Hood field of view detection device

Abstract

This disclosure discloses a hood field of view detection device, belonging to the field of vehicle technology. The hood field of view detection device includes a hood, a hood adjustment assembly, a cockpit assembly, a virtual reality device, an image acquisition assembly, and a controller. The hood adjustment assembly is connected to the hood and is used to adjust the position and attitude of the hood. The cockpit assembly is opposite to the rear end of the hood. The virtual reality device is used to display virtual images. The image acquisition assembly is used to acquire images of the hood and the mixed reality device. The controller is used to: determine the relative pose information of the virtual reality device relative to the hood based on the images acquired by the image acquisition assembly; and, based on the relative pose information, control the virtual reality device to display a virtual image including the hood. Testers do not need to change different test models, saving the time spent on changing test models and improving the efficiency of hood field of view testing.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and in particular to a hood field of view detection device. Background Technology

[0002] With the increasing popularity of vehicles, the driving environment has become more complex. The issue of how to maintain driving safety in complex driving environments has received widespread attention. Among these issues, the impact of the hood on the driver's visibility is of paramount importance.

[0003] In related technologies, a physical seating buck is usually used for testing and evaluation. The seating buck includes a hood and a cockpit space with relatively fixed poses. The tester judges the visual effect of the hood on the front view of the cockpit space by the tester and makes further optimizations based on this.

[0004] In the passenger model design, the relative positions of the canopy and the cockpit space are fixed. Testers need to switch between multiple models to experience different field of vision effects, which results in low efficiency in the canopy field of vision effect testing. Summary of the Invention

[0005] This disclosure provides a hood field of view detection device, which can solve the aforementioned technical problems existing in related technologies. The technical solution is as follows:

[0006] The hood field of view detection device includes a hood, a hood adjustment assembly, a cockpit assembly, a virtual reality device, an image acquisition assembly, and a controller;

[0007] The hood adjustment assembly is connected to the hood, and the hood adjustment assembly is used to adjust the position and orientation of the hood;

[0008] The cockpit assembly is opposite the rear end of the hood;

[0009] The virtual reality device is used to display virtual images;

[0010] The image acquisition component is used to acquire images of the cover and the mixed reality device;

[0011] The controller is configured to: determine the relative pose information of the virtual reality device relative to the canopy based on the image acquired by the image acquisition component, and control the virtual reality device to display a virtual image containing the canopy based on the relative pose information.

[0012] In some possible implementations, the hood adjustment assembly includes a fixed bracket, a translation adjustment assembly, and a rotation adjustment assembly;

[0013] The translation adjustment component is connected to the fixed bracket and the cover. The translation adjustment component is used to drive the cover to translate along the directions of the first straight line, the second straight line, and the third straight line, wherein the first straight line, the second straight line, and the third straight line are perpendicular to each other.

[0014] The rotation adjustment component is connected to the translation adjustment component and the machine cover. The rotation adjustment component is used to drive the machine cover to rotate about the third straight line as the axis.

[0015] In some possible implementations, the translation adjustment assembly includes a first translation assembly, a second translation assembly, and a third translation assembly;

[0016] The first translation component is connected to the fixed bracket and is capable of moving relative to the fixed bracket along the first straight line;

[0017] The second translation component is connected to the first translation component and is capable of moving relative to the first translation component along the second straight line;

[0018] The third translation component is connected to the second translation component and the cover, and is capable of moving relative to the second translation component along the third straight line.

[0019] In some possible implementations, the hood is hinged to the third translation assembly;

[0020] The rotation adjustment assembly includes a rotating component, an adjustment handle, and a guide component. One end of the rotating component is hinged to the third translation component, and the adjustment handle is connected to the other end of the rotating component. The adjustment handle is used to drive the rotating component to rotate relative to the third translation component, and the guide component is slidably connected to the cover.

