Method and device for controlling vehicle-mounted screen, vehicle and storage medium

Abstract

The invention provides a method and device for controlling a vehicle-mounted screen, a vehicle and a storage medium. In the process that a user watches a target image displayed on a vehicle-mounted screen in a driving vehicle, if the posture of the vehicle changes, the posture of the user when the user watches the vehicle-mounted screen changes. Compared with a scene in which the posture of the vehicle is not changed, when the posture of the vehicle is changed, the relative pose between the vehicle-mounted screen and the head of the user is changed, so that the user feels that the target image shakes when watching the target image. According to the method, the offset for adjusting the vehicle adjusting assembly is determined based on the target pose information and the corresponding first pose information when the pose of the vehicle changes. When the posture of the vehicle changes, the vehicle adjusting assembly is adjusted based on the offset so as to control the posture of the vehicle adjusting assembly and the connected vehicle-mounted screen, and therefore the shaking degree between a user and a target image when the user watches a film is reduced, and the stable film watching entertainment effect is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a method, device, vehicle and storage medium for controlling an in-vehicle screen in the field of vehicles. Background Art

[0002] With the development of vehicle intelligence, the entertainment function of vehicles has also developed rapidly. Screens of various sizes, such as the central control screen, the co-pilot entertainment screen, and the ceiling screen, are deployed in different locations of the vehicle to provide users with entertainment experiences such as watching movies. However, the vehicle's motion state will change during driving. When the vehicle's motion state changes during the user's viewing process, the position of the screen relative to the user will also change, which will cause the user to feel that the video image on the screen is shaking. If the user is in such an environment for a long time, it will cause the user to feel dizzy and nauseous, which will greatly reduce the vehicle's viewing and entertainment experience.

[0003] Therefore, there is an urgent need for a method for dynamically controlling the screen to dynamically adjust the screen when the motion state of the vehicle changes, so as to reduce the degree of shaking between the user and the video image when the user is watching a movie and achieve a stable viewing and entertainment effect. Summary of the invention

[0004] The present application provides a method, device, vehicle and storage medium for controlling a vehicle-mounted screen, and the method is capable of.

[0005] In a first aspect, a method for controlling a vehicle-mounted screen is provided, the method being executed by a vehicle, wherein the vehicle-mounted screen in the vehicle is connected to the vehicle via a vehicle adjustment component, the method comprising: when the posture of the vehicle changes, obtaining first posture information of the head of a user corresponding to the vehicle-mounted screen relative to the vehicle-mounted screen; based on the first posture information and target posture information, determining an offset for adjusting the vehicle adjustment component, the target posture information being the posture information of the user's head relative to the vehicle-mounted screen when the posture of the vehicle has not changed; and adjusting the vehicle adjustment component based on the offset to control the posture of the vehicle-mounted screen.

[0006] In the above technical solution, when a user is watching a target image displayed on a vehicle screen in a moving vehicle, if the posture of the vehicle changes, the posture of the user when looking at the vehicle screen will change. Compared with the scene where the posture of the vehicle does not change, the relative posture between the vehicle screen and the user's head changes when the posture of the vehicle changes, so that the user feels that the target image is shaking when watching the target image. The present application determines the offset for adjusting the vehicle adjustment component based on the first posture information of the user's head relative to the vehicle screen when the posture of the vehicle changes and the target posture information of the user's head relative to the vehicle screen when the posture of the vehicle does not change. When the posture of the vehicle changes, the vehicle adjustment component is adjusted based on the offset to control its posture with the connected vehicle screen. The scheme indirectly controls the posture of the vehicle screen by adjusting the vehicle adjustment component connected to the vehicle screen by the offset, thereby reducing the degree of shaking between the user and the target image when the user is watching a movie, so as to achieve a stable viewing and entertainment effect.

[0007] In combination with the first aspect, in some possible implementations, the posture information includes attitude information and / or position information, and based on the first posture information and the target posture information, the offset for adjusting the vehicle adjustment component is determined, including: determining the angle offset for adjusting the vehicle adjustment component based on the angle deviation between the first posture information in the first posture information and the target posture information in the target posture information; and / or determining the position offset for adjusting the vehicle adjustment component based on the position deviation between the first position information in the first posture information and the target position information in the target posture information.

[0008] In the above technical solution, when the posture information includes posture information and / or position information, the angle offset for adjusting the vehicle adjustment component is determined by the angle deviation between the first posture information in the first posture information and the target posture information in the target posture information; the position offset for adjusting the vehicle adjustment component is determined by the position deviation between the first position information in the first posture information and the target position information in the target posture information. In other words, the offset for adjusting the vehicle adjustment component is determined from multiple dimensions, so that the vehicle screen can also be adjusted from multiple dimensions, and specifically, the vehicle screen can be adjusted indirectly from the angle dimension and the position dimension.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the angular deviation between the first posture information in the first posture information and the target posture information in the target posture information, the angular offset for adjusting the vehicle adjustment component is determined, including: the angular deviation between the first posture information and the target posture information in the pitch direction is determined as the pitch offset for adjusting the vehicle adjustment component in the pitch direction, and the pitch direction is the direction in which the vehicle-mounted screen can be adjusted with the horizontal axis on the vehicle-mounted screen as the rotation axis when the vehicle-mounted screen is facing the user; and / or, the angular deviation between the first posture information and the target posture information in the tilt direction is determined as the tilt offset for adjusting the vehicle adjustment component in the tilt direction, and the tilt direction is the direction in which the vehicle-mounted screen can be deflected with the vertical axis on the vehicle-mounted screen as the reference when the vehicle-mounted screen is facing the user.

