A seat adjustment method, device, vehicle, electronic device and storage medium

Abstract

A seat adjustment method and device, vehicle, electronic equipment and storage medium are provided in the embodiments of the present application. The target image is obtained, the vehicle body coordinate system and the camera coordinate system are constructed, and the target camera is calibrated to obtain the target camera external parameter, the target camera internal parameter and the rotation matrix. The target camera pitch angle is determined based on the rotation matrix, the target key point of the to-be-measured object is determined, the target key point image coordinates are converted, the key point camera coordinates in the camera coordinate system are obtained, and the height difference between the target key point and the target camera is determined based on the key point camera coordinates and the target camera pitch angle. The vehicle seat is adjusted in this way. The present method is based on monocular vision, and the key coordinates of the key points in the image are calculated by using the similar triangle principle under the combination of the camera coordinate system and the vehicle body coordinate system. The present method avoids the investment of a large amount of calculation data and calculation process in the existing algorithm, improves the calculation efficiency, and has high calculation accuracy under the support of the same calculation power.

Description

Technical Field

[0001] This application relates to the field of intelligent cockpit adjustment, specifically to a seat adjustment method, device, vehicle, electronic device, and storage medium. Background Technology

[0002] With the development of intelligent and service-oriented automobiles, vehicle domain controllers, as the foundation for realizing diversified functions, are increasingly demanding accurate parameter supply. Among these, car seats, as one of the most direct experiences for users, are particularly important in terms of comfort and practicality. Adapting car seats to user height is one of the most direct manifestations of seat comfort and practicality.

[0003] However, existing automated seat adjustment processes mainly include methods based on matching point pairs, which calculate disparity by finding corresponding pixels in the left and right images and then calculating the distance. Although this method has high accuracy, it is sensitive to factors that affect disparity calculation, such as lighting and texture, and is prone to calculation errors. Another method involves calculating disparity using deep learning models such as convolutional neural networks. This method can more accurately estimate the depth information between image pixels and then calculate the distance to the target. However, this method requires a large number of samples and computational resources. The above methods are highly dependent on the environment and have a high degree of computational complexity. The seat adjustment process suffers from poor user experience due to delays in the execution of adjustment commands caused by the algorithm. Moreover, existing algorithms require a large amount of computational data and have high computational power support. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the present invention provides a seat adjustment method, device, vehicle, electronic device and storage medium to solve the above technical problems.

[0005] This invention provides a seat adjustment method, comprising: acquiring a target image, the target image including an object to be measured; constructing a vehicle coordinate system for the vehicle body and a camera coordinate system for a target camera; calibrating the target camera to obtain extrinsic and intrinsic parameters of the target camera, determining the rotation matrix of the target camera based on the extrinsic and intrinsic parameters, and determining the pitch angle of the target camera based on the rotation matrix; determining target key points of the object to be measured in the target image, and determining the key point image coordinates of the target key points in the target image; performing coordinate transformation on the target key point image coordinates based on the target camera extrinsic parameters and the rotation matrix to obtain the key point camera coordinates of the target key points in the camera coordinate system; determining the height difference between the target key points and the target camera in the vehicle coordinate system based on the key point camera coordinates and the target camera pitch angle, and adjusting the vehicle seat according to the height difference.

[0006] In one embodiment of the present invention, constructing a vehicle coordinate system based on the vehicle body size data and constructing a camera coordinate system for the target camera includes: constructing a vehicle coordinate system with the midpoint of the rear wheel axle as the origin, the perpendicular line of the vehicle frame plane line as the z-axis reference line, the vehicle frame center line as the x-axis reference line, and the rear wheel axle as the y-axis reference line; and constructing a camera coordinate system with the optical center of the target camera as the origin, the optical axis of the target camera as the z-axis, and the coordinate axes of the image plane coordinate system of the image as the x and y-axis reference lines.