[0021] In some possible implementations, the hood field of view detection device includes a plurality of image acquisition components, the plurality of image acquisition components including at least one image acquisition component corresponding to the hood and at least one image acquisition component corresponding to the virtual reality device;

[0022] The controller is used for:

[0023] Based on the first image acquired by the image acquisition component corresponding to the hood, the first pose information of the hood in the specified coordinate system is determined;

[0024] Based on the second image acquired by the image acquisition component corresponding to the virtual reality device, the second pose information of the virtual reality device in the specified coordinate system is determined;

[0025] Based on the first pose information of the hood in the specified coordinate system and the second pose information of the virtual reality device in the specified coordinate system, the relative pose information of the virtual reality device with respect to the hood is determined.

[0026] In some possible implementations, based on the first pose recognition model, the first image acquired by the image acquisition component corresponding to the hood is recognized to determine the first pose information of the hood in a specified coordinate system.

[0027] In some possible implementations, the upper surface of the hood has a protrusion structure of a first specified shape, which is used to assist in the processing of determining the first pose information based on the first image.

[0028] In some possible implementations, the second image acquired by the image acquisition component corresponding to the virtual reality device is identified based on the second pose recognition model to determine the second pose information of the virtual reality device in a specified coordinate system.

[0029] In some possible implementations, the outer surface of the virtual reality device has a protrusion structure of a second specified shape, which is used to assist in the processing of determining second pose information based on a second image.

[0030] In some possible implementations, the controller is used to:

[0031] The relative pose information of the virtual reality device with respect to the canopy is set as the relative pose information of the virtual camera with respect to the three-dimensional model of the canopy.

[0032] Based on the relative pose information of the virtual camera with respect to the three-dimensional model of the hood, rendering processing is performed to obtain the virtual image captured by the virtual camera on the three-dimensional model of the hood.

[0033] The beneficial effects of the technical solutions provided in this disclosure include at least the following:

[0034] In this embodiment, the hood adjustment component adjusts the position and attitude parameters of the hood, the hood field of view detection device can obtain the hood with different position and attitude parameters, and the virtual reality device can present the hood with different position and attitude parameters to the tester. The tester does not need to change different test models, saving the time consumed by changing test models, which is conducive to improving the efficiency of the hood field of view effect test.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the structure of a hood field of view detection device provided in an embodiment of this disclosure;

[0038] Figure 2 This is a schematic diagram of the structure of a hood adjustment assembly provided in an embodiment of this disclosure;

[0039] Figure 3 This is an exploded view of a translation adjustment component provided in an embodiment of this disclosure;

[0040] Figure 4 This is a schematic diagram of the structure of a rotation adjustment component provided in an embodiment of this disclosure;

[0041] Figure 5 This is a schematic diagram of the structure of a second translation component provided in an embodiment of this disclosure;

[0042] Figure 6 This is a schematic diagram of the working process of a hood field of view detection device provided in an embodiment of this disclosure;

[0043] Figure 7 This is a schematic diagram of a workflow for determining the relative pose information of a virtual reality device relative to a cover, provided by an embodiment of this disclosure.

[0044] Figure label:

[0045] 1. Engine cover; 11. Engine cover body; 12. Connecting plate;

[0046] 2. Cover adjustment assembly; 21. Fixed bracket; 22. Translation adjustment assembly; 221. First translation assembly; 222. Second translation assembly; 2221. Motor; 2222. Lead screw; 2223. Nut; 2224. Connector; 2225. Slider; 2226. Linear slide rail; 223. Third translation assembly; 23. Rotation adjustment assembly; 231. Rotating component; 232. Adjustment handle; 233. Guide component;

[0047] 3. Cockpit components; 31. Seat; 32. Pedals; 33. Steering wheel;

[0048] 4. Virtual reality devices;

[0049] 5. Image acquisition component. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0051] Reference Figure 1 As shown, this embodiment of the present disclosure provides a hood field of view detection device, including a hood 1, a hood adjustment assembly 2, a cockpit assembly 3, a virtual reality device 4, an image acquisition assembly 5, and a controller.

[0052] The hood adjustment assembly 2 is connected to the hood 1, and the hood adjustment assembly 2 is used to adjust the position and orientation of the hood 1. This disclosure does not specify the connection method between the hood adjustment assembly 2 and the hood 1, which can be a threaded connection, a snap-fit ​​connection, etc. The specific method can be matched and set according to factors such as the size and shape of the hood 1 and the connection strength requirements between the hood adjustment assembly 2 and the hood 1.

