A cooperative control method and device of a vehicle, an electronic device, and a medium

Abstract

The application provides a cooperative control method and device of a vehicle, electronic equipment and a medium, wherein the method comprises: receiving face feature information of a driver acquired by an induction camera; judging whether the face feature information of the driver is stored in a face feature storage of the vehicle; if the face feature information of the driver is stored, calling first adjustment data corresponding to the face feature information of the driver to adjust a cockpit of the vehicle according to the first adjustment data; and if the face feature information of the driver is not stored, calculating second adjustment data according to seat position data adjusted by the driver and adjusting the cockpit according to the second adjustment data. The application calculates the second adjustment data according to the seat position data adjusted by the driver to realize adaptive adjustment of the cockpit.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control of vehicles, in particular to a cooperative control method and device of a vehicle, an electronic device and a medium. BACKGROUND

[0002] Modern automobile cabins integrate increasingly rich functions, aiming to comprehensively meet passengers' high-standard pursuit of comfort, and appropriate cabin environment can not only provide comfortable driving experience for drivers, but also improve driving safety.

[0003] However, the current adjustment mode of the devices inside the cabin needs to be manually adjusted one by one according to the personal intuitive feeling of the current driver each time the driver is changed, which is particularly cumbersome and time-consuming, and it is difficult to ensure that each adjustment can reach the best state, thereby affecting the comfort and safety of driving. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a cooperative control method and device of a vehicle, an electronic device and a medium to overcome the problem of manually adjusting different devices inside the cabin one by one.

[0005] In a first aspect, the present application provides a cooperative control method of a vehicle, the method comprising: receiving face feature information of a driver acquired by an induction camera; determining whether the face feature information of the driver is stored in a face feature storage of the vehicle; if the face feature information of the driver is stored, calling first adjustment data corresponding to the face feature information of the driver to adjust a cockpit of the vehicle according to the first adjustment data; and if the face feature information of the driver is not stored, calculating second adjustment data according to seat position data adjusted by the driver, and adjusting the cockpit according to the second adjustment data.

[0006] In a possible implementation, the second adjustment data includes a first adjustment angle value of an interior rearview mirror of the vehicle, wherein the second adjustment data is calculated according to the seat position data adjusted by the driver, and the step of adjusting the cockpit according to the second adjustment data includes: obtaining the seat position data of the driver seat adjusted by the driver, and controlling the sensing camera to capture the facial feature information of the driver after the driver adjusts the driver seat; determining an eye point in the facial feature information of the driver after the driver adjusts the driver seat, the eye point being a coordinate of a center point of an eyeball of the driver; taking a center point of the sensing camera as a coordinate origin to obtain a first normal vector of a mirror center point of the interior rearview mirror of the vehicle; calculating a first included angle value between a first vector and the first normal vector, the first vector being a vector from the eye point to the mirror center point; calculating a second included angle value between a second vector and the first normal vector, the second vector being a vector from the mirror center point to a center point of a rear window of the vehicle; controlling the interior rearview mirror to rotate so that the first included angle value is equal to the second included angle value; calculating a second normal vector of the mirror center point of the interior rearview mirror after rotation; calculating a first adjustment angle value between the second normal vector and the first normal vector; and controlling the interior rearview mirror to rotate to adjust the cockpit according to the first adjustment angle.

[0007] In a possible implementation, the step of controlling the interior rearview mirror to rotate to adjust the cockpit according to the first adjustment angle value includes: mapping the first adjustment angle value to a three-dimensional coordinate system with the center point of the sensing camera as a coordinate origin to obtain an adjustment target value in the three-dimensional coordinate system; determining a first rotation angle value of the interior rearview mirror around a first coordinate axis of the three-dimensional coordinate system, a second rotation angle value of the interior rearview mirror around a second coordinate axis of the three-dimensional coordinate system, and a third rotation angle value of the interior rearview mirror around a third coordinate axis of the three-dimensional coordinate system, respectively, according to a current position of the interior rearview mirror and the adjustment target value; calculating a rotation number of a motor required for the interior rearview mirror to rotate to the first adjustment angle value according to the first rotation angle value, the second rotation angle value, and the third rotation angle value; and controlling the motor to rotate the rotation number to enable the interior rearview mirror to rotate to the first adjustment angle value.

[0008] In a possible implementation, the second adjustment data further includes a second adjustment angle value of a baffle of an air outlet located at a control panel of the vehicle, wherein the second adjustment data is calculated according to the seat position data adjusted by the driver, and the step of adjusting the cockpit according to the second adjustment data includes: determining a highest point in the facial feature information of the driver after the driver adjusts the driving seat; taking a center point of the sensing camera as a coordinate origin to obtain a third normal vector of a center point of the air outlet; calculating a second adjustment angle value between a third vector and the third normal vector, the third vector being a vector from the highest point to a center point of the baffle; and controlling the baffle to rotate to adjust the cockpit according to the second adjustment angle value.