[0007] In one embodiment of the present invention, determining the height difference between the target key point and the target camera in the vehicle coordinate system based on the key point camera coordinates and the target camera pitch angle includes: projecting the target key point onto the plane containing the z-axis and y-axis in the camera coordinate system to obtain a first projection point; projecting the key point onto the z-axis in the camera coordinate system to obtain a second projection point; drawing a perpendicular line from the second projection point to the plane containing the x-axis and y-axis in the vehicle coordinate system to obtain a key point perpendicular line; projecting the first projection point onto the key point perpendicular line to obtain a third projection point; and projecting the camera coordinate system origin onto the key point perpendicular line to obtain a fourth projection point; connecting the first, second, and third projection points, and connecting the second and fourth projection points to the camera coordinate system origin, wherein the distance from the first projection point to the second projection point is equal to the distance from the key point to the target camera. The y-axis coordinate values ​​in the camera coordinate system are consistent. The distance from the second projection point to the origin of the camera coordinate system is consistent with the z-axis coordinate value in the key point camera coordinate system. Furthermore, the triangle formed by connecting the first, second, and third projection points is consistent with the triangle formed by connecting the second and fourth projection points to the origin of the camera coordinate system. The distance from the second projection point to the third projection point is determined based on the target camera's pitch angle and the distance from the first to the second projection point. The distance from the second projection point to the fourth projection point is determined based on the target camera's pitch angle and the distance from the second projection point to the origin of the camera coordinate system. The distance from the third projection point to the fourth projection point is determined based on the sum of the distances from the second to the third projection point and the distance from the second to the fourth projection point. This distance from the third to the fourth projection point is defined as the height difference between the target key point and the target camera in the vehicle body coordinate system.

[0008] In one embodiment of the present invention, the distance from the third projection point to the fourth projection point can be calculated according to the following formula:

[0009]

[0010] Where h1 is the distance from the second projection point to the third projection point, l1 is the distance from the first projection point to the second projection point, α is the target camera pitch angle, h2 is the distance from the second projection point to the fourth projection point, l2 is the distance from the second projection point to the origin of the camera coordinate system, and h is the distance from the third projection point to the fourth projection point.

[0011] In one embodiment of the present invention, adjusting the vehicle seat according to the height difference includes: determining the height data of the object to be measured based on the height difference and a preset human body model data mapping relationship; and controlling the seat controller to adjust the vehicle seat based on the height data.

[0012] In one embodiment of the present invention, the target key points of the object to be measured include any one of the following: the left eye, right eye, nose, mouth, midpoint between the two eyes, and midpoint of the face.

[0013] The present invention also provides a seat adjustment device, the seat adjustment device comprising: an image acquisition module for acquiring a target image, the target image including an object to be measured; a coordinate system construction module for constructing a vehicle coordinate system for the vehicle body and a camera coordinate system for the target camera; a key point information determination module for calibrating the target camera, obtaining the target camera's extrinsic and intrinsic parameters, determining the target camera's rotation matrix based on the target camera's extrinsic and intrinsic parameters, and determining the target camera's pitch angle based on the rotation matrix; determining the target key points of the object to be measured in the target image, and determining the key point image coordinates of the target key points in the target image; performing coordinate transformation on the target key point image coordinates based on the target camera's extrinsic parameters and rotation matrix to obtain the key point camera coordinates of the target key points in the camera coordinate system; and a seat adjustment module for determining the height difference between the target key points and the target camera in the vehicle coordinate system based on the key point camera coordinates and the target camera's pitch angle, and adjusting the vehicle seat according to the height difference.

[0014] In one embodiment of the present invention, the seat adjustment module further includes: a height data determination unit, used to determine the height data of the object to be measured based on the height difference and a preset human body model data mapping relationship; and a seat control unit, used to control the seat controller to adjust the vehicle seat based on the height data.

[0015] In one embodiment of the present invention, the image acquisition module is disposed on the steering wheel dashboard.

[0016] In one embodiment of the present invention, the seat adjustment device further includes: a seat module, used to adjust the seat position in response to control commands from the seat controller, wherein the control commands include a seat height adjustment command, a seat position adjustment command, and a seat tilt adjustment command.

[0017] The present invention also provides a vehicle, characterized in that the vehicle includes: a seat adjustment device as described in the above embodiments; a vehicle-mounted system for providing computing power support and performing control calculations; and a camera for acquiring target images.

[0018] The present invention also provides an electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device performs the seat adjustment method as described in any of the above embodiments.

[0019] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the seat adjustment method as described in any of the above embodiments.

[0020] The beneficial effects of the present invention are as follows: An embodiment of the present invention provides a seat adjustment method, device, vehicle, electronic device, and storage medium. By acquiring a target image, constructing a vehicle coordinate system and a camera coordinate system, calibrating the target camera, obtaining the target camera's extrinsic parameters, intrinsic parameters, and rotation matrix, determining the target camera's pitch angle based on the rotation matrix, determining the target key points of the object to be measured, and transforming the image coordinates of the target key points to obtain the key point camera coordinates in the camera coordinate system. Based on the key point camera coordinates and the target camera's pitch angle, the height difference between the target key points and the target camera is determined to adjust the vehicle seat. This method is based on monocular vision and uses the principle of similar trigonometry to calculate the key coordinates of key points in the image, combining the camera coordinate system and the vehicle coordinate system. This avoids the large amount of computational data and processes required in existing algorithms, improving computational efficiency, and achieving high accuracy with the same computing power.