[0010] In the above technical solution, the pitch offset for adjusting the vehicle adjustment component in the pitch direction is determined by the angle deviation between the first posture information and the target posture information in the pitch direction; the angle offset for adjusting the vehicle adjustment component in the tilt direction is determined by the angle deviation between the first posture information and the target posture information in the tilt direction. In other words, the angle offset for adjusting the vehicle adjustment component is further refined to determine the angle offset for adjusting the vehicle adjustment component in the pitch direction and in the tilt direction, so as to adjust the vehicle adjustment component in the pitch direction and in the tilt direction, thereby indirectly adjusting the vehicle screen in the pitch direction and in the tilt direction.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle adjustment component includes a first rotating component and a second rotating component with a rotation function, and the vehicle adjustment component is adjusted based on the offset, including: controlling the first rotating component to rotate the pitch offset in the pitch direction, and / or controlling the second rotating component to rotate the tilt offset in the tilt direction to control the posture of the vehicle screen.

[0012] In the above technical solution, the vehicle adjustment component includes a first rotating component and a second rotating component with a rotation function. The first rotating component is rotated in the pitch direction by a pitch offset to indirectly adjust the vehicle screen in the pitch direction; the second rotating component is rotated in the tilt direction by a tilt offset to indirectly adjust the vehicle screen in the tilt direction. In other words, the solution can realize posture control of the vehicle screen in the pitch direction and in the tilt direction.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the position deviation between the first position information in the first posture information and the target position information in the target posture information, the position offset for adjusting the vehicle adjustment component is determined, including: determining the position deviation between the first position information and the target position information in the horizontal direction as the horizontal offset for adjusting the vehicle adjustment component in the horizontal direction; and / or, determining the position deviation between the first position information and the target position information in the vertical direction as the vertical offset for adjusting the vehicle adjustment component in the vertical direction.

[0014] In the above technical solution, the horizontal offset of the vehicle adjustment component is determined by the position deviation between the first position information and the target position information in the horizontal direction; the vertical offset of the vehicle adjustment component is determined by the position deviation between the first position information and the target position information in the vertical direction. In other words, the position offset of the vehicle adjustment component is further refined to determine the position offset of the vehicle adjustment component in the horizontal direction and in the vertical direction, so as to adjust the vehicle adjustment component in the horizontal direction and in the vertical direction, thereby indirectly adjusting the vehicle screen in the horizontal direction and in the vertical direction.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle adjustment component also includes a translation component with a translation function, and adjusting the vehicle adjustment component based on the offset includes: controlling the translation component to move the horizontal offset in the horizontal direction, and / or controlling the translation component to move the vertical offset in the vertical direction to control the position of the vehicle screen.

[0016] In the above technical solution, the vehicle adjustment component also includes a translation component with a translation function. The vehicle screen is indirectly adjusted in the pitch direction by moving the horizontal offset in the horizontal direction by the translation component; the vehicle screen is indirectly adjusted in the vertical direction by moving the vertical offset in the vertical direction by the translation component. In other words, the position control of the vehicle screen can be achieved in the horizontal direction and in the vertical direction through this solution.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, an image acquisition device is installed on the vehicle-mounted screen and an angle sensor is installed on the vehicle to obtain the first posture information of the head of the user corresponding to the vehicle-mounted screen relative to the vehicle-mounted screen, including: acquiring at least two images containing the head through the image acquisition device; determining the first position information in the first posture information based on the distance between the optical center of the image acquisition device and the at least two images, the position of the head on the at least two images, and the internal and external parameters of the image acquisition device; and / or, acquiring the posture information of the head and the posture information of the vehicle-mounted screen through the angle sensor; determining the first posture information in the first posture information based on the posture information of the head and the posture information of the vehicle-mounted screen.

[0018] In the above technical solution, when the vehicle-mounted screen is used as a reference, at least two images containing the user's head are obtained through an image acquisition device; based on the distances between the optical center of the image acquisition device and the at least two images, the position of the head on the at least two images, and the internal and external parameters of the image acquisition device, the position information (first position information) of the user's head relative to the vehicle-mounted screen when the posture of the vehicle changes is determined. In the process of obtaining the first position information through the image acquisition device installed on the vehicle-mounted screen, it is not necessary to obtain the position information of the vehicle-mounted screen, so this solution can determine the first position information relatively simply and quickly. In the case of a change in the posture of the vehicle, the posture information of the head and the posture information of the vehicle-mounted screen can be obtained respectively through the angle sensor; based on the posture information of the head and the posture information of the vehicle-mounted screen, the posture information (first posture information) of the user's head relative to the vehicle-mounted screen when the posture of the vehicle changes is accurately determined.

[0019] In a second aspect, a device for controlling a vehicle-mounted screen is provided, which is installed in a vehicle, and the vehicle-mounted screen in the vehicle is connected to the vehicle through a vehicle adjustment component. The device includes: an acquisition module, used to obtain a first posture information of the head of a user corresponding to the vehicle-mounted screen relative to the vehicle-mounted screen when the posture of the vehicle changes; a determination module, used to determine an offset for adjusting the vehicle adjustment component based on the first posture information and target posture information, the target posture information being the posture information of the user's head relative to the vehicle-mounted screen when the posture of the vehicle has not changed; and a control module, used to adjust the vehicle adjustment component based on the offset to control the posture of the vehicle-mounted screen.

[0020] In combination with the second aspect, in some possible implementations, the posture information includes attitude information and / or position information, and the determination module is specifically used to: determine the angle offset for adjusting the vehicle adjustment component based on the angle deviation between the first posture information in the first posture information and the target posture information in the target posture information; and / or determine the position offset for adjusting the vehicle adjustment component based on the position deviation between the first position information in the first posture information and the target position information in the target posture information.