[0009] In a possible implementation, the step of controlling the baffle to rotate to adjust the cockpit according to the second adjustment angle value includes: receiving a first start signal for starting the air conditioner; controlling the air conditioner of the vehicle to start in response to the first start signal; determining a working state of the air conditioner, the working state including a cooling state and a heating state; if the working state of the air conditioner is the cooling state, controlling the baffle to rotate to the second adjustment angle value in a first direction to blow air from below the air outlet; and if the working state of the air conditioner is the heating state, controlling the baffle to rotate to the second adjustment angle value in a second direction to blow air from above the air outlet, the second direction being opposite to the first direction.

[0010] In a possible implementation, the step of receiving the facial feature information of the driver acquired by the sensing camera includes: receiving a second start signal for starting the sensing camera; controlling the sensing camera to start in response to the second start signal; receiving a light signal sent by a light sensor and determining whether the light intensity in the vehicle reaches an intensity threshold according to the light signal; if the intensity threshold is not reached, controlling an infrared illuminating lamp to start; sending a shooting signal to the sensing camera to control the sensing camera to capture the facial feature information of the driver under the irradiation of the infrared illuminating lamp; and if the intensity threshold is reached, directly sending the shooting signal to the sensing camera to control the sensing camera to capture the facial feature information of the driver.

[0011] In a possible implementation, the method further includes: when the facial feature information of the driver is not stored, acquiring steering wheel position data adjusted by the driver; taking the steering wheel position data as third adjustment data corresponding to the driver; and storing the facial feature information of the driver, the second adjustment data and the third adjustment data in the facial feature storage.

[0012] In a second aspect, the application provides a cooperative control device of a vehicle, the device comprising: a receiving module configured to receive facial feature information of a driver acquired by an induction camera; a judging module configured to judge whether the facial feature information of the driver is stored in a facial feature storage of the vehicle; a calling module configured to call first adjustment data corresponding to the facial feature information of the driver if the facial feature information of the driver is stored, so as to adjust a cockpit of the vehicle according to the first adjustment data; and a calculating module configured to calculate second adjustment data according to seat position data adjusted by the driver if the facial feature information of the driver is not stored, and adjust the cockpit according to the second adjustment data.

[0013] In a third aspect, the application provides an electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating through the bus when the electronic device is running, and the machine readable instructions being executed by the processor to perform the steps of the cooperative control method of the vehicle.

[0014] In a fourth aspect, the application provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by the processor to perform the steps of the cooperative control method of the vehicle.

[0015] The application provides a cooperative control method, device, electronic device and medium of a vehicle, wherein the method comprises: receiving facial feature information of a driver acquired by an induction camera; judging whether the facial feature information of the driver is stored in a facial feature storage of the vehicle; calling first adjustment data corresponding to the facial feature information of the driver if the facial feature information of the driver is stored, so as to adjust a cockpit of the vehicle according to the first adjustment data; and calculating second adjustment data according to seat position data adjusted by the driver if the facial feature information of the driver is not stored, and adjusting the cockpit according to the second adjustment data. The application calculates the second adjustment data according to the seat position data adjusted by the driver, so as to realize adaptive adjustment of the cockpit.

[0016] In order to make the above objectives, characteristics and advantages of the application more apparent and easy to understand, the following preferred embodiments are specifically described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as limiting the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 A flow chart of a cooperative control method of a vehicle provided by an embodiment of the present application;

[0019] Figure 2 A flow chart of a cooperative control method of an interior rearview mirror provided by an embodiment of the present application;

[0020] Figure 3 A flow chart of a cooperative control method of a cockpit provided by an embodiment of the present application;

[0021] Figure 4 A flow chart of a cooperative control method of an air outlet shutter provided by an embodiment of the present application;

[0022] Figure 5 A flow chart of another cooperative control method of a cockpit provided by an embodiment of the present application;

[0023] Figure 6 A flow chart of a method for obtaining driver facial feature information provided by an embodiment of the present application;

[0024] Figure 7 A flow chart of another cooperative control method of a vehicle provided by an embodiment of the present application;

[0025] Figure 8 A structural schematic diagram of a cooperative control device of a vehicle provided by an embodiment of the present application;

[0026] Figure 9 A schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0027] In addition, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0028] In order to enable those skilled in the art to use the content of the present application, the following embodiments are given in combination with a specific application scenario "vehicle intelligent control technology", and the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of the present application.