[0021] Specifically, this scheme uses the camera's intrinsic and extrinsic parameters to calculate displacement and rotation. Then, based on the principle of triangle similarity, it derives the actual distance between the person and the camera in the image. This avoids the large amount of samples and computational resources required for deep learning model training in existing algorithms, reducing the amount of data input, the computational input required for model training, and the input of hardware computing resources, thus shortening the time input of the calculation method and improving computational efficiency. Secondly, it avoids the calculation errors caused by sensitive factors affecting disparity calculation, such as lighting and texture, which can ensure high calculation accuracy under the same computing power support. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0023] Figure 1 This is a schematic diagram illustrating the implementation environment of a seat adjustment method according to an exemplary embodiment of this application;

[0024] Figure 2 This is a flowchart illustrating a seat adjustment method in an exemplary embodiment of this application;

[0025] Figure 3 This is a schematic diagram illustrating a specific coordinate system relationship as shown in an exemplary embodiment of this application;

[0026] Figure 4 This is a schematic diagram illustrating the specific principle of height difference calculation in an exemplary embodiment of this application;

[0027] Figure 5 This is a schematic diagram illustrating the position and angle movement of a steering wheel, as shown in an exemplary embodiment of this application.

[0028] Figure 6 This is a block diagram illustrating a seat adjustment device in an exemplary embodiment of this application;

[0029] Figure 7 This is an exemplary embodiment of the present application illustrating the installation of an image acquisition module;

[0030] Figure 8 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0031] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0032] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0033] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0034] The term "and / or" used in this application describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the related objects before and after it are in an "or" relationship.

[0035] First, it should be noted that dynamic calibration model is a method for determining the position and orientation of a camera in a three-dimensional world coordinate system. This process includes a series of steps, such as establishing the camera's stereo coordinate system, calibrating the camera's intrinsic and extrinsic parameters, and calculating the camera's position and orientation in the three-dimensional world coordinate system.

[0036] The parallax method uses two cameras to photograph the same object and calculates the distance to the object by comparing the differences between corresponding points in the two images. It is relatively fast, but it has some drawbacks, such as the tendency to make mistakes when the object is too small or too far away, and it is also highly dependent on ambient lighting and background.

[0037] Triangulation is based on the principle of triangle similarity. It calculates the three-dimensional coordinates and distance of an object by measuring information such as the distance from two cameras to the object, the shooting angle, and the distance between the two cameras. This method is more accurate than parallax.

[0038] Figure 1 This is a schematic diagram illustrating the implementation environment of a seat adjustment method according to an exemplary embodiment of this application. Figure 1As shown, the implementation environment includes at least an image acquisition device 101 and a computer device 102. After the image acquisition device 101 acquires the target image, the computer device 102 constructs a vehicle coordinate system for the vehicle body and a camera coordinate system for the target camera; calibrates the target camera to obtain the target camera's extrinsic and intrinsic parameters; determines the target camera's rotation matrix based on the target camera's extrinsic and intrinsic parameters; determines the target camera's pitch angle based on the rotation matrix; determines the target key points of the object to be measured in the target image; determines the key point image coordinates of the target key points in the target image; performs coordinate transformation on the target key point image coordinates based on the target camera's extrinsic and rotation matrix to obtain the key point camera coordinates of the target key points in the camera coordinate system; determines the height difference between the target key points and the target camera in the vehicle coordinate system based on the key point camera coordinates and the target camera's pitch angle; and adjusts the vehicle seat based on the height difference.

[0039] in, Figure 1 The computer device 102 shown can be any computing device that provides computing power and performs logical operations, such as a microcomputer, embedded computer, or network computer, but is not limited to these. The image acquisition device 101 is consistent with the target camera. For example, in a seat adjustment method of this embodiment, after the image acquisition device 101 acquires the target image, the computer device 102 constructs a vehicle coordinate system and a camera coordinate system, calibrates the target camera, obtains the target camera's extrinsic parameters, intrinsic parameters, and rotation matrix, determines the target camera's pitch angle based on the rotation matrix, then determines the target key points of the object to be measured, and performs coordinate transformation on the target key point image coordinates to obtain the key point camera coordinates in the camera coordinate system. Based on the key point camera coordinates and the target camera's pitch angle, the height difference between the target key points and the target camera is determined, thereby adjusting the vehicle seat. Based on monocular vision, the key coordinates of key points in the image are calculated using the principle of similar trigonometry under the combination of the camera coordinate system and the vehicle coordinate system. This avoids the large amount of computational data and computational process required in existing algorithms, improving computational efficiency, and achieving high computational accuracy with the same computing power.

