitter antenna cover the interior space of the vehicle.

[0146] Optionally, the first determining unit is specifically used for:

[0147] Based on the scattering cross-section characteristics, the angle of the reference device relative to the controller is determined;

[0148] The distance between the controller and the reference device is determined based on the time difference between the transmission time and the reception time.

[0149] The position of the controller is calculated based on the distance, the angle, and the currently saved position information of the reference device.

[0150] Optionally, the first determining unit is specifically used for:

[0151] The scattering cross section feature is matched with a preset feature data table to determine the matching degree between the scattering cross section feature and each reference scattering cross section feature. The feature data table contains the mapping relationship between each reference scattering cross section feature and the angle of the reference device relative to the controller.

[0152] The angle corresponding to the reference scattering cross section feature that has the highest matching degree with the scattering cross section feature is determined as the angle of the reference device relative to the controller.

[0153] In this embodiment, the transmission time of the electromagnetic wave emitted by the first device is first obtained. Then, the attitude information of the controller, the reception time of the echo of the electromagnetic wave received by the first device, and the echo data of the electromagnetic wave are obtained. The echo data is then processed to determine the scattering cross-section characteristics corresponding to the echo data. Then, based on the scattering cross-section characteristics, the transmission time, and the reception time, the spatial position of the controller is determined. Finally, based on the spatial position and the attitude information, a virtual reality screen containing the six degrees of freedom of the controller is generated. Therefore, since electromagnetic waves are neither mechanical waves nor sound waves, the superposition of sound waves caused by ultrasonic wave reflection can be avoided, improving the accuracy and precision of controller positioning. By utilizing the characteristics of electromagnetic waves, the displacement information of the controller is calculated, thereby ultimately generating a virtual reality screen containing the six degrees of freedom of the controller. Since there is no need to place power devices inside the controller, the controller's battery life is improved, data transmission is reduced, and the system's responsiveness is improved.

[0154] To implement the above embodiments, this disclosure also proposes a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the method for generating a six-degree-of-freedom controller screen as proposed in the foregoing embodiments of this disclosure.

[0155] To implement the above embodiments, this disclosure also proposes a non-transitory computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for generating a six-degree-of-freedom controller screen as proposed in the foregoing embodiments of this disclosure.

[0156] To implement the above embodiments, this disclosure also proposes a computer program product that, when the instruction processor in the computer program product is executed, performs the controller six-degree-of-freedom screen generation method as proposed in the foregoing embodiments of this disclosure.

[0157] Figure 4 A block diagram of an exemplary computer device suitable for implementing embodiments of the present disclosure is shown. Figure 4 The computer device 12 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0158] like Figure 4 As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0159] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0160] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0161] Memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 4 Not shown; usually referred to as a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disc drive for reading and writing to a removable non-volatile optical disc (e.g., a compact disc read-only memory (CD-ROM), a digital video disc read-only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this disclosure.

[0162] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this disclosure.

[0163] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with computer device 12, and / or with any device that enables computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0164] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the methods mentioned in the foregoing embodiments.

[0165] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0166] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0167] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0168] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0169] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0170] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0171] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0172] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for generating a six-degree-of-freedom (DOF) screen for a controller, characterized in that, include: Obtain the transmission time of the electromagnetic waves emitted by the first device; The attitude information of the controller, the reception time of the electromagnetic wave echo received by the first device, and the echo data of the electromagnetic wave are obtained. The echo data is processed to determine the scattering cross-section characteristics corresponding to the echo data; wherein the value of the scattering cross-section characteristics varies with the orientation angle of the controller; The spatial location of the controller is determined based on the scattering cross-section characteristics, the transmission time, and the reception time. Based on the spatial location and the posture information, a virtual reality scene containing the six degrees of freedom of the controller is generated.

2. The method as described in claim 1, characterized in that, in, The first device is either an electromagnetic transceiver in the controller or a pre-installed electromagnetic transmitter antenna in the vehicle. Determining the spatial location of the controller based on the scattering cross-section characteristics, the transmission time, and the reception time includes: When the scattering cross-section feature is the same as that of the reference device, the position of the controller is determined based on the scattering cross-section feature, the transmission time, the reception time, and the currently stored position information of the reference device. The reference device is an electronic device that has a specific positional relationship with the controller within a specified time interval. or, When the scattering cross-section feature is the same as that of the controller, the spatial position of the controller is determined based on the scattering cross-section feature, the transmission time, the reception time, and the coordinates of the electromagnetic transmitter antenna.