[0021] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: determine the angular deviation between the first posture information and the target posture information in the pitch direction as a pitch offset for adjusting the vehicle adjustment component in the pitch direction, and the pitch direction is the direction in which the vehicle screen can be adjusted when the vehicle screen is facing the user, with the horizontal axis on the vehicle screen as the rotation axis; and / or, determine the angular deviation between the first posture information and the target posture information in the tilt direction as a tilt offset for adjusting the vehicle adjustment component in the tilt direction, and the tilt direction is the direction in which the vehicle screen can be deflected when the vehicle screen is facing the user, with the vertical axis on the vehicle screen as the reference.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle adjustment component includes a first rotating component and a second rotating component with a rotation function, and the control module is specifically used to: control the first rotating component to rotate the pitch offset in the pitch direction, and / or control the second rotating component to rotate the tilt offset in the tilt direction to control the posture of the vehicle-mounted screen.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: determine the position deviation between the first position information and the target position information in the horizontal direction as the horizontal offset for adjusting the vehicle adjustment component in the horizontal direction; and / or, determine the position deviation between the first position information and the target position information in the vertical direction as the vertical offset for adjusting the vehicle adjustment component in the vertical direction.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle adjustment component also includes a translation component with a translation function, and the control module is specifically used to: control the translation component to move the horizontal offset in the horizontal direction, and / or control the translation component to move the vertical offset in the vertical direction to control the position of the vehicle-mounted screen.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, an image acquisition device is installed on the vehicle-mounted screen and an angle sensor is installed on the vehicle, and the acquisition module is specifically used to: acquire at least two images containing the head through the image acquisition device; determine the first position information in the first posture information based on the distance between the optical center of the image acquisition device and the at least two images, the position of the head on the at least two images, and the internal and external parameters of the image acquisition device; and / or, acquire the posture information of the head and the posture information of the vehicle-mounted screen through the angle sensor; determine the first posture information in the first posture information based on the posture information of the head and the posture information of the vehicle-mounted screen.

[0026] In a third aspect, a vehicle is provided, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0027] In a fourth aspect, a computer-readable storage medium is provided, which stores instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of a scene in which a vehicle is traveling on a curved road section provided in an embodiment of the present application;

[0029] Figure 2 It is a structural schematic diagram of a vehicle-mounted screen provided in an embodiment of the present application;

[0030] Figure 3 is a schematic diagram of the structure of another vehicle-mounted screen provided in an embodiment of the present application;

[0031] Figure 4 is a schematic flow chart of a method for controlling a vehicle-mounted screen provided in an embodiment of the present application;

[0032] Figure 5 is a schematic diagram of determining position information of a user's head provided in an embodiment of the present application;

[0033] Figure 6 is a schematic diagram of controlling the posture of a ceiling screen provided in an embodiment of the present application;

[0034] Figure 7 It is a structural schematic diagram of a device for controlling a vehicle-mounted screen provided in an embodiment of the present application;

[0035] Figure 8It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, "multiple" means two or more than two. The terms "first" and "second" are used for descriptive purposes only and should not be understood as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0037] Figure 1 This is a schematic diagram of a scenario in which a vehicle is traveling on a curved road section provided in an embodiment of the present application.

[0038] When a user is watching a target image displayed on the vehicle screen in a moving vehicle, when the vehicle's posture changes, the posture of the vehicle screen will also change with the vehicle. However, due to the influence of inertia, the user will maintain the original state, which will cause the relative posture between the user's head and the vehicle screen to change. When the user is watching the vehicle screen, if the relative posture between the head and the vehicle screen changes, the user will feel that the target image on the vehicle screen is shaking.

[0039] For example, Figure 1 In (a) shown, the vehicle is traveling on a curved road section. The user in the vehicle is watching the on-board screen, which currently displays the target image. During the vehicle's left turn, the user still maintains a straight-moving state due to the influence of inertia. That is, the vehicle is in a left-turning state, the on-board screen in the vehicle is in a left-turning state, and the user is in a straight-moving state. When the on-board screen is used as a reference, the relative posture between the user (the user's head) and the on-board screen changes. Relative to the position of the on-board screen, the user is on the right side of the on-board screen, and the user is tilted to the right relative to the on-board screen, as shown in FIG. Figure 1 As shown in (b), the thick solid line indicates the user's posture before the vehicle turns, and the thin solid line indicates the user's posture during the vehicle turns. Furthermore, the vehicle screen is installed in the vehicle, and the target image on the vehicle screen moves with the vehicle. Therefore, during the vehicle turns left, the posture of the user's head relative to the target image displayed on the vehicle screen changes, which will give the user the feeling that the target image on the vehicle screen is shaking.

[0040] It should be understood that in some embodiments, the vehicle screen includes any one of the central control display screen, the co-pilot display screen, the headrest display screen behind the seat, and the ceiling screen and other entertainment display screens in the vehicle. It should also be understood that the ceiling screen is a display screen installed on the ceiling of the vehicle.

[0041] In order to reduce the shaking of the target image displayed on the vehicle screen caused by the change of the vehicle's posture when the user is watching the target image displayed on the vehicle screen in a moving vehicle, the present application adjusts the structure of the vehicle screen. Specifically, Figure 2 : is a schematic diagram of the structure of a vehicle-mounted screen provided in an embodiment of the present application. Figure 2 An in-vehicle screen that is adjustable in both horizontal and vertical directions is described.

[0042] For example, Figure 2 As shown in (a) in the figure, the vehicle screen in the vehicle is connected to the vehicle via a vehicle adjustment component (specifically, a translation component). Specifically, when the user is viewing the target image through the vehicle screen, the vehicle can control the translation component to move in the horizontal direction indicated by a. Since the translation component is fixedly connected to the vehicle screen, the vehicle screen can also move in the horizontal direction during the movement of the translation component in the horizontal direction. Therefore, the vehicle screen can be indirectly adjusted in the horizontal direction by adjusting the translation component in the horizontal direction to control the position of the vehicle screen in the horizontal direction.

[0043] like Figure 2 As shown in (b) in the figure, the vehicle-mounted screen in the vehicle is connected to the vehicle via a vehicle adjustment component (specifically, a translation component). Specifically, when the user is viewing the target image through the vehicle-mounted screen, the vehicle can control the translation component to move in the vertical direction indicated by b. Since the translation component is fixedly connected to the vehicle-mounted screen, the vehicle-mounted screen can also move in the vertical direction during the movement of the translation component in the vertical direction. Therefore, the vehicle-mounted screen can be indirectly adjusted in the vertical direction by adjusting the translation component in the vertical direction to control the position of the vehicle-mounted screen in the vertical direction.