[0053] The cover 1 may include a cover body 11 and a connecting plate 12. The cover body 11 and the connecting plate 12 are connected. The cover body 11 is located on the side away from the cover adjustment assembly 2, and the connecting plate 12 is located on the side closer to the cover adjustment assembly 2.

[0054] This disclosure does not specifically limit the number of cover bodies 11, which can be one or more. For example, if the number of cover bodies 11 is one, then the cover body 11 is a continuous element; or if the number of cover bodies 11 is two, then the two cover bodies 11 are symmetrically distributed in the second straight line direction. This disclosure does not specifically limit the number of connecting plates 12, and the number of connecting plates 12 is equal to the number of cover bodies 11.

[0055] Reference Figure 2 As shown, in some embodiments, the hood adjustment assembly 2 may include a fixed bracket 21, a translation adjustment assembly 22, and a rotation adjustment assembly 23.

[0056] The fixed bracket 21 supports the translation adjustment assembly 22 and the rotation adjustment assembly 23. The translation adjustment assembly 22 is connected to the fixed bracket 21 and the connecting plate 12 of the cover 1. The translation adjustment assembly 22 drives the cover 1 to translate along the directions of the first straight line, the second straight line, and the third straight line, wherein the first straight line, the second straight line, and the third straight line are perpendicular to each other, and the direction of the first straight line is perpendicular to the direction of the rotation adjustment assembly 23. Figure 2 Corresponding to the Z-axis, which is perpendicular to the ground, the direction of the second line is... Figure 2 Corresponding to the Y-axis, the direction from the front end of the hood 1 to the rear end is also the direction from the hood 1 to the cockpit component 3. The direction of the third straight line is... Figure 2 The X-axis corresponds to the direction perpendicular to the plane formed by the first and second straight lines.

[0057] The rotation adjustment component 23 is connected to the translation adjustment component 22. The rotation adjustment component 23 is used to drive the cover 1 to rotate around the third straight line as the axis.

[0058] In this way, the translation adjustment component 22 can adjust the positional relationship of the hood body 11 on the X, Y, and Z axes, and the rotation adjustment component 23 can adjust the angle of rotation of the hood body 11 about the third straight line as the axis, that is, the angle between the hood body 11 and the ground or horizontal line. Test personnel can stand at the front end of the hood 1 and touch the front edge of the hood body 11 to simulate the action of a vehicle user opening the engine compartment, avoiding the hood 1 being too low, which would require the user to bend over significantly to successfully open the engine compartment, thus reducing the inconvenience for vehicle users in using the engine compartment.

[0059] Reference Figure 3 As shown, in some embodiments, the translation adjustment assembly 22 includes a first translation assembly 221, a second translation assembly 222, and a third translation assembly 223. The first translation assembly 221 is connected to the fixed bracket 21 and is movable relative to the fixed bracket 21 in a first straight line. The second translation assembly 222 is connected to the first translation assembly 221 and is movable relative to the first translation assembly 221 in a second straight line. The third translation assembly 223 is connected to the second translation assembly 222 and the cover 1, and is movable relative to the second translation assembly 222 in a third straight line.

[0060] The first translation component 221, the second translation component 222, and the third translation component 223 can all be electrically connected to the controller. The controller can control the direction and distance of movement of the first translation component 221, the second translation component 222, and the third translation component 223. Based on the same principle, the rotation adjustment component 23 can also be electrically connected to the controller. The controller can control the rotation direction and angle of the rotation adjustment component 23, thereby controlling the tilt angle of the cover body 11.

[0061] Reference Figure 5 As shown, taking the second translation component 222 as an example, the second translation component 222 may include a motor 2221, a lead screw 2222, a nut 2223, a connector 2224, a slider 2225, and a linear guide rail 2226. The motor 2221 is electrically connected to the controller, which controls the motor 2221 to provide power. The lead screw 2222 is connected to the motor 2221, and the operation of the motor 2221 drives the lead screw 2222 to rotate. The nut 2223 is slidably connected to the lead screw 2222, and the rotation of the lead screw 2222 drives the nut 2223 to slide along the axis of the lead screw 2222. The direction of the nut 2223 sliding along the axis of the lead screw 2222 can be controlled by the rotation direction of the motor 2221.