[0040] The problems illustrated in the examples above are universally applicable to general seat adjustment processes. It can be seen that existing technologies, due to their singular detection focus, cannot perform seat adjustments comprehensively and accurately. To address these problems, embodiments of this application propose a seat adjustment method, a seat adjustment device, a vehicle, an electronic device, and a computer-readable storage medium, which will be described in detail below.

[0041] Please see Figure 2 , Figure 2This is a flowchart illustrating a seat adjustment method in an exemplary embodiment of this application. This method can be applied to... Figure 2 The implementation environment shown is specifically executed by computer device 102 within that implementation environment. It should be understood that this method can also be applied to other exemplary implementation environments and executed by devices in other implementation environments; this embodiment does not limit the implementation environment to which the method is applicable.

[0042] like Figure 2 As shown, in an exemplary embodiment, the seat adjustment method includes at least steps S210 to S260, which are described in detail below:

[0043] In step S210, the target image is acquired.

[0044] In one embodiment of this application, the target image includes the object to be measured.

[0045] In step S220, a vehicle coordinate system is constructed for the vehicle body, and a camera coordinate system is constructed for the target camera.

[0046] In one embodiment of this application, a vehicle coordinate system is constructed with the midpoint of the rear wheel axle as the origin, the perpendicular line of the vehicle frame plane as the z-axis reference line, the vehicle frame centerline as the x-axis reference line, and the rear wheel axle as the y-axis reference line.

[0047] In one embodiment of this application, a camera coordinate system is constructed with the optical center of the target camera as the origin, the optical axis of the target camera as the z-axis, and the coordinate axes of the image plane coordinate system of the image as the reference lines for the x and y coordinate axes.

[0048] In step S230, the target camera is calibrated to obtain the target camera's extrinsic and intrinsic parameters. The rotation matrix of the target camera is determined based on the target camera's extrinsic and intrinsic parameters, and the pitch angle of the target camera is determined based on the rotation matrix.

[0049] In one embodiment of this application, the intrinsic parameter matrix K and distortion coefficient D of the camera are first defined, and then the extrinsic parameter matrix of the camera is defined, including the rotation matrix R and the translation matrix T.

[0050] The camera's intrinsic parameter matrix K includes focal length parameters fx and fy, and the coordinates cx and cy of the image plane origin (principal point). Distortion parameters include radial distortion coefficients and tangential distortion coefficients. The camera's extrinsic parameter matrix includes rotation matrix R and translation matrix T.

[0051] Based on the above parameters, the camera's intrinsic parameter matrix K and distortion coefficients D, as well as its extrinsic parameter matrices, including the rotation matrix R and translation matrix T, are obtained by calibrating planar images taken from different angles. The rotation matrix R and translation matrix T are obtained by performing geometric transformations on images captured by the camera at different positions and angles. The rotation matrix is ​​a 3x3 matrix representing the camera's rotation attitude.

[0052] In step S240, the target key points of the object to be measured in the target image are determined, and the key point image coordinates of the target key points in the target image are determined.

[0053] In one embodiment of this application, the target key points of the object to be measured include any one of the following: the left eye, right eye, nose, mouth, midpoint between the two eyes, and midpoint of the face.

[0054] It should be noted that the target key points of the object to be measured can also be confirmed based on custom facial feature points.

[0055] In step S250, the target key point image coordinates are transformed according to the target camera extrinsic parameters and rotation matrix to obtain the key point camera coordinates of the target key points in the camera coordinate system.

[0056] In step S260, based on the coordinates of the key point camera and the pitch angle of the target camera, the height difference between the target key point and the target camera in the vehicle body coordinate system is determined, and the vehicle seat is adjusted according to the height difference.

[0057] In one embodiment of this application, adjusting the vehicle seat according to the height difference includes determining the height data of the object to be measured based on the height difference and a preset human body model data mapping relationship, and controlling the seat controller to adjust the vehicle seat based on the height data.

[0058] In one embodiment of this application, a first projection point is obtained by projecting the target key point onto the plane containing the z-axis and y-axis in the camera coordinate system. A second projection point is obtained by projecting the key point onto the z-axis in the camera coordinate system. A perpendicular line is drawn from the second projection point onto the plane containing the x-axis and y-axis in the vehicle coordinate system to obtain the key point perpendicular line. A third projection point is obtained by projecting the first projection point onto the key point perpendicular line. Finally, a fourth projection point is obtained by projecting the origin of the camera coordinate system onto the key point perpendicular line.

[0059] In one embodiment of this application, a first projection point, a second projection point, and a third projection point are connected, as are a second projection point, a fourth projection point, and the origin of the camera coordinate system. The distance from the first projection point to the second projection point is the same as the y-axis coordinate value in the keypoint camera coordinate system, and the distance from the second projection point to the origin of the camera coordinate system is the same as the z-axis coordinate value in the keypoint camera coordinate system. Furthermore, the triangle formed by connecting the first, second, and third projection points is similar to the triangle formed by connecting the second, fourth, and origin of the camera coordinate system.