[0044] Figure 3 This is a schematic diagram of the structure of another vehicle-mounted screen provided in an embodiment of the present application. Figure 3 An on-board screen that is adjustable in pitch and tilt is described.

[0045] For example, Figure 3As shown in (a) in the figure, the vehicle-mounted screen in the vehicle is connected to the vehicle through a vehicle adjustment component (specifically a translation component and a first rotation component), wherein the translation component is fixed and the vehicle-mounted screen cannot move in the horizontal direction. When the user is viewing the target image through the vehicle-mounted screen, the vehicle can control the first rotation component to rotate in the pitch direction (first angle range) indicated by c. Since the first rotation component is fixedly connected to the vehicle-mounted screen, the vehicle-mounted screen can also move in the pitch direction during the rotation of the first rotation component in the pitch direction. Therefore, the vehicle-mounted screen can be indirectly adjusted in the pitch direction by adjusting the first rotation component in the pitch direction to control the posture of the vehicle-mounted screen in the pitch direction.

[0046] like Figure 3 As shown in (b) in the figure, the vehicle-mounted screen in the vehicle is connected to the vehicle via a vehicle adjustment component (specifically a translation component and a second rotation component), wherein the translation component is fixed and the vehicle-mounted screen cannot move in the horizontal direction. When the user is viewing the target image through the vehicle-mounted screen, the vehicle can control the second rotation component to rotate in the tilt direction (second angle range) indicated by d. Since the second rotation component is fixedly connected to the vehicle-mounted screen, the vehicle-mounted screen can also move in the tilt direction during the rotation of the second rotation component in the tilt direction. Therefore, the vehicle-mounted screen can be indirectly adjusted in the tilt direction by adjusting the second rotation component in the tilt direction to control the posture of the vehicle-mounted screen in the tilt direction. As shown in FIG. Figure 3 As shown in (c) in the figure, it is a schematic diagram describing that the second rotating component can rotate in an inclined direction.

[0047] Figure 4 It is a schematic flowchart of a method for controlling a vehicle-mounted screen provided in an embodiment of the present application.

[0048] It should be understood that the method for controlling a vehicle-mounted screen provided in the embodiment of the present application can be applied to Figure 1 The vehicle shown. Specifically, the method for controlling the vehicle screen can be applied to a target controller in the vehicle, which is any one of a vehicle controller and a body domain controller in the vehicle. The body domain controller is used to control various vehicle components in the vehicle. In some embodiments, the vehicle components include lights, wipers, windows, rearview mirrors, seats, vehicle air conditioners, doors, Bluetooth devices, steering wheels, brake pedals, various types of vehicle screens, and vehicle adjustment components.

[0049] It should also be understood that the method of controlling the vehicle screen of the present application is based on Figure 2 and Figure 3 The structure of the vehicle screen shown is implemented.

[0050] For example, Figure 4 As shown, the method 400 includes:

[0051] Step 401, when the posture of the vehicle changes, the vehicle obtains the first position information of the head of the user corresponding to the vehicle screen relative to the vehicle screen.

[0052] It should be understood that the "vehicle posture" in the above step 401 is specifically the body posture, and the shape of the outermost contour of the vehicle determines the body posture. Usually, the body posture is characterized by the pitch angle of the vehicle and / or the tilt angle of the vehicle. Among them, the tilt angle refers to the angle between the vehicle and the horizontal plane, and the pitch angle refers to the angle between the vehicle and the vertical plane.

[0053] It should also be understood that the "user corresponding to the in-vehicle screen" in step 401 can be simply understood as: the in-vehicle screen that the user watches while the user is watching a movie (watching the target image displayed on the in-vehicle screen) in a moving vehicle.

[0054] It should also be understood that the "posture information" in step 401 is specifically posture information and / or position information, the posture information is used to describe the posture of the user's head relative to the vehicle-mounted screen, and the position information is used to describe the position of the user's head relative to the vehicle-mounted screen. The posture of the vehicle-mounted screen is described by the pitch angle of the vehicle-mounted screen and the tilt angle of the vehicle-mounted screen, and the posture of the head is described by the pitch angle of the head and the tilt angle of the head. The posture of the user's head relative to the vehicle-mounted screen is specifically: the angular deviation between the pitch angle of the head and the pitch angle of the vehicle-mounted screen, and the angular deviation between the tilt angle of the head and the tilt angle of the vehicle-mounted screen.

[0055] In one possible implementation, an image acquisition device is installed on the vehicle-mounted screen and an angle sensor is installed on the vehicle, and step 401 includes: the vehicle obtains at least two images containing the head through the image acquisition device; the vehicle determines the first position information in the first posture information based on the distance between the optical center of the image acquisition device and the at least two images, the position of the head in the at least two images, and the internal and external parameters of the image acquisition device; and / or the vehicle obtains the posture information of the head and the posture information of the vehicle-mounted screen through the angle sensor; the vehicle determines the first posture information in the first posture information based on the posture information of the head and the posture information of the vehicle-mounted screen.

[0056] It should be understood that the optical center of the image acquisition device refers to the center of the lens in the image acquisition device.

[0057] In the above technical solution, when the vehicle-mounted screen is used as a reference, at least two images containing the user's head are obtained through an image acquisition device; based on the distances between the optical center of the image acquisition device and the at least two images, the position of the head on the at least two images, and the internal and external parameters of the image acquisition device, the position information (first position information) of the user's head relative to the vehicle-mounted screen when the posture of the vehicle changes is determined. In the process of obtaining the first position information through the image acquisition device installed on the vehicle-mounted screen, it is not necessary to obtain the position information of the vehicle-mounted screen, so this solution can determine the first position information relatively simply and quickly. In the case of a change in the posture of the vehicle, the posture information of the head and the posture information of the vehicle-mounted screen can be obtained respectively through the angle sensor; based on the posture information of the head and the posture information of the vehicle-mounted screen, the posture information (first posture information) of the user's head relative to the vehicle-mounted screen when the posture of the vehicle changes is accurately determined.

[0058] The process of obtaining the "first position information" in the above scheme is discussed as follows.