3. The method as described in claim 1 or 2, characterized in that, The process of processing the echo data to determine the scattering cross-section characteristics corresponding to the echo includes: The echo data is filtered to retain the target echo data corresponding to the second device, wherein the second device is a reference device or the controller; Electromagnetic calculations are performed based on the target echo data to determine the scattering cross-section characteristics corresponding to the target echo data.

4. The method as described in claim 3, characterized in that, The step of filtering the echo data to retain the target echo data corresponding to the second device includes: The filtering coefficients are determined based on the electromagnetically sensitive materials that make up the second device; Based on the filtering coefficients, the echo data is filtered to determine the target echo data corresponding to the second device.

5. The method according to claim 2, characterized in that, Determining the spatial location of the controller based on the scattering cross-section characteristics, the transmission time, the reception time, and the coordinates of the electromagnetic transmitter antenna includes: Based on the scattering cross-section characteristics, determine the angle of the current controller relative to the electromagnetic transmitter antenna; The distance of the controller relative to the electromagnetic transmitter antenna is determined based on the time difference between the transmission time and the reception time. The spatial position of the controller is determined based on the distance, the angle, and the coordinates of the electromagnetic transmitter antenna.

6. The method according to claim 5, characterized in that, Determining the angle of the current controller relative to the electromagnetic transmitter antenna based on the scattering cross-section characteristics includes: The scattering cross-section feature is matched with each reference scattering cross-section feature contained in a preset mapping table to determine the target reference scattering cross-section feature corresponding to the scattering cross-section feature. The preset mapping table contains the mapping relationship between each reference scattering cross section feature and the angle of the controller; The angle of the controller corresponding to the target reference scattering cross-section feature is determined as the angle of the controller relative to the electromagnetic transmitter antenna.

7. The method according to claim 1, characterized in that, The process of obtaining the transmission time of the electromagnetic waves emitted by the first device includes: Send an electromagnetic wave transmission command to the first device to control the first device to transmit electromagnetic waves, and obtain the transmission time of the electromagnetic waves.

8. The method according to claim 2, characterized in that, in, The electromagnetic transmitter antenna is pre-installed on the top of the vehicle interior, and the electromagnetic waves emitted by the electromagnetic transmitter antenna cover the interior space of the vehicle.

9. The method according to claim 2, characterized in that, Determining the controller's location based on the scattering cross-section characteristics, the transmission time, the reception time, and the currently stored location information of the reference device includes: Based on the scattering cross-section characteristics, the angle of the reference device relative to the controller is determined; The distance between the controller and the reference device is determined based on the time difference between the transmission time and the reception time. The position of the controller is calculated based on the distance, the angle, and the currently saved position information of the reference device.

10. The method according to claim 9, characterized in that, Determining the angle of the reference device relative to the controller based on the scattering cross-section characteristics includes: The scattering cross section feature is matched with a preset feature data table to determine the matching degree between the scattering cross section feature and each reference scattering cross section feature. The feature data table contains the mapping relationship between each reference scattering cross section feature and the angle of the reference device relative to the controller. The angle corresponding to the reference scattering cross section feature that has the highest matching degree with the scattering cross section feature is determined as the angle of the reference device relative to the controller.

11. A device for generating a six-degree-of-freedom frame for a controller, characterized in that, include: The transmitting module is used to obtain the transmission time of the electromagnetic waves emitted by the first device; The receiving module is used to acquire the attitude information of the controller, the reception time of the electromagnetic wave echo received by the first device, and the electromagnetic wave echo data. The first determining module is used to process the echo data to determine the scattering cross-section characteristics corresponding to the echo data; wherein the value of the scattering cross-section characteristics changes with the orientation angle of the controller; The second determining module is used to determine the spatial location of the controller based on the scattering cross-section characteristics, the transmission time, and the reception time. The generation module is used to generate a virtual reality screen containing the six degrees of freedom of the controller based on the spatial position and the posture information.

12. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method for generating a six-degree-of-freedom controller screen as described in any one of claims 1-10.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for generating a six-degree-of-freedom controller screen as described in any one of claims 1-10.

14. A vehicle, characterized in that, The vehicle includes the computer equipment as described in claim 12.

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