[0060] In one embodiment of this application, based on the feature of similar triangles with consistent angles, the distance from the second projection point to the third projection point can be determined according to the target camera's pitch angle and the distance from the first projection point to the second projection point. The distance from the second projection point to the fourth projection point can be determined according to the target camera's pitch angle and the distance from the second projection point to the origin of the camera coordinate system. The distance from the third projection point to the fourth projection point is determined by the sum of the distances from the second projection point to the third projection point and the distance from the second projection point to the fourth projection point. The distance from the third projection point to the fourth projection point is then defined as the height difference between the target key point and the target camera in the vehicle body coordinate system.

[0061] The distance from the third projection point to the fourth projection point can be calculated using the following formula:

[0062]

[0063] Where h1 is the distance from the second projection point to the third projection point, l1 is the distance from the first projection point to the second projection point, α is the target camera pitch angle, h2 is the distance from the second projection point to the fourth projection point, l2 is the distance from the second projection point to the origin of the camera coordinate system, and h is the distance from the third projection point to the fourth projection point.

[0064] Please see Figure 3 , Figure 3 This is a schematic diagram illustrating a specific coordinate system relationship in an exemplary embodiment of this application.

[0065] like Figure 3 As shown in a specific embodiment of this application, the figure is a side profile of the vehicle. It can be seen that the origin of the vehicle coordinate system is located at the rear wheel axle, and the camera coordinate system takes the optical center of the target camera as its origin. Here, h represents the height difference between the target key point and the target camera in the vehicle coordinate system. In this profile, the human eye coordinates of the camera coordinate system are (Z1', Y1').

[0066] In one specific embodiment of this application, ...

[0067] Please see Figure 4 , Figure 4This is a schematic diagram illustrating the principle of solving specific height differences, as shown in an exemplary embodiment of this application.

[0068] like Figure 4 As shown, in one embodiment of this application, point A is the human eye coordinate in the camera coordinate system, with coordinates (Z1', Y1') in the illustrated plane, consistent with the first projection point in the above embodiment; point B is consistent with the second projection point in the above embodiment; point C is consistent with the third projection point in the above embodiment; point D is consistent with the origin of the camera coordinate system in the above embodiment; and point E is consistent with the fourth projection point in the above embodiment. Since triangle BDE and triangle ACB are similar, angle BDE and angle ABC are the same, both being the target camera pitch angle α. h is the distance from the third projection point to the fourth projection point, i.e., the height difference between the target key point and the target camera in the vehicle coordinate system. Therefore, BC = AB * Cosα = Y1' * Cosα, BE = BD * sinα = Z1' * sinα, hence h = BC = BC + BE.

[0069] This invention discloses a seat adjustment method, device, vehicle, electronic device, and storage medium. The method involves acquiring a target image, constructing a vehicle coordinate system and a camera coordinate system, calibrating the target camera, obtaining the target camera's extrinsic parameters, intrinsic parameters, and rotation matrix, determining the target camera's pitch angle based on the rotation matrix, identifying key points of the object to be measured, and transforming the image coordinates of the key points to obtain the key point camera coordinates in the camera coordinate system. Based on the key point camera coordinates and the target camera's pitch angle, the height difference between the target key points and the target camera is determined, thereby adjusting the vehicle seat. Using monocular vision as a foundation, and combining the camera coordinate system and the vehicle coordinate system, the method utilizes the principle of similar trigonometry to calculate the key coordinates of key points in the image. This avoids the large amount of computational data and processes required in existing algorithms, improving computational efficiency and achieving high accuracy with the same computing power.

[0070] Specifically, this scheme uses the camera's intrinsic and extrinsic parameters to calculate displacement and rotation. Then, based on the principle of triangle similarity, it derives the actual distance between the person and the camera in the image. This avoids the large amount of samples and computational resources required for deep learning model training in existing algorithms, reducing the amount of data input, the computational input required for model training, and the input of hardware computing resources, thus shortening the time input of the calculation method and improving computational efficiency. Secondly, it avoids the calculation errors caused by sensitive factors affecting disparity calculation, such as lighting and texture, which can ensure high calculation accuracy under the same computing power support.

[0071] Based on the above method embodiments, the following experimental measurements were conducted to verify the implementation of this solution: Taking the test results of two vehicle models as an example, the error range of the height difference between the target key points and the target camera in the vehicle body coordinate system can be calculated according to the following conditions.