[0062] The connector 2224 is fixedly connected to the nut 2223, and the connector 2224 and the nut 2223 move together. The slider 2225 is located at both ends of the connector 2224 and is connected to the connector 2224. One of the linear slide rail 2226 and the slider 2225 has a groove, and the other has a protrusion. The linear slide rail 2226 and the slider 2225 are slidably connected through the groove and protrusion structure.

[0063] This disclosure does not specifically limit the type or quantity of components used in the second translation component 222, and the selection can be matched and set according to factors such as the power, weight, and cost of the second translation component 222. This disclosure also does not specifically limit the quantity of the second translation component 222, and there can be one or more. The length of the second translation component 222 along the second straight line direction can be matched and set according to factors such as the size and shape of the cover 1 and the acquisition range of the image acquisition component 5.

[0064] The working principles of the first translation component 221 and the third translation component 223 are the same as those of the second translation component 222, and will not be repeated here.

[0065] Reference Figure 4 As shown, in some embodiments, the connecting plate 12 of the cover 1 is hinged to the third translation assembly 223. The rotation adjustment assembly 23 includes a rotating member 231, an adjustment handle 232, and a guide member 233. One end of the rotating member 231 is hinged to the third translation assembly 223, and the adjustment handle 232 is connected to the other end of the rotating member 231. The adjustment handle 232 is used to drive the rotating member 231 to rotate relative to the third translation assembly 223. The guide member 233 is slidably connected to the connecting plate 12 of the cover 1.

[0066] In some embodiments, one end of the rotating member 231 hinged to the third translation component 223 is a fixed end, and the other end of the rotating member 231 is a rotating end. The tester can apply a force to the rotating end of the rotating member 231 by adjusting the handle 232, thereby enabling the rotating member 231 to rotate about the third straight line as an axis. When the rotating member 231 rotates, the motion of the rotating end of the rotating member 231 can be decomposed into linear motion in the first straight line direction and linear motion in the third straight line direction.

[0067] In some other embodiments, the end of the rotating member 231 that is hinged to the third translation component 223 is a fixed end, and the other end of the rotating member 231 is a rotating end. The controller is electrically connected to the adjusting handle 232, and the controller controls the adjusting handle 232 to apply a force to the rotating end of the rotating member 231, thereby realizing the rotation of the rotating member 231 around the third straight line as an axis. When the rotating member 231 rotates, the motion of the rotating end of the rotating member 231 can be decomposed into linear motion in the first straight line direction and linear motion in the third straight line direction.

[0068] The linear motion of the rotating end of the rotating component 231 in the third straight line direction is transformed into the sliding motion of the connecting plate 12 of the guide component 233 and the hood 1. The linear motion of the rotating end of the rotating component 231 in the first straight line direction is transformed into the raising or lowering of the connecting plate 12 of the hood 1 on the side near the cockpit assembly 3, thereby realizing the rotational motion of the hood 1 within a certain range with the third straight line as the axis.

[0069] Reference Figure 1 As shown, in some embodiments, the cockpit assembly 3 is opposite to the rear end of the hood 1. The cockpit assembly is used to accommodate test personnel when the hood visibility detection device is in operation. The cockpit assembly may include a seat 31, pedals 32, and a steering wheel 33. The seat 31, pedals 32, and steering wheel 33 are all connected to a fixed bracket 21. The seat 31 is used to support the test personnel. The pedals 32 are used to simulate the control pedals of a car, such as the clutch pedal, brake pedal, and accelerator pedal. The pedals 32 can help limit the position and posture of the test personnel. The structure and size of the steering wheel 33 can be adapted to the steering wheel of a car. The steering wheel 33 can help limit the position and posture of the test personnel.

[0070] This disclosure does not limit the specific components of the cockpit assembly, and can be matched and set according to the internal structure of different car cockpits. For example, the cockpit assembly may also include components such as gear lever and seat belt.