[0029] It is worth noting that before the present application, the adjustment of the interior devices of the vehicle cabin mostly depends on the driver to make tedious manual adjustment one by one according to personal intuitive feeling, and the whole adjustment process needs to start from scratch whenever the driver is changed, which not only consumes time and effort, but also often leads to the adjustment result being difficult to reach the best comfortable state of each driver due to the lack of unified standards and accurate data support. In addition, there are differences in the subjective feelings of different drivers for comfort, and the errors that may exist in the manual adjustment process make the cabin environment after each adjustment different, thereby affecting the comfort and safety of driving.

[0030] Based on this, the embodiments of the present application provide a cooperative control method and device of a vehicle, electronic equipment and medium, which solve the problem that different devices in the cabin need to be adjusted manually one by one in the prior art.

[0031] The defects of the above-mentioned solutions are the results of the inventors after practice and careful study, therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present application to solve the above-mentioned problems should be the contributions of the inventors to the present application in the process of the present application.

[0032] The technical solutions in the present application will be described in detail below in combination with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. The components of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0033] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] In order to facilitate the understanding of the present application, the technical solutions provided by the present application will be described in detail below in combination with specific embodiments. Referring to Figure 1 as shown, Figure 1A flowchart of a cooperative control method of a vehicle is provided in the embodiments of the present application. Figure 1 The cooperative control method of a vehicle is integrated in a vehicle-mounted controller of the vehicle and executed.

[0035] As shown in the figure, in step S101, the facial feature information of the driver acquired by the inductive camera is received. Figure 1

[0036] Specifically, the inductive camera can be a driver status monitor (DMS) camera, which can be installed on the dashboard so that the DMS camera can completely capture the driver's face. The DMS camera can be integrated with a high-precision image sensor, which can quickly capture the facial feature information of the driver and directly convert it into an electrical signal that is easy for digital devices to process. After conversion, the image signal acquisition circuit efficiently collects data from the image sensor and transmits it to the video decoding circuit, which accurately converts the analog image signal into a digital signal. Finally, these processed digital signals are transmitted to the operation unit for further analysis and judgment.

[0037] In step S102, it is determined whether the facial feature information of the driver is stored in the facial feature repository of the vehicle.

[0038] Specifically, the operation unit determines whether the memory information exists in the facial feature repository according to the processed digital signal. The facial feature repository is a database for storing pre-recorded facial feature information and corresponding identity information. The facial feature information in the facial feature repository can include multiple dimensions of data, such as geometric parameters of facial contours, relative positions of facial features, and texture features of skin. After receiving the processed digital signal, the operation unit extracts the facial feature information of the driver from it. Then, the facial feature information is compared with the memory information in the facial feature repository.

[0039] If the facial feature information of the driver exists, step S103 is executed: the first adjustment data corresponding to the facial feature information of the driver is called to adjust the driver's cabin of the vehicle according to the first adjustment data.

[0040] ​Specifically, if the matching facial feature information is found, it means that the facial feature information of the driver is stored in the facial feature repository, and the first adjustment data corresponding to the facial feature information of the driver is stored, the first adjustment data refers to a set of parameters or settings associated with the facial feature information of the driver, which are used to manually adjust the cabin for the driver or optimize the driving cabin environment settings of the vehicle, according to the first adjustment data, the system will automatically adjust the seat to the preferred position of the driver, for example, adjust the angle of the steering wheel to match the driving habits of the driver, adjust the inside rearview mirror to ensure a good view for the driver, and adjust the air outlet baffle of the seat and the driving cabin air conditioner to provide a comfortable driving environment.

[0041] If the facial feature information of the driver is not stored, step S104 is performed: calculate the second adjustment data according to the seat position data adjusted by the driver, and adjust the driving cabin according to the second adjustment data.

[0042] Specifically, if no matching information is found, it means that the facial feature information of the driver does not exist in the facial feature repository of the vehicle, and no adjustment data for adjusting the driving cabin for the driver is stored, therefore, the second adjustment data of the inside rearview mirror and the air outlet baffle in the vehicle can be calculated according to the pre-set standard according to the manual adjustment of the seat position by the driver, and the driving cabin environment is further adjusted or optimized according to the second adjustment data.

[0043] In a preferred example, Figure 2 The flowchart of the cooperative control method of the inside rearview mirror provided by the embodiments of the present application is shown. Figure 2 The cooperative control method shown is executed in the vehicle-mounted processor described above.

[0044] In step S201, the seat position data of the driver adjusting the driving seat is obtained, and the sensing camera is controlled to capture the facial feature information after the driver adjusts the driving seat.