[0072] First, the camera's position affects the relevant parameters and the establishment of the spatial coordinate system.

[0073] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the position angle movement of a steering wheel, as shown in an exemplary embodiment of this application. The experimental data obtained from the experiment is as follows:

[0074] 1. When the steering wheel is at its upper limit, 5% of the test group showed the lower limit of the image below 2cm from the chin.

[0075] 2. When the steering wheel is in the preset design position, 50% of the test group showed the lower limit of the image below 5cm from the chin, 5% below 2cm from the chin, and 95% of the test group showed the upper limit of the image above 5cm from the hairline.

[0076] 3. When the steering wheel is at its lower limit, 5% of the test population showed that the upper limit of the image was more than 5cm above the hairline;

[0077] 4. Extend 15cm outwards from the sides of the face (horizontally covering the driver's normal head turning left and right).

[0078] Based on the test results above, a complete face can still be seen after the head is shifted by 150mm. Therefore, the angle range is: Pitch < 20°, Roll = 0°, and Yaw < ±30°.

[0079] The second influencing factor is the distance between the camera and the face: in experimental case 1 with selected vehicle model 1, the distance between the camera and the face was 380-800mm; in experimental case 2 with selected vehicle model 1, the distance between the camera and the face was 300-650mm.

[0080] The main purpose of this experiment is to verify the algorithm for the distance between the human eye and the camera. The experimental environment is a natural scene under outdoor sunlight, and data from 50-100 people actually riding in a vehicle are collected using a vehicle-mounted camera to establish the algorithm's foundation.

[0081] This experiment uses photographs of standard human faces as samples, and obtains the distance between the human eye and the camera using the methods described in the above embodiments, and uses this distance as experimental data. The specific experimental procedure is as follows:

[0082] 1. Prepare the necessary camera settings and parameters;

[0083] 2. Arrange for 50-100 people to have their height measured, and require them to sit in the same position on the chairs as instructed, looking straight ahead;

[0084] 3. Record the height distance between the human eye and the camera. This recording method uses a laser pointer for measurement.

[0085] 4. Take another standard face photo with the camera and record the data;

[0086] 5. Preprocess and analyze the data collected by the camera, and perform calculations using the algorithms described in the above embodiments;

[0087] 6. Compare the actual distance with the distance obtained by the algorithm from the human eye to the camera to verify the accuracy and reliability of the method involved in the above embodiments.

[0088] To ensure the accuracy and authenticity of the experimental data, multiple verifications and screenings were conducted, and advanced data processing and computing techniques were employed. The specific experimental data processing flow is as follows:

[0089] 1. Perform preliminary preprocessing on the experimental data, including data cleaning, noise reduction, and homogenization.

[0090] 2. Perform feature extraction and data analysis, mainly including the localization and tracking of the human eye region.

[0091] 3. Calculate and verify the accuracy and reliability of the algorithm for calculating the distance between the human eye and the camera, compare it with the actual measurement value, and obtain an approximate error value.

[0092] Experimental results show that our proposed algorithm achieves high accuracy in calculating the distance between the human eye and the camera, with a maximum error of only 5 cm. In indoor scenes, the accuracy of the distance calculation is even higher, with the error mainly affected by indoor lighting conditions. However, in outdoor scenes, the camera's distance measurement accuracy is lower, with the error primarily influenced by infrared radiation.

[0093] By comparing the experimental results, this scheme showed higher accuracy on different datasets compared to other algorithms, and also improved accuracy and stability accordingly, demonstrating significant effectiveness in the field of smart cockpits.

[0094] The following describes an embodiment of the apparatus described in this application, which can be used to perform the seat adjustment method described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the seat adjustment method described above.

[0095] Figure 6 This is a block diagram illustrating a seat adjustment device according to an exemplary embodiment of this application. The device can be applied to… Figure 2The implementation environment shown is specifically configured in computer device 102. This device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which this device is applicable.

[0096] like Figure 6 As shown, the exemplary seat adjustment device includes: an image acquisition module 601, a coordinate system construction module 602, a key point information determination module 603, and a seat adjustment module 604.

[0097] The system includes: an image acquisition module 601 for acquiring a target image, which includes the object to be measured; a coordinate system construction module 602 for constructing a vehicle coordinate system for the vehicle body and a camera coordinate system for the target camera; a key point information determination module 603 for calibrating the target camera, obtaining the target camera's extrinsic and intrinsic parameters, determining the target camera's rotation matrix based on the extrinsic and intrinsic parameters, and determining the target camera's pitch angle based on the rotation matrix; determining the target key points of the object to be measured in the target image, and determining the key point image coordinates of the target key points in the target image; performing coordinate transformation on the target key point image coordinates based on the target camera's extrinsic parameters and rotation matrix to obtain the key point camera coordinates of the target key points in the camera coordinate system; and a seat adjustment module 604 for determining the height difference between the target key points and the target camera in the vehicle body coordinate system based on the key point camera coordinates and the target camera's pitch angle, and adjusting the vehicle seat according to the height difference.