[0071] In some embodiments, the virtual reality device 4 is used to display virtual images, and the image acquisition component 5 is used to acquire images of the hood 1 and the virtual reality device 4. The hood field of view detection device may include multiple image acquisition components 5, and the multiple image acquisition components 5 include at least one image acquisition component 5 corresponding to the hood 1 and at least one image acquisition component 5 corresponding to the virtual reality device 4.

[0072] The controller can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), central processing units (CPUs), or other electronic components. The aforementioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof; this application does not impose specific limitations on the embodiments thereof.

[0073] This disclosure provides an embodiment of the working process of a hood field of view detection device (this process can be executed periodically, for example, the cycle length can be 0.1 seconds, etc., the shorter the cycle length, the higher the control accuracy, the longer the cycle length, the less processing resources are consumed by the controller, and a suitable cycle length can be selected by comprehensively considering control accuracy and processing resource consumption), referring to Figure 6 As shown, it includes the following steps:

[0074] Step 101: The controller determines the relative pose information of the virtual reality device 4 relative to the cover 1 based on the image acquired by the image acquisition component 5.

[0075] Among them, such as Figure 7 The diagram shows the processing flow for step 101, which may include the following steps:

[0076] Step 1011: The controller determines the first pose information of the cover 1 in the specified coordinate system based on the first image acquired by the image acquisition component 5 of the corresponding cover 1.

[0077] In this embodiment of the disclosure, the controller can determine a coordinate origin in the area where the hood field of view detection device is located. In some embodiments, the controller can use a apex corner of the fixed bracket 21 as the coordinate origin, such as... Figure 1 As shown.

[0078] Optionally, the controller can determine the coordinate axes based on the movement directions of each sub-component in the translation adjustment assembly 22. For example, the movement direction of the first translation assembly 221 is the Z-axis, the movement direction of the second translation assembly 222 is the Y-axis, and the movement direction of the third translation assembly 223 is the X-axis.

[0079] In this way, the controller can establish a scene coordinate system based on the origin, X-axis, Y-axis, and Z-axis.

[0080] In some embodiments, the upper surface of the cover 1 has a protrusion structure of a first specified shape, which is used to assist in the processing of determining the first pose information based on the first image.

[0081] For example: The first specified shape protrusion has multiple infrared reflective spheres (the spheres can be regarded as specified feature points of the first specified shape protrusion). The relative pose relationship between the multiple spheres on the first specified shape protrusion is fixed. The relative pose relationship between the first specified shape protrusion and the cover 1 is also fixed. The image acquisition component 5 emits infrared light and takes a picture of the cover 1 to obtain the first image. Then, the first pose information of the cover 1 in the specified coordinate system is obtained through the pose parameters of the multiple spheres in the first image.

[0082] This disclosure does not specifically limit the shape of the protrusion structure of the first specified shape. The first specified shape can be various polygons, such as rectangles, rhombuses, triangles, etc. In this case, the specified feature points of the protrusion structure of the first specified shape can be the corner points of the polygon.

[0083] The first pose recognition model can be a machine learning model. The first pose recognition model can detect the first pose information corresponding to the first image generated by the cover 1 with different features.

[0084] The training process of the first pose recognition model is as follows: First, multiple sets of data are acquired as sample data, and each sample data includes at least a first sample image and a first reference pose information.

[0085] Then, a set of sample data is obtained, and one of the first images is input into the first pose recognition model to be trained to generate a first predicted pose information.

[0086] The loss value is determined based on the first reference pose information and the first predicted pose information. The parameters of the first pose recognition model to be trained are then tuned based on the loss value. The above training and parameter tuning process is performed using multiple sets of sample data until a predetermined termination condition is met. The parameter-tuned first pose recognition model is then determined as the first pose recognition model that has completed training.

[0087] In this embodiment of the disclosure, the controller identifies the first image acquired by the image acquisition component 5 of the corresponding cover 1 based on the first pose recognition model, so as to determine the first pose information of the cover 1 in the specified coordinate system.