[0045] Specifically, the seat position data includes the front and rear position, height, backrest angle, etc. of the seat, when the driver adjusts the seat position, the system records the seat position data at that time, and at the same time captures the facial feature information of the driver, calculates and determines the optimal adjustment angle of the inside rearview mirror that can make the driver obtain the best view comfort in the specific seat position.

[0046] In step S202, the eye point in the facial feature information after the driver adjusts the driving seat is determined.

[0047] Specifically, the second adjustment data includes a first adjustment angle value of the interior rearview mirror of the vehicle, the eye point is the center point of the line connecting the two eyeballs of the driver, the seat position data is crucial for determining the field of view of the driver, different seat positions will cause the direction of the driver's line of sight and the coordinates of the eye point to change, and the first adjustment angle value refers to the angle value to which the interior rearview mirror of the vehicle needs to be adjusted.

[0048] In step S203, a first normal vector of the mirror center point of the interior rearview mirror of the vehicle is obtained with the center point of the sensing camera as the coordinate origin.

[0049] Specifically, the center point of the sensing camera is set as the coordinate origin in the three-dimensional coordinate system, such as (0, 0, 0), and the mirror center point refers to the geometric center point of the mirror surface of the interior rearview mirror of the vehicle, which is located on the back surface of the rearview mirror and is a key intersection point of the reflected light of the mirror surface. The first normal vector describes the orientation and angle of the mirror surface and is used to determine the position and visibility of the interior rearview mirror in the driver's line of sight.

[0050] In step S204, a first included angle value between the first vector and the first normal vector is calculated.

[0051] Specifically, the first vector refers to the vector from the eye point to the mirror center point, which describes the direction and distance relationship between the driver's line of sight and the mirror center point of the interior rearview mirror. The first normal vector describes the initial orientation or basic angle of the interior rearview mirror of the vehicle. By the first normal vector and the first vector, the included angle between the driver's line of sight and the rearview mirror can be calculated to determine whether the interior rearview mirror needs to be adjusted to better meet the driver's line of sight requirements. The first included angle value can determine whether the interior rearview mirror needs to be adjusted and the direction and degree of adjustment. If the included angle value is too large, it means that the interior rearview mirror may not be within the driver's line of sight and needs to be adjusted. If the included angle value is moderate, it means that the position and angle of the interior rearview mirror have met the driver's line of sight requirements.

[0052] In step S205, a second included angle value between the second vector and the first normal vector is calculated.

[0053] Specifically, the second vector refers to the vector from the mirror center point to the center point of the rear windshield of the vehicle, which is the geometric center point of the rear windshield glass surface of the vehicle and can be the intersection point of the diagonal line of the rear windshield glass. The second vector refers to the vector from the mirror center point pointing to the center point of the rear windshield of the vehicle, which describes the direction and distance relationship between the mirror center point and the center point of the rear windshield. The first normal vector refers to the vector from the coordinate origin perpendicular to the plane where the mirror center point is located, which describes the basic angle of the rearview mirror. The second included angle value is an important basis for evaluating whether the position and angle of the rearview mirror are suitable for the driver to clearly observe the situation of the rear windshield. If the included angle value is too large or too small, it will cause the driver's line of sight to be blocked or the observation effect to be poor, so the rearview mirror needs to be adjusted.

[0054] In step S206, the inner rearview mirror is controlled to rotate so that the first included angle value is equal to the second included angle value.

[0055] Specifically, in steps S204 and S205, the first included angle value, i.e. the included angle between the vector from the eye point coordinate to the mirror center point and the first normal vector, and the second included angle value, i.e. the included angle between the vector from the mirror center point to the rear windshield center point and the first normal vector, are calculated respectively, and in this step, the inner rearview mirror is rotated to equalize the two included angle values, so that the driver's line of sight can observe the rear windshield center through the mirror reflection, and the orientation angle of the inner rearview mirror takes into account both the driver's line of sight requirement and the rear windshield observation requirement, thereby achieving a balance between the two.

[0056] In step S207, the second normal vector of the mirror center point of the rotated inner rearview mirror is calculated, as well as the first adjustment angle value between the second normal vector and the first normal vector.

[0057] Specifically, the second normal vector refers to the vector perpendicular to the plane where the mirror center point is located after the preliminary adjustment of the inner rearview mirror is completed as in step S206, and the first adjustment angle value refers to the included angle between the second normal vector and the first normal vector, which represents the deviation angle between the orientation of the inner rearview mirror after the preliminary adjustment and the original orientation.

[0058] In step S208, the inner rearview mirror is controlled to rotate to adjust the cockpit according to the first adjustment angle.

[0059] In a preferred example, Figure 3 A flowchart of a cockpit cooperative control method provided by an embodiment of the application is shown. Figure 3 The cooperative control method shown is executed in the vehicle-mounted processor described above.