[0059] In some embodiments, the "image acquisition device" in the above scheme includes any one of a binocular camera and a multi-eye camera.

[0060] The first type: the image acquisition device is a binocular camera

[0061] In one possible implementation, the image acquisition device is a binocular camera, and the vehicle obtains at least two images containing the head through the image acquisition device, including: the vehicle obtains a first image containing the head through the first camera in the binocular camera and obtains a second image containing the head through the second camera in the binocular camera; and the vehicle determines the first position information in the first pose information based on the distance between the optical center of the image acquisition device and the at least two images, the position of the head on the at least two images, and the internal and external parameters of the image acquisition device, including: the vehicle matches each pixel on the first image and the second image to determine the position of the head on the first image and the position of the head on the second image; the vehicle determines the first position information through the first distance between the optical center of the first camera and the first image, the second distance between the optical center of the second camera and the second image, the position of the head on the first image and the position of the head on the second image, and the internal and external parameters of the binocular camera.

[0062] In some embodiments, when the two cameras in the "binocular camera" in the above scheme are set on the left and right, the first camera and the second camera can be regarded as the left camera and the right camera, respectively, and the first image and the second image can be regarded as the left image of the head and the right image of the head, respectively.

[0063] In the above technical scheme, when the image acquisition device is a binocular camera, the scheme can use the parallax principle of the binocular camera to perceive the three-dimensional coordinates of the user's head in three-dimensional space with the vehicle-mounted screen as a reference, thereby directly determining the position information of the user's head relative to the vehicle-mounted screen.

[0064] In some embodiments, the vehicle matches each pixel point on the first image and the second image to determine the position of the head on the first image and the position of the head on the second image, including: the vehicle extracts the head features on the first image and the head features on the second image; the vehicle determines the matching head features in the first image and the second image based on the similarity between the head features on the first image and the head features on the second image; in a coordinate system centered on the upper left corner of the first image, the vehicle determines the pixel point position corresponding to the matching head feature as the position of the head; in a coordinate system centered on the upper left corner of the second image, the vehicle determines the pixel point position corresponding to the matching head feature as the position of the head.

[0065] In some embodiments, the vehicle determines matching head features in the first image and the second image based on the similarity between the head features on the first image and the head features on the second image, including: for any head feature on the first image, the vehicle determines multiple similarities between the head feature and each head feature on the second image; the vehicle determines the maximum similarity among the multiple similarities; the vehicle determines that the head feature and the head feature corresponding to the maximum similarity determined on the second image are matching head features.

[0066] In some embodiments, the vehicle determines the first position information through a first distance between the optical center of the first camera and the first image, a second distance between the optical center of the second camera and the second image, a position of the head on the first image and a position of the head on the second image, and an internal parameter and an external parameter of the binocular camera, including: the vehicle determines the first position information through the following formula (1) and formula (2);

[0067]

[0068]

[0069] Among them, z 1 and z 2 are the distance from the left image to the origin of the left camera coordinate system, and the distance from the right image to the origin of the right camera coordinate system, respectively. l and A r are the internal parameters of the left camera and the right camera respectively, R l , R r ,t l ,tr are the rotation vector of the left camera, the rotation vector of the right camera, the translation vector of the left camera, and the translation vector of the right camera, respectively. l , R r ,t l ,t r are the external parameters of the left camera and the right camera. If the optical center of the left camera is taken as the origin of the left camera coordinate system and the optical center of the right camera is taken as the origin of the right camera coordinate system, then z 1 and z 2 are the focal length f of the left camera respectively 1 and the focal length f of the right camera 2 .

[0070] Figure 5 It is a schematic diagram of determining the position information of a user's head provided in an embodiment of the present application.

[0071] For example, Figure 5 P 11 Taking the user's head as an example, the process for determining the first position information (three-dimensional coordinates) of the user's head relative to the vehicle-mounted screen is described. The head P on the left image obtained by the left camera l1 The pixel coordinates are (u 11 , v 11 ), the head P on the right image obtained by the right camera r1 The pixel coordinates are (u 22 , v 22 ), the focal length of the left camera is f 11 and the focal length of the right camera is f 22 , the optical center of the left camera is C l , the optical center of the right camera is C r Based on the above formula (1) and formula (2), the vehicle determines the first position information (three-dimensional coordinates) as (x 11 ,y 11 , z 11 ).

[0072] Taking the multi-eye camera as a three-eye camera as an example, the process for determining the first position information of the user's head relative to the vehicle screen is described.

[0073] The second type: the image acquisition device is a three-eye camera

[0074] In a possible implementation, the image acquisition device is a three-eye camera, and the vehicle obtains at least two images containing the head through the image acquisition device, including: the vehicle obtains a third image containing the head through the third camera in the three-eye camera, the fourth camera in the three-eye camera obtains a fourth image containing the head, and the fifth camera in the three-eye camera obtains a fifth image containing the head; and the vehicle determines the first position information in the first pose information based on the distance between the optical center of the image acquisition device and the at least two images, the position of the head on the at least two images, and the internal and external parameters of the image acquisition device, including: the vehicle matches each pixel on the third image, the fourth image, and the fifth image to determine the position of the head on the third image, the position of the head on the fourth image, and the position of the head on the fifth image; the vehicle uses the third distance between the optical center of the third camera and the third image, the optical center of the fourth camera, and the distance between the optical center of the fourth camera and the third image. The vehicle determines the first reference position information by a fourth distance between the optical center of the third camera and the fourth image, the position of the head on the third image and the position of the head on the fourth image, and the internal and external parameters of the third camera and the fourth camera; the vehicle determines the second reference position information by a third distance between the optical center of the third camera and the third image, a fifth distance between the optical center of the fifth camera and the fifth image, the position of the head on the third image and the position of the head on the fifth image, and the internal and external parameters of the third camera and the fifth camera; the vehicle determines the third reference position information by a fourth distance between the optical center of the fourth camera and the fourth image, a fifth distance between the optical center of the fifth camera and the fifth image, the position of the head on the fourth image and the position of the head on the fifth image, and the internal and external parameters of the fourth camera and the fifth camera; the vehicle determines the first position information based on the first reference position information, the second reference position information and the third reference position information.