[0088] The first pose recognition model may include a first feature extraction sub-model and a first pose recognition sub-model. The first feature extraction sub-model is a feature extraction model based on an attention mechanism, and the attention region of the first feature extraction sub-model corresponds to the position of the protrusion structure of the first specified shape.

[0089] The controller is used to: input the first image acquired by the image acquisition component 5 corresponding to the cover 1 into the first feature extraction sub-model to obtain the first feature information output by the first feature extraction sub-model; input the first feature information into the first pose recognition sub-model to obtain the first pose information of the cover 1 in the specified coordinate system output by the first pose recognition sub-model.

[0090] Step 1012: The controller determines the second pose information of the virtual reality device 4 in the specified coordinate system based on the second image acquired by the image acquisition component 5 of the corresponding virtual reality device 4.

[0091] In some embodiments, the outer surface of the virtual reality device 4 has a protrusion structure of a second specified shape, which is used to assist in the processing of determining second pose information based on a second image.

[0092] For example, the second specified shape protrusion has multiple infrared reflective spheres (the spheres can be regarded as specified feature points of the second specified shape protrusion). The relative pose relationship between the multiple spheres on the second specified shape protrusion is fixed. The relative pose relationship between the second specified shape protrusion and the virtual reality device 4 is also fixed. The image acquisition component 5 emits infrared light and takes pictures of the virtual reality device 4 to obtain a second image. Then, the second pose information of the virtual reality device 4 in the specified coordinate system is obtained through the pose parameters of the multiple spheres in the second image.

[0093] This disclosure does not specifically limit the shape of the protrusion structure of the second specified shape. The second specified shape can be various polygons, such as rectangles, rhombuses, triangles, etc. In this case, the specified feature points of the protrusion structure of the second specified shape can be the corner points of the polygon.

[0094] The second pose recognition model can be a machine learning model, which can detect the second pose information corresponding to the second image generated by the virtual reality device 4 with different features.

[0095] The training process of the second pose recognition model is as follows: First, multiple sets of data are acquired as sample data, and each sample data includes at least one second sample image and one second reference pose information.

[0096] Then, a set of sample data is obtained, and one of the second sample images is input into the second pose recognition model to be trained to generate a second predicted pose information.

[0097] The loss value is determined based on the second reference pose information and the second recognition pose information. The parameters of the second pose recognition model to be trained are then tuned based on the loss value. This training and parameter tuning process is performed using multiple sets of sample data until a predetermined termination condition is met. The tuned second pose recognition model is then considered the successfully trained second pose recognition model.

[0098] In this embodiment of the disclosure, based on the second pose recognition model, the second image acquired by the image acquisition component 5 of the corresponding virtual reality device 4 is recognized to determine the second pose information of the virtual reality device 4 in the specified coordinate system.

[0099] The second pose recognition model may include a second feature extraction sub-model and a second pose recognition sub-model. The second feature extraction sub-model is an attention-based feature extraction model, and its attention region corresponds to the position of the protruding structure of the second specified shape.

[0100] The controller is used to: input the second image acquired by the image acquisition component 5 of the corresponding virtual reality device 4 into the second feature extraction sub-model to obtain the second feature information output by the second feature extraction sub-model; input the second feature information into the second pose recognition sub-model to obtain the second pose information of the virtual reality device 4 in the specified coordinate system output by the second pose recognition sub-model.

[0101] Step 1013: Based on the first pose information of the cover 1 in the specified coordinate system and the second pose information of the virtual reality device 4 in the specified coordinate system, the controller determines the relative pose information of the virtual reality device 4 with respect to the cover 1.

[0102] Specifically, based on the first pose information of the cover 1 in the specified coordinate system and the parameter information of the specified coordinate system, the transformation relationship between the relative coordinate system of the cover 1 and the specified coordinate system is obtained. Then, based on the transformation relationship between the relative coordinate system of the cover 1 and the specified coordinate system, and combined with the second pose information of the virtual reality device 4 in the specified coordinate system, the second transformed pose information of the virtual reality device 4 in the relative coordinate system is obtained. The second transformed pose information is the relative pose information of the virtual reality device 4 relative to the cover 1.