[0060] In step S301, the first adjustment angle value is mapped into a three-dimensional coordinate system with the center point of the inductive camera as the coordinate origin, to obtain an adjustment target value in the three-dimensional coordinate system.

[0061] Specifically, the purpose of mapping is to convert the abstract adjustment angle value into a specific motion instruction in the three-dimensional space, and the adjustment target value refers to the motion target point of the motion instruction, so as to be able to control the rotation of the inner rearview mirror.

[0062] In step S302, according to the current position of the inner rearview mirror and the adjustment target value, a first rotation angle value, a second rotation angle value and a third rotation angle value are respectively determined.

[0063] Specifically, the adjustment target value is used to determine a first rotation angle value of the inner rearview mirror around a first coordinate axis of a three-dimensional coordinate system, a second rotation angle value of the inner rearview mirror around a second coordinate axis of the three-dimensional coordinate system, and a third rotation angle value of the inner rearview mirror around a third coordinate axis of the three-dimensional coordinate system, respectively. The three rotation angles together describe the calculation process of the rotation angles of the inner rearview mirror around the three axes in the three-dimensional coordinate system.

[0064] In step S303, the number of rotation turns of the motor required to rotate the inner rearview mirror to the first adjustment angle value is calculated according to the first rotation angle value, the second rotation angle value, and the third rotation angle value.

[0065] Specifically, the three rotation angle values are converted into the number of motor rotation turns, each rotation angle corresponding to the rotation of the inner rearview mirror in a specific direction around a coordinate axis in a three-dimensional space. The number of rotation turns of different axes can be calculated by three motors respectively, or a motor can drive the movement of multiple axes, and the number of rotation turns is calculated according to the first adjustment angle value.

[0066] In step S304, the motor is controlled to rotate the above-mentioned number of rotation turns, so as to rotate the inner rearview mirror to the first adjustment angle value.

[0067] Specifically, according to the above-mentioned number of rotation turns, the motor is controlled to drive the inner rearview mirror to rotate around different coordinate axes to the first adjustment angle value.

[0068] In a preferred example, Figure 4 The flowchart of the cooperative control method of the air outlet baffle provided by the embodiments of the present application. Figure 4 The cooperative control method shown is executed in the vehicle-mounted processor described above.

[0069] In step S401, the highest point in the facial feature information of the driver after the driver adjusts the driver's seat is determined.

[0070] Specifically, the second adjustment data further includes a second adjustment angle value of the baffle of the air outlet located at the control panel of the vehicle. The highest point refers to the uppermost point of the face, which can be the position of the hairline. The determination of the highest point helps to understand the relative height of the driver's head, and further adjusts the internal equipment of the vehicle to ensure the driver's line of sight and comfort.

[0071] In step S402, the third normal vector of the center point of the baffle of the air outlet of the vehicle is obtained with the coordinate position of the induction camera as the coordinate origin.

[0072] In step S403, a second adjustment angle value between the third vector and the third normal vector is calculated.

[0073] Specifically, the third vector refers to the vector from the highest point to the center point of the baffle, and the second adjustment angle value obtained by calculating the included angle between the third vector and the third normal vector represents the angle by which the air outlet baffle needs to be rotated in order to optimize the air flow direction, and this value will be used to adjust the position of the air outlet baffle to ensure that the air flow can better blow to the driver or passenger, thereby improving the comfort.

[0074] In step S404, the baffle is controlled to rotate to adjust the cockpit according to the second adjustment angle value.

[0075] In a preferred example, Figure 5 Another flowchart of the cockpit control method provided by the embodiment of the application is shown. Figure 5 The cooperative control method shown is executed in the vehicle-mounted processor described above.

[0076] In step S501, a first start signal for starting the air conditioner is received.

[0077] In step S502, the air conditioner of the vehicle is controlled to start in response to the first start signal.

[0078] In step S503, the working state of the air conditioner is determined.

[0079] Specifically, the working state of the air conditioner includes a cooling state and a heating state.

[0080] If the working state of the air conditioner is the cooling state, step S504 is executed: the baffle is controlled to rotate to the second adjustment angle value in the first direction to blow air from below the air outlet.

[0081] Specifically, in the cooling state, in order to optimize the distribution and effect of the air flow, the angle of the cockpit air outlet baffle needs to be adjusted, and rotating the baffle downward can guide the air flow to a lower position to ensure that the air flow can blow to the driver in the most comfortable way.

[0082] If the working state of the air conditioner is the heating state, step S505 is executed: the baffle is controlled to rotate to the second adjustment angle value in the second direction to blow air from above the air outlet.