[0098] In one embodiment of this application, the seat adjustment module includes: a height data determination unit, used to determine the height data of the object to be measured based on the height difference and a preset human body model data mapping relationship; and a seat control unit, used to control the seat controller to adjust the vehicle seat based on the height data.

[0099] It should be noted that, as Figure 7 As shown, Figure 7 This is an exemplary embodiment of the present application showing the installation of an image acquisition module. The image acquisition module is set on the steering wheel dashboard. However, the installation method shown in the figure is only an exemplary example shown in this embodiment. The image acquisition device can also adjust the setting angle and position according to specific image acquisition needs. The specific position of the device on the steering wheel dashboard is not specifically limited here.

[0100] In one embodiment of the device in this application, the seat adjustment device further includes a seat module for adjusting the seat position in response to control commands from the seat controller, wherein the control commands include, but are not limited to, seat height adjustment commands, seat position adjustment commands, and seat tilt adjustment commands.

[0101] Embodiments of this application also provide a vehicle, including a seat adjustment device, a vehicle infotainment system, and a camera as described in the above embodiments. The vehicle infotainment system provides computing power and performs control calculations, while the camera acquires target images.

[0102] In addition to the aforementioned devices, the vehicle also includes an engine, whose function is to generate power by burning fuel and drive the wheels through the chassis's transmission system to move the vehicle. There are two types: gasoline engines and diesel engines. A gasoline engine consists of a crankshaft and connecting rod mechanism, a valve train, a fuel supply system, a cooling system, a lubrication system, an ignition system, and a starting system. A diesel engine uses compression ignition, so it does not have an ignition system.

[0103] The aforementioned vehicles also include a chassis, which supports and mounts the automobile engine and its various components and assemblies, forming the overall shape of the vehicle, receiving power from the engine to enable the vehicle to move and ensure normal driving. The chassis consists of four parts: the transmission system, the running system, the steering system, and the braking system.

[0104] The aforementioned vehicles also include a body, mounted on a chassis frame, for use by the driver and passengers or for loading goods.

[0105] The aforementioned vehicles also include electrical equipment, which consists of two main parts: power supply and electrical equipment. The power supply includes a battery and a generator, while the electrical equipment includes the engine's starting system, the gasoline engine's ignition system, and other electrical devices.

[0106] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the methods provided in the above embodiments.

[0107] Figure 8 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 8 The computer system 800 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0108] like Figure 8As shown, the computer system 800 includes a Central Processing Unit (CPU) 801, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 802 or programs loaded from storage portion 808 into Random Access Memory (RAM) 803, such as performing the methods described in the above embodiments. The RAM 803 also stores various programs and data required for system operation. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An Input / Output (I / O) interface 805 is also connected to the bus 804.

[0109] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0110] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit (CPU) 801, it performs various functions defined in the system of this application.

[0111] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0112] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0113] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0114] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the method described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0115] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0116] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for adjusting a seat, characterized in that, The seat adjustment method includes: Acquire a target image, the target image including the object to be measured; Construct a vehicle coordinate system for the vehicle body and a camera coordinate system for the target camera; The target camera is calibrated to obtain its extrinsic and intrinsic parameters. The rotation matrix of the target camera is determined based on the extrinsic and intrinsic parameters, and the pitch angle of the target camera is determined based on the rotation matrix. Determine the target key points of the object to be measured in the target image, and determine the key point image coordinates of the target key points in the target image; The image coordinates of the target key points are transformed according to the target camera extrinsic parameters and rotation matrix to obtain the key point camera coordinates of the target key points in the camera coordinate system. Based on the coordinates of the key point camera and the pitch angle of the target camera, the height difference between the target key point and the target camera in the vehicle body coordinate system is determined, and the vehicle seat is adjusted according to the height difference.

2. The seat adjustment method according to claim 1, characterized in that, Constructing a vehicle coordinate system based on the vehicle body size data, and constructing a camera coordinate system for the target camera, includes: A vehicle coordinate system is constructed with the midpoint of the rear wheel axis as the origin, the perpendicular line from the chassis plane as the z-axis reference line, the chassis centerline as the x-axis reference line, and the rear wheel axis as the y-axis reference line. A camera coordinate system is constructed with the optical center of the target camera as the origin, the optical axis of the target camera as the z-axis, and the coordinate axes of the image plane coordinate system of the image as the baselines for the x and y coordinate axes.