[0075] In some embodiments, the vehicle determines the first position information based on the first reference position information, the second reference position information and the third reference position information, including: the vehicle determines the coordinate values ​​of the first position information in the horizontal direction and the vertical direction by taking the mean coordinate values ​​of the first reference position information, the second reference position information and the third reference position information in the horizontal direction and the vertical direction, respectively.

[0076] It should be understood that the principle of "the vehicle matches each pixel point on the third image, the fourth image and the fifth image to determine the position of the head on the third image, the position of the head on the fourth image and the position of the head on the fifth image" in the above scheme is the same as the principle of "the vehicle matches each pixel point on the first image and the second image to determine the position of the head on the first image and the position of the head on the second image" in the above scheme, and will not be repeated here. The principle of "the vehicle determines the first reference position information through the third distance between the optical center of the third camera and the third image, the fourth distance between the optical center of the fourth camera and the fourth image, the position of the head on the third image and the position of the head on the fourth image, and the internal and external parameters of the third camera and the fourth camera" in the above scheme, the principle of "the vehicle determines the second reference position information through the third distance between the optical center of the third camera and the third image, the fifth distance between the optical center of the fifth camera and the fifth image, the position of the head on the third image and the position of the head on the fifth image, and the internal and external parameters of the third camera and the fifth camera", and The principle of "the vehicle passes through the fourth distance between the optical center of the fourth camera and the fourth image, the fifth distance between the optical center of the fifth camera and the fifth image, the position of the head on the fourth image and the position of the head on the fifth image, and the internal and external parameters of the fourth camera and the fifth camera to determine the third reference position information" is the same as the principle of "the vehicle passes through the first distance between the optical center of the first camera and the first image, the second distance between the optical center of the second camera and the second image, the position of the head on the first image and the position of the head on the second image, and the internal and external parameters of the binocular camera to determine the first position information" in the aforementioned scheme, and will not be repeated here.

[0077] The process of obtaining the "first posture information" in the above scheme is discussed as follows.

[0078] In some embodiments, the “angle sensor” in the aforementioned solution includes any one of an acceleration sensor and a gyroscope sensor.

[0079] In some embodiments, the posture information includes a pitch angle and / or a tilt angle, and the vehicle obtains the posture information of the head and the posture information of the vehicle-mounted screen through the angle sensor, including: the vehicle obtains a first pitch angle of the head and / or a first tilt angle of the head through the angle sensor, and obtains a second pitch angle of the vehicle-mounted screen and / or a second tilt angle of the vehicle-mounted screen through the angle sensor; and, the vehicle determines the first posture information in the first posture information based on the posture information of the head and the posture information of the vehicle-mounted screen, including: the vehicle determines the angle difference between the first pitch angle and the second pitch angle as the pitch angle in the first posture information; the vehicle determines the angle difference between the first tilt angle and the second tilt angle as the tilt angle in the first posture information.

[0080] In other embodiments, the process of determining the first posture information includes: establishing a three-dimensional coordinate system with any point on the vehicle-mounted screen as the origin; when the posture of the vehicle does not change, the vehicle determines a first line between a target point on the head of the user corresponding to the vehicle-mounted screen and the origin, and the target point is any point on the head; when the posture of the vehicle changes, the vehicle determines a second line between the target point and the origin; the vehicle determines the angle formed by the first line and the second line in the yz plane as the pitch angle in the first posture information; the vehicle determines the angle formed by the first line and the second line in the xy plane as the tilt angle in the first posture information.

[0081] The process of "whether the posture of the vehicle has changed" in the aforementioned scheme is discussed as follows.

[0082] In some embodiments, before step 401, the method 400 also includes: the vehicle obtains a third pitch angle and a third tilt angle of the vehicle at a first moment, and a current pitch angle and a current tilt angle of the vehicle at a current moment, the first moment being before the current moment; when the third pitch angle is different from the current pitch angle, and / or the third tilt angle is different from the current tilt angle, the vehicle determines that the posture of the vehicle has changed; when the third pitch angle is the same as the current pitch angle, and the third tilt angle is the same as the current tilt angle, the vehicle determines that the posture of the vehicle has not changed.

[0083] In some embodiments, the "current moment" in the above scheme may be the moment when the vehicle obtains the first posture information.

[0084] In the above technical solution, the posture of the vehicle is specifically the body posture, and the shape of the contour of the outermost edge of the vehicle determines the body posture. Usually, the change of the body posture is measured by the change of the pitch angle and / or the tilt angle of the vehicle. Therefore, the present application determines whether the posture of the vehicle has changed by the pitch angle and / or the tilt angle of the vehicle. Specifically, when the third pitch angle is different from the current pitch angle, and / or the third tilt angle is different from the current tilt angle, it can be accurately determined that the posture of the vehicle has changed; when the third pitch angle is the same as the current pitch angle, and the third tilt angle is the same as the current tilt angle, it can be accurately determined that the posture of the vehicle has not changed.

[0085] Step 402, the vehicle determines an offset for adjusting the vehicle adjustment component based on the first posture information and the target posture information, wherein the target posture information is the posture information of the user's head relative to the vehicle screen when the posture of the vehicle does not change.

[0086] It should be understood that the "first posture information" and "target posture information" in step 402 are both based on the vehicle screen. When the posture of the vehicle does not change, the posture of the user's head relative to the vehicle screen is specifically the target posture information. When the posture of the vehicle changes, the posture of the user's head relative to the vehicle screen is the first posture information. The position deviation and posture deviation between the first posture information and the target posture information cause the user to feel that the target image displayed on the vehicle screen is shaking. Since the vehicle screen is connected to the vehicle through a vehicle adjustment component, the posture of the vehicle screen can be indirectly adjusted by adjusting the vehicle adjustment component to compensate for the position deviation and the posture deviation. Among them, the position deviation includes the position deviation in the horizontal direction and the position deviation in the vertical direction. The posture deviation includes the posture deviation in the pitch direction and the posture deviation in the tilt direction.