[0083] Specifically, in the heating state, in order to quickly raise the temperature in the vehicle and maintain a comfortable temperature distribution, the angle of the air outlet baffle can be adjusted to blow hot air in the second direction opposite to the first direction, so as to blow hot air to the upper body of the driver.

[0084] In a preferred example, Figure 6 A flowchart of obtaining the facial feature information of the driver provided by the embodiment of the application is shown. Figure 6 The method shown is executed in the vehicle-mounted processor described above.

[0085] In step S601, a second start signal for starting the induction camera is received.

[0086] In step S602, in response to the second start signal, the induction camera is controlled to start.

[0087] In step S603, a light signal sent by the light sensor is received, and it is determined whether the light intensity in the vehicle reaches an intensity threshold according to the light signal.

[0088] Specifically, the light sensor is a sensor capable of detecting ambient light intensity, which can be installed at the interior rearview mirror of the vehicle or integrated in the DMS camera, for real-time monitoring of the light conditions in the vehicle and sending the light signal to the vehicle controller for analysis. The signal generated by the light sensor represents the current light intensity in the vehicle. This signal is an important basis for the control system to determine whether the infrared illuminator needs to be started. The intensity threshold is a preset value for determining whether the current light intensity in the vehicle is sufficient to support the induction camera to normally capture facial feature information.

[0089] If the intensity threshold is not reached, step S604 is performed: the infrared illuminator is controlled to start, and a shooting signal is sent to the induction camera to control the induction camera to capture the facial feature information of the driver under the irradiation of the infrared illuminator.

[0090] Specifically, the infrared illuminator is an illuminating device that emits infrared light, which is used to provide illumination in low-light environments so that the camera can capture clear images. It can be installed at the interior rearview mirror of the vehicle or integrated in the DMS camera, for enhancing the capture ability of the DMS camera at night or in insufficient light. The light under the infrared illuminator refers to the lighting environment inside the vehicle after the infrared illuminator is started and emits infrared light. In this environment, the DMS camera can capture the facial feature information of the driver more clearly.

[0091] If the intensity threshold is reached, step S605 is performed: a shooting signal is directly sent to the induction camera to control the induction camera to capture the facial feature information of the driver.

[0092] Specifically, the DMS camera can directly capture and transmit the facial feature information of the driver without starting the infrared illuminator (i.e., when the light intensity reaches the intensity threshold).

[0093] In a preferred example, Figure 7 Another flowchart of the cooperative control method of the vehicle is provided in the embodiments of the present application. Figure 7 The cooperative control method shown is executed in the vehicle processor described above.

[0094] In step S701, when the driver's face feature information is not stored, the driver-adjusted steering wheel position data is also acquired.

[0095] Specifically, the steering wheel position data refers to the current position information of the steering wheel recorded by the vehicle system when the driver manually adjusts the steering wheel, including the rotation angle, tilt angle or position coordinates of the steering wheel, etc.

[0096] In step S702, the steering wheel position data is taken as the third adjustment data corresponding to the driver.

[0097] In step S703, the driver's face feature information and the corresponding second adjustment data and third adjustment data are stored in the face feature storage.

[0098] Specifically, the storage in the face feature storage means that the driver's face feature information and the corresponding second adjustment data, including the seat position, rearview mirror angle, etc., and the steering wheel position data in the third adjustment data are stored in the face feature storage. When the driver enters the vehicle again, the system can automatically identify the face feature information and quickly restore to the previously set personalized driving environment.

[0099] Based on the same inventive concept, the embodiment of the present application also provides a vehicle cooperative control device corresponding to the vehicle cooperative control method. Since the principle of the device in the embodiment of the present application solves the problem similar to the vehicle cooperative control method described above, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described here.

[0100] Figure 8 The structure diagram of the vehicle cooperative control device provided by the embodiment of the present application. Figure 8 The vehicle cooperative control device shown is executed in the vehicle-mounted processor described above. The vehicle cooperative control device comprises:

[0101] The receiving module 801 receives the driver's face feature information acquired by the induction camera.

[0102] The judging module 802 judges whether the driver's face feature information is stored in the face feature storage of the vehicle.

[0103] The calling module 803 calls the first adjustment data corresponding to the driver's face feature information if the driver's face feature information is stored, so as to adjust the driver's cabin of the vehicle according to the first adjustment data.

[0104] The calculating module 804 calculates the second adjustment data according to the driver-adjusted seat position data if the driver's face feature information is not stored, and adjusts the driver's cabin according to the second adjustment data.

[0105] Please refer to Figure 9 , Figure 9 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in Figure 9 , the electronic device 900 includes a processor 910, a memory 920 and a bus 930.