[0103] Step 102: Based on the relative pose information, the controller controls the virtual reality device 4 to display a virtual image including the canopy 1. The specific process is as follows:

[0104] The controller sets the relative pose information of the virtual reality device 4 with respect to the cover 1 as the relative pose information of the virtual camera with respect to the three-dimensional model of the cover 1.

[0105] Based on the relative pose information of the virtual camera with respect to the 3D model of the hood 1, the controller performs rendering processing to obtain a virtual image of the 3D model of the hood 1 captured by the virtual camera. At this point, the tester can see the virtual image of the 3D model of the hood 1.

[0106] In some embodiments, the operation of the hood field of view detection device may further include:

[0107] Step 103: The controller determines the relative pose information of the cockpit body relative to the hood 1 based on the first pose information of the hood 1 in the specified coordinate system and the preset third pose information of the cockpit body in the specified coordinate system.

[0108] The cockpit main body can include components such as A-pillars, roof, doors, and control panel. Different types of vehicles have different third pose information of the cockpit main body in a specified coordinate system. We can adjust different third pose information to simulate different vehicles, thereby obtaining the hood view effect perception results of different vehicles.

[0109] Step 104: Based on the relative pose information of the cockpit body relative to the hood 1 and the preset relative pose information of the fender relative to the hood 1, the controller combines the three-dimensional model of the hood 1, the three-dimensional model of the cockpit body, and the three-dimensional model of the fender to obtain a combined three-dimensional model.

[0110] The relative pose information of the fender (the fender is the outer body panel that covers the wheels; in this embodiment, the fender refers to the front fender of the vehicle) relative to the hood 1 has a fixed value. When the tester is located in the cockpit component 3 area, the fender can be seen from part of the tester's perspective. This embodiment further simulates the field of vision effect of the hood area in front of the vehicle by setting a three-dimensional model of the fender, thereby improving the realism of the hood field of vision effect detection work.

[0111] Step 105: Set the relative pose information of the virtual reality device 4 with respect to the cover 1 as the relative pose information of the virtual camera with respect to the combined 3D model.

[0112] Step 106: Based on the relative pose information of the virtual camera relative to the combined 3D model, perform rendering processing to obtain a virtual image captured by the virtual camera on the combined 3D model.

[0113] During the rendering process, other parameters such as scene information (e.g., urban expressways, rural roads, etc.) and lighting information (e.g., driving against the light, lightning weather) can be added to make the virtual images captured by the virtual camera on the combined 3D model more similar to the actual driving scene of the vehicle.

[0114] In the description of this specification, the references to "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are 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 a suitable manner in any 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.

[0115] It is understood that in this disclosure, "multiple" refers to two or more, and other quantifiers are similar. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The singular forms "a," "the," and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0116] It is further understood that the terms "first," "second," etc., are used to describe various types of information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another, and do not indicate a specific order or degree of importance. In fact, the expressions "first," "second," etc., are completely interchangeable. For example, without departing from the scope of this disclosure, first information can also be referred to as second information, and similarly, second information can also be referred to as first information.

[0117] It is further understood that the terms “center,” “longitudinal,” “lateral,” “front,” “rear,” “up,” “down,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation.

[0118] It is further understood that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral molding; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the two components; they can refer to a direct connection between two components without the presence of other components, or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0119] It is further understood that although operations are described in a specific order in the accompanying drawings in the embodiments of this disclosure, this should not be construed as requiring these operations to be performed in the specific order or serial order shown, or requiring all of the shown operations to be performed to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0120] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the solutions disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the scope of the claims.