3. The seat adjustment method according to claim 1, characterized in that, Based on the camera coordinates of the key points and the pitch angle of the target camera, determining the height difference between the target key points and the target camera in the vehicle coordinate system includes: Projecting the target key points onto the plane containing the z and y axes in the camera coordinate system yields the first projection point. Then, projecting the key projection points onto the z axis in the camera coordinate system yields the second projection point. Draw perpendicular lines from the second projection point to the plane containing the x and y coordinate axes in the vehicle body coordinate system to obtain the key point perpendicular lines; The third projection point is obtained by projecting the first projection point onto the perpendicular line of the key point, and the fourth projection point is obtained by projecting the camera coordinate system origin onto the perpendicular line of the key point. Connect the first projection point, the second projection point, and the third projection point, and connect the second projection point, the fourth projection point, and the origin of the camera coordinate system. The distance from the first projection point to the second projection point is the same as the y-axis coordinate value in the keypoint camera coordinate system, and the distance from the second projection point to the origin of the camera coordinate system is the same as the z-axis coordinate value in the keypoint camera coordinate system. The triangle formed by connecting the first projection point, the second projection point, and the third projection point is similar to the triangle formed by connecting the second projection point, the fourth projection point, and the origin of the camera coordinate system. The distance from the second projection point to the third projection point is determined based on the target camera's pitch angle and the distance from the first projection point to the second projection point. The distance from the second projection point to the fourth projection point is determined based on the target camera's pitch angle and the distance from the second projection point to the origin of the camera coordinate system. Based on the sum of the distances from the second projection point to the third projection point and the distances from the second projection point to the fourth projection point, the distance from the third projection point to the fourth projection point is determined, and this distance is defined as the height difference between the target key point and the target camera in the vehicle body coordinate system.

4. The seat adjustment method according to claim 3, characterized in that, The distance from the third projection point to the fourth projection point is calculated using the following formula: Official (1) in, It is the distance from the second projection point to the third projection point. It is the distance from the first projection point to the second projection point. It is the target camera's pitch angle. It is the distance from the second projection point to the fourth projection point. It is the distance from the second projection point to the origin of the camera coordinate system. It is the distance from the third projection point to the fourth projection point.

5. The seat adjustment method according to claim 1, characterized in that, Adjusting the vehicle seat based on the height difference includes: The height data of the object to be measured is determined based on the height difference and the preset human body model data mapping relationship. The vehicle seat is adjusted using a seat controller based on height data.

6. The seat adjustment method according to claim 1, characterized in that, The target key points of the object to be measured include any one of the following: the left eye, right eye, nose, mouth, midpoint between the two eyes, and midpoint of the face.

7. A seat adjustment device, characterized in that, The seat adjustment device includes: Image acquisition module, used to acquire target image, the target image including the object to be measured; The coordinate system construction module is used to construct a vehicle coordinate system for the vehicle body and a camera coordinate system for the target camera. The key point information determination module is used to calibrate the target camera, obtain the target camera's extrinsic and intrinsic parameters, determine the target camera's rotation matrix based on the extrinsic and intrinsic parameters, and determine the target camera's pitch angle based on the rotation matrix; determine the target key points of the object to be measured in the target image, and determine the key point image coordinates of the target key points in the target image; perform coordinate transformation on the target key point image coordinates based on the target camera's extrinsic parameters and rotation matrix to obtain the key point camera coordinates of the target key points in the camera coordinate system; The seat adjustment module is used to determine the height difference between the target key point and the target camera in the vehicle body coordinate system based on the coordinates of the key point camera and the pitch angle of the target camera, and to adjust the vehicle seat according to the height difference.

8. The seat adjustment device according to claim 7, characterized in that, The seat adjustment module includes: The height data determination unit is used to determine the height data of the object to be measured based on the height difference and the preset human body model data mapping relationship. The seat control unit is used to control the seat controller to adjust the vehicle seat based on height data.

9. The seat adjustment device according to claim 7, characterized in that, The image acquisition module is located on the steering wheel dashboard.

10. The seat adjustment device according to any one of claims 7-9, characterized in that, The seat adjustment device also includes: The seat module is used to adjust the seat position in response to control commands from the seat controller, wherein the control commands include seat height adjustment commands, seat position adjustment commands, and seat tilt adjustment commands.

11. A vehicle, characterized in that, The vehicles include: The seat adjustment device as described in any one of claims 7 to 10; The vehicle infotainment system is used to provide computing power support and perform control calculations; A camera is used to acquire images of a target.

12. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the electronic device to implement the seat adjustment method as described in any one of claims 1 to 6.

13. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the seat adjustment method according to any one of claims 1 to 6.

Images