[0106] The memory 920 stores machine readable instructions executable by the processor 910, when the electronic device 900 is running, the processor 910 and the memory 920 communicate through the bus 930, the machine readable instructions are executed by the processor 910, can execute the steps of the control method in the method embodiment as described above Figures 1-7 , the specific implementation can be referred to the method embodiment, here will not be repeated.

[0107] The embodiment of the present application also provides a computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is run by the processor, can execute the steps of the cooperative control method of the vehicle in the method embodiment as described above Figures 1-7 , the specific implementation can be referred to the method embodiment, here will not be repeated.

[0108] Those skilled in the art can clearly understand that, for the convenience and brevity of the above description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here.

[0109] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented by other ways.The above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0110] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units.According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0111] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0112] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions of the present application can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0113] Finally, it should be noted that: the above-described embodiments are merely specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily think of changes to the technical solutions recorded in the foregoing embodiments within the technical range disclosed by the present application, or replace some technical features with equivalent replacements; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A cooperative control method of a vehicle, characterized by, The method comprises: receiving facial feature information of a driver acquired by an induction camera; judging whether the facial feature information of the driver is stored in a facial feature storage of the vehicle; if the facial feature information of the driver is stored, calling first adjustment data corresponding to the facial feature information of the driver to adjust a driver's cabin of the vehicle according to the first adjustment data; if the facial feature information of the driver is not stored, calculating second adjustment data according to seat position data adjusted by the driver, and adjusting the driver's cabin according to the second adjustment data, the second adjustment data comprises a first adjustment angle value of an inner rearview mirror of the vehicle, wherein the step of calculating the second adjustment data according to the seat position data adjusted by the driver, and adjusting the driver's cabin according to the second adjustment data comprises: acquiring seat position data of the driver adjusting a driver's seat, and controlling the induction camera to capture facial feature information of the driver after the driver adjusts the driver's seat; determining an eye point in the facial feature information of the driver after the driver adjusts the driver's seat, the eye point being a coordinate of a center point of an eyeball of the driver; taking a center point of the induction camera as a coordinate origin to obtain a first normal vector of a mirror center point of the inner rearview mirror of the vehicle; calculating a first included angle value between a first vector and the first normal vector, the first vector being a vector from the eye point to the mirror center point; calculating a second included angle value between a second vector and the first normal vector, the second vector being a vector from the mirror center point to a center point of a rear windshield of the vehicle; controlling the inner rearview mirror to rotate so that the first included angle value is equal to the second included angle value; calculating a second normal vector of the mirror center point of the inner rearview mirror after rotation; calculating a first adjustment angle value between the second normal vector and the first normal vector; controlling the inner rearview mirror to rotate to adjust the driver's cabin according to the first adjustment angle value, wherein the second adjustment data further comprises a second adjustment angle value of a baffle of an air outlet located at a control panel of the vehicle, wherein the step of calculating the second adjustment data according to the seat position data adjusted by the driver, and adjusting the driver's cabin according to the second adjustment data comprises: determining a highest point in the facial feature information of the driver after the driver adjusts the driver's seat; taking the center point of the induction camera as a coordinate origin to obtain a third normal vector of a center point of the air outlet; calculating a second adjustment angle value between a third vector and the third normal vector, the third vector being a vector from the highest point to a center point of the baffle; controlling the baffle to rotate to adjust the driver's cabin according to the second adjustment angle value, wherein the step of controlling the baffle to rotate to adjust the driver's cabin according to the second adjustment angle value comprises: receiving a first start signal for starting an air conditioner; in response to the first start signal, controlling the air conditioner of the vehicle to start; judging a working state of the air conditioner, the working state comprising a refrigeration state and a heating state; If the working state of the air conditioner is a cooling state, the baffle is controlled to rotate to the second adjustment angle value in a first direction to blow air from below the air outlet; If the working state of the air conditioner is a heating state, the baffle is controlled to rotate to the second adjustment angle value in a second direction to blow air from above the air outlet, the second direction being opposite to the first direction.

2. The method of claim 1, wherein, According to the first adjustment angle value, the step of controlling the inner rearview mirror to rotate to adjust the cockpit comprises: mapping the first adjustment angle value to a three-dimensional coordinate system with a center point of the sensing camera as a coordinate origin to obtain an adjustment target value in the three-dimensional coordinate system; determining a first rotation angle value of the inner rearview mirror around a first coordinate axis of the three-dimensional coordinate system, a second rotation angle value of the inner rearview mirror around a second coordinate axis of the three-dimensional coordinate system, and a third rotation angle value of the inner rearview mirror around a third coordinate axis of the three-dimensional coordinate system according to a current position of the inner rearview mirror and the adjustment target value; calculating a rotation number of a motor required for the inner rearview mirror to rotate to the first adjustment angle value according to the first rotation angle value, the second rotation angle value, and the third rotation angle value; controlling the motor to rotate the rotation number to make the inner rearview mirror rotate to the first adjustment angle value.