[0121] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A device for detecting the field of view of a machine cover, characterized in that, The hood field of view detection device includes a hood (1), a hood adjustment assembly (2), a cockpit assembly (3), a virtual reality device (4), an image acquisition assembly (5), and a controller; The hood adjustment assembly (2) is connected to the hood (1). The hood adjustment assembly (2) is used to adjust the position and posture of the hood (1). The hood adjustment assembly (2) includes a fixed bracket (21), a translation adjustment assembly (22), and a rotation adjustment assembly (23). The translation adjustment assembly (22) is connected to the fixed bracket (21) and the hood (1). The translation adjustment assembly (22) is used to drive the hood (1) to translate along the first straight line, the second straight line, and the third straight line. The first straight line, the second straight line, and the third straight line are perpendicular to each other. The rotation adjustment assembly (23) is connected to the translation adjustment assembly (22) and the hood (1). The rotation adjustment assembly (23) is used to drive the hood (1) to rotate about the third straight line as the axis. The cockpit assembly (3) is opposite to the rear end of the hood (1); The virtual reality device (4) is used to display virtual images; The image acquisition component (5) is used to acquire images of the cover (1) and the virtual reality device (4); The controller is used to: determine the relative pose information of the virtual reality device (4) relative to the cover (1) based on the image acquired by the image acquisition component (5), and control the virtual reality device (4) to display a virtual image containing the cover (1) based on the relative pose information.

2. The hood field of view detection device according to claim 1, characterized in that, The translation adjustment component (22) includes a first translation component (221), a second translation component (222), and a third translation component (223). The first translation component (221) is connected to the fixed bracket (21) and is capable of moving relative to the fixed bracket (21) along the first straight line; The second translation component (222) is connected to the first translation component (221) and is capable of moving relative to the first translation component (221) along the second straight line; The third translation component (223) is connected to the second translation component (222) and the cover (1), and is capable of moving relative to the second translation component (222) on the third straight line.

3. The hood field of view detection device according to claim 2, characterized in that, The cover (1) is hinged to the third translation component (223); The rotation adjustment assembly (23) includes a rotating component (231), an adjustment handle (232), and a guide component (233). One end of the rotating component (231) is hinged to the third translation assembly (223), and the adjustment handle (232) is connected to the other end of the rotating component (231). The adjustment handle (232) is used to drive the rotating component (231) to rotate relative to the third translation assembly (223). The guide component (233) is slidably connected to the cover (1).

4. The hood field of view detection device according to any one of claims 1-3, characterized in that, The hood field of view detection device includes multiple image acquisition components (5), including at least one image acquisition component (5) corresponding to the hood (1) and at least one image acquisition component (5) corresponding to the virtual reality device (4); The controller is used for: Based on the first image acquired by the image acquisition component (5) corresponding to the cover (1), the first pose information of the cover (1) in the specified coordinate system is determined; Based on the second image acquired by the image acquisition component (5) corresponding to the virtual reality device (4), the second pose information of the virtual reality device (4) in the specified coordinate system is determined; Based on the first pose information of the cover (1) in the specified coordinate system and the second pose information of the virtual reality device (4) in the specified coordinate system, the relative pose information of the virtual reality device (4) relative to the cover (1) is determined.

5. The hood field of view detection device according to claim 4, characterized in that, Based on the first pose recognition model, the first image acquired by the image acquisition component (5) corresponding to the cover (1) is recognized to determine the first pose information of the cover (1) in the specified coordinate system.

6. The hood field of view detection device according to claim 5, characterized in that, The upper surface of the cover (1) has a protrusion structure of a first specified shape, which is used to assist in the processing of determining the first pose information based on the first image.

7. The hood field of view detection device according to claim 4, characterized in that, Based on the second pose recognition model, the second image acquired by the image acquisition component (5) corresponding to the virtual reality device (4) is recognized to determine the second pose information of the virtual reality device (4) in the specified coordinate system.

8. The hood field of view detection device according to claim 7, characterized in that, The outer surface of the virtual reality device (4) has a protrusion structure of a second specified shape, which is used to assist in the processing of determining the second pose information based on the second image.

9. The hood field of view detection device according to any one of claims 1-3, characterized in that, The controller is used for: The relative pose information of the virtual reality device (4) relative to the cover (1) is set as the relative pose information of the virtual camera relative to the three-dimensional model of the cover (1); Based on the relative pose information of the virtual camera relative to the three-dimensional model of the cover (1), rendering processing is performed to obtain the virtual image captured by the virtual camera on the three-dimensional model of the cover (1).

Images