[0087] It should also be understood that the pitch direction is the direction in which the vehicle-mounted screen can be adjusted with the horizontal axis on the vehicle-mounted screen as the rotation axis when the vehicle-mounted screen is facing the user, such as Figure 3 As shown in (a), the vehicle-mounted screen faces the user, and the direction indicated by c is the pitch direction; the tilt direction is the direction in which the vehicle-mounted screen can be deflected with the vertical axis on the vehicle-mounted screen as the reference when the vehicle-mounted screen faces the user, such as Figure 3 As shown in (b) and (c), the vehicle-mounted screen is facing the user, and the direction indicated by d is the tilted direction.

[0088] In one possible implementation, the posture information includes attitude information and / or position information, and step 402 includes: the vehicle determines the angle offset for adjusting the vehicle adjustment component based on the angle deviation between the first posture information in the first posture information and the target posture information in the target posture information; and / or the vehicle determines the position offset for adjusting the vehicle adjustment component based on the position deviation between the first position information in the first posture information and the target position information in the target posture information.

[0089] In the above technical solution, when the posture information includes posture information and / or position information, the angle offset for adjusting the vehicle adjustment component is determined by the angle deviation between the first posture information in the first posture information and the target posture information in the target posture information; the position offset for adjusting the vehicle adjustment component is determined by the position deviation between the first position information in the first posture information and the target position information in the target posture information. In other words, the offset for adjusting the vehicle adjustment component is determined from multiple dimensions, so that the vehicle screen can also be adjusted from multiple dimensions, and specifically, the vehicle screen can be adjusted indirectly from the angle dimension and the position dimension.

[0090] The following discussion is based on the vehicle screen to determine the process of "offset", which includes angle offset and position offset.

[0091] First: Angle offset: pitch offset and tilt offset

[0092] In one possible implementation, the vehicle determines the angle offset for adjusting the vehicle adjustment component based on the angle deviation between the first posture information in the first posture information and the target posture information in the target posture information, including: the vehicle determines the angle deviation between the first posture information and the target posture information in the pitch direction as the pitch offset for adjusting the vehicle adjustment component in the pitch direction, and the pitch direction is the direction in which the vehicle screen can be adjusted when the vehicle screen is facing the user, with the horizontal axis on the vehicle screen as the rotation axis; and / or, the vehicle determines the angle deviation between the first posture information and the target posture information in the tilt direction as the tilt offset for adjusting the vehicle adjustment component in the tilt direction, and the tilt direction is the direction in which the vehicle screen can be deflected when the vehicle screen is facing the user, with the vertical axis on the vehicle screen as the reference.

[0093] In the above technical solution, the pitch offset for adjusting the vehicle adjustment component in the pitch direction is determined by the angle deviation between the first posture information and the target posture information in the pitch direction; the angle offset for adjusting the vehicle adjustment component in the tilt direction is determined by the angle deviation between the first posture information and the target posture information in the tilt direction. In other words, the angle offset for adjusting the vehicle adjustment component is further refined to determine the angle offset for adjusting the vehicle adjustment component in the pitch direction and in the tilt direction, so as to adjust the vehicle adjustment component in the pitch direction and in the tilt direction, thereby indirectly adjusting the vehicle screen in the pitch direction and in the tilt direction.

[0094] In some embodiments, the vehicle determines the angular deviation between the first posture information and the target posture information in the pitch direction as a pitch offset for adjusting the vehicle adjustment component in the pitch direction, including: the vehicle determines the pitch offset based on the following formula (3); and the vehicle determines the angular deviation between the first posture information and the target posture information in the pitch direction as a pitch offset for adjusting the vehicle adjustment component in the pitch direction, including: the vehicle determines the tilt offset based on the following formula (3);

[0095]

[0096] Among them, θ i is the pitch offset, is the tilt offset, θ 1 is the pitch angle of the first posture information in the pitch direction, is the inclination angle of the first posture information in the inclination direction, θ 0 is the pitch angle of the target attitude information in the pitch direction, is the inclination angle of the target posture information in the inclination direction.

[0097] Second: Position offset: horizontal offset and vertical offset

[0098] In one possible implementation, the vehicle determines a position offset for adjusting the vehicle adjustment component based on a position deviation between the first position information in the first posture information and the target position information in the target posture information, including: the vehicle determines the position deviation between the first position information and the target position information in the horizontal direction as a horizontal offset for adjusting the vehicle adjustment component in the horizontal direction; and / or, the vehicle determines the position deviation between the first position information and the target position information in the vertical direction as a vertical offset for adjusting the vehicle adjustment component in the vertical direction.

[0099] In the above technical solution, the horizontal offset of the vehicle adjustment component is determined by the position deviation between the first position information and the target position information in the horizontal direction; the vertical offset of the vehicle adjustment component is determined by the position deviation between the first position information and the target position information in the vertical direction. In other words, the position offset of the vehicle adjustment component is further refined to determine the position offset of the vehicle adjustment component in the horizontal direction and in the vertical direction, so as to adjust the vehicle adjustment component in the horizontal direction and in the vertical direction, thereby indirectly adjusting the vehicle screen in the horizontal direction and in the vertical direction.

[0100] In some embodiments, the vehicle determines the position deviation between the first position information and the target position information in the horizontal direction as a horizontal offset for adjusting the vehicle adjustment component in the horizontal direction, including: the vehicle determines the horizontal offset based on the following formula (4); and the vehicle determines the position deviation between the first position information and the target position information in the vertical direction as a vertical offset for adjusting the vehicle adjustment component in the vertical direction, including: the vehicle determines the vertical offset based on the following formula (4);

[0101] (x i ,y i ) = (x 1 ,y 1 ) - (x 0 ,y 0 ) (4);

[0102] Among them, x i is the horizontal offset, y i is the vertical offset, x 1 is the position of the first posture information in the horizontal direction (on the x-axis), y 1 is the position of the first posture information in the vertical direction (on the y-axis), x 0 is the horizontal position of the target posture information, y 0 is the vertical position of the target posture information.