3. The method of claim 1, wherein, The step of receiving the facial feature information of the driver acquired by the sensing camera comprises: receiving a second start signal for starting the sensing camera; controlling the sensing camera to start in response to the second start signal; receiving a light signal sent by a light sensor and determining whether the light intensity in the vehicle reaches an intensity threshold according to the light signal; controlling an infrared illuminating lamp to start if the intensity threshold is not reached; sending a shooting signal to the sensing camera to control the sensing camera to capture the facial feature information of the driver under the irradiation of the infrared illuminating lamp; if the intensity threshold is reached, directly sending the shooting signal to the sensing camera to control the sensing camera to capture the facial feature information of the driver.

4. The method of claim 1, wherein, The method further comprises: acquiring steering wheel position data adjusted by the driver when the facial feature information of the driver is not stored; taking the steering wheel position data as third adjustment data corresponding to the driver; storing the facial feature information of the driver, the second adjustment data, and the third adjustment data in the facial feature storage library.

5. A cooperative control device of a vehicle characterized by comprising: The device is used to execute the steps of the method according to any one of claims 1 to 4, and comprises: a receiving module for receiving the facial feature information of the driver acquired by the sensing camera; a judging module for judging whether the facial feature information of the driver is stored in the facial feature storage library of the vehicle; a calling module for calling first adjustment data corresponding to the facial feature information of the driver to adjust the cockpit of the vehicle according to the first adjustment data if the facial feature information of the driver is stored. The computing module calculates second adjustment data according to the seat position data adjusted by the driver if the face feature information of the driver is not stored, and adjusts the cockpit according to the second adjustment data, wherein the second adjustment data comprises a first adjustment angle value of the inner rearview mirror of the vehicle, and the step of calculating the second adjustment data according to the seat position data adjusted by the driver and adjusting the cockpit according to the second adjustment data comprises: obtaining the seat position data of the driver seat adjusted by the driver, and controlling the sensing camera to capture the face feature information of the driver after the driver adjusts the driver seat; determining the eye point in the face feature information of the driver after the driver adjusts the driver seat, wherein the eye point is the coordinate of the eyeball center point of the driver; taking the center point of the sensing camera as the coordinate origin to obtain the first normal vector of the mirror center point of the inner rearview mirror of the vehicle; calculating the first included angle value between the first vector and the first normal vector, wherein the first vector refers to the vector from the eye point to the mirror center point; calculating the second included angle value between the second vector and the first normal vector, wherein the second vector refers to the vector from the mirror center point to the center point of the rear windshield of the vehicle; controlling the inner rearview mirror to rotate so that the first included angle value is equal to the second included angle value; calculating the second normal vector of the mirror center point of the inner rearview mirror after rotation; calculating the first adjustment angle value between the second normal vector and the first normal vector; and controlling the inner rearview mirror to rotate to adjust the cockpit according to the first adjustment angle value, wherein the second adjustment data further comprises a second adjustment angle value of the baffle of the air outlet located at the control panel of the vehicle, and the step of calculating the second adjustment data according to the seat position data adjusted by the driver and adjusting the cockpit according to the second adjustment data comprises: determining the highest point in the face feature information of the driver after the driver adjusts the driver seat; taking the center point of the sensing camera as the coordinate origin to obtain the third normal vector of the center point of the air outlet; calculating the second adjustment angle value between the third vector and the third normal vector, wherein the third vector refers to the vector from the highest point to the center point of the baffle; and controlling the baffle to rotate to adjust the cockpit according to the second adjustment angle value, wherein the step of controlling the baffle to rotate to adjust the cockpit according to the second adjustment angle value comprises: receiving a first start signal for starting the air conditioner; in response to the first start signal, controlling the air conditioner of the vehicle to start; judging the working state of the air conditioner, wherein the working state comprises a refrigeration state and a heating state; if the working state of the air conditioner is the refrigeration state, controlling the baffle to rotate to the second adjustment angle value in a first direction to blow air from below the air outlet; and if the working state of the air conditioner is the heating state, controlling the baffle to rotate to the second adjustment angle value in a second direction to blow air from above the air outlet, wherein the second direction is opposite to the first direction.

6. An electronic device, comprising: Comprise: A processor, a memory, and a bus, the memory storing machine readable instructions executable by the processor, the processor in communication with the memory via the bus when the electronic device is running, the processor executing the machine readable instructions to perform the steps of the method of any of claims 1 to 4.

7. A computer readable storage medium characterized by, A computer readable storage medium storing a computer program, the computer program when executed by a processor performing the steps of the method of any of claims 1 to 4.

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