[0103] The process of determining the "target position information" and the "target posture information" in the "target posture information" is discussed in detail as follows.

[0104] First: Target posture information

[0105] In some embodiments, the method for determining the target posture information includes: when the posture of the vehicle does not change, the vehicle obtains a fourth pitch angle of the vehicle screen and / or a fourth tilt angle of the vehicle screen through an angle sensor, and obtains a fifth pitch angle and / or a fifth tilt angle of the user's head through the angle sensor, and the user corresponds to the vehicle screen; the vehicle determines the angle difference between the fifth pitch angle and the fourth pitch angle as the pitch angle in the target posture information; the vehicle determines the angle difference between the fifth tilt angle and the fourth tilt angle as the tilt angle in the target posture information.

[0106] It should be understood that the correspondence between the user and the vehicle-mounted screen means that the user views the image (target image) through the vehicle-mounted screen when the posture of the vehicle does not change, that is, the user watches the movie through the vehicle-mounted screen.

[0107] It should also be understood that in the above solution, since the posture of the vehicle has not changed, the fourth pitch angle, the fourth tilt angle, the fifth pitch angle and the fifth tilt angle obtained by the angle sensor are 0 degrees. Therefore, the pitch angle in the target posture information and the tilt angle in the target posture information are both 0 degrees.

[0108] Second: Target location information

[0109] In some embodiments, when the vehicle is in a stationary state, it can be represented that the posture of the vehicle has not changed.

[0110] It should be understood that the “stationary state” can be simply understood as a state in which the position of the vehicle does not change.

[0111] In some embodiments, the vehicle is in a stationary state, the image acquisition device is a monocular camera, and a pushing component is also installed on the vehicle-mounted screen, the pushing component is connected to the monocular camera, and the pushing component can move the position of the monocular camera. The method for determining the target position information includes: the vehicle controls the pushing component to move so that the monocular camera moves to a first position; the vehicle obtains a sixth image of the head through the monocular camera at the first position; the vehicle controls the pushing component to move so that the monocular camera moves to a second position; the vehicle obtains a seventh image of the head through the monocular camera at the second position; the vehicle matches each pixel point on the sixth image and the seventh image to determine the position of the head on the sixth image and the position of the head on the seventh image; the vehicle determines the target position information through a sixth distance between the optical center of the monocular camera and the sixth image when it is in the first position, a seventh distance between the optical center of the monocular camera and the seventh image when it is in the second position, and the internal and external parameters of the monocular camera when it is in the first position and the second position respectively.

[0112] It should be understood that in the above scheme, the position of the monocular camera is moved by pushing the component, thereby setting up a scene in which the binocular camera determines the three-dimensional coordinate position of any object. It should also be understood that when the vehicle is in a stationary state, the target position information is determined by moving the position of the monocular camera. This is because when the vehicle is in motion, the at least two images obtained by the monocular camera are not in the same motion state, and the at least two images cannot be matched to obtain the target position.

[0113] It should also be understood that the principle of "the vehicle matches each pixel point on the sixth image and the seventh image to determine the position of the head on the sixth image and the position of the head on the seventh image; the vehicle determines the target position information by using the sixth distance between the optical center of the monocular camera and the sixth image when it is in the first position, the seventh distance between the optical center of the monocular camera and the seventh image when it is in the second position, and the internal and external parameters of the monocular camera at the first position and the second position respectively" in the above scheme is the same as the principle of "the vehicle matches each pixel point on the first image and the second image to determine the position of the head on the first image and the position of the head on the second image; the vehicle determines the first position information by using the first distance between the optical center of the first camera and the first image, the second distance between the optical center of the second camera and the second image, and the internal and external parameters of the binocular camera" in the above scheme, and will not be repeated here.

[0114] A process in which a vehicle determines whether the state of the vehicle is a stationary state is discussed as follows.

[0115] In one possible implementation, a vehicle determines whether the state of the vehicle is a stationary state, including: the vehicle obtains at least two positions of the vehicle within a first preset time period through a positioning device on the vehicle; when the at least two positions are the same, the vehicle determines that the state of the vehicle is a stationary state; when the at least two positions are different, the vehicle determines that the state is a non-stationary state; or, the vehicle obtains the speed and acceleration of the vehicle through a speed sensor on the vehicle; when at least one of the speed and the acceleration is greater than a first speed threshold, the vehicle determines that the state of the vehicle is a non-stationary state, and when the speed and the acceleration are both equal to the first speed threshold, the vehicle determines that the state is a stationary state.

[0116] The first speed threshold is 0.

[0117] It should be understood that in the above solution, the vehicle obtains at least two positions of the vehicle within the first preset time period to determine whether the position of the vehicle has changed, thereby determining whether the vehicle is in a stationary state. The vehicle obtains the speed and acceleration of the vehicle to determine whether the speed of the vehicle is constant through the acceleration, and excludes the case of the vehicle having a uniform speed through the speed, thereby determining whether the vehicle is in a stationary state.

[0118] Optionally, the positioning device is a Global Positioning System (GPS) locator in the vehicle.

[0119] In the above technical solution, whether the vehicle is in a stationary state is determined in two ways. The first way is to determine whether at least two positions of the vehicle remain unchanged within a first preset time period. The second way is to determine whether the speed and acceleration of the vehicle are both zero. This solution can enrich the ways for determining whether the vehicle is in a stationary state.

[0120] The following discusses the acquisition scenario of "target pose information".

[0121] In some embodiments, when the posture of the vehicle does not change, the vehicle detects whether an image is displayed on the vehicle-mounted screen and whether the user is looking at the vehicle-mounted screen; when an image is displayed on the vehicle-mounted screen and the user looks at the vehicle-mounted screen, the vehicle determines the posture of the user's head when looking at the vehicle-mounted screen as the target posture information.

[0122] In the above technical solution, a scenario of obtaining target posture information is described. Specifically, when the posture of the vehicle does not change, an image is displayed on the vehicle screen, and a user in the vehicle looks at the vehicle screen, the posture of the head of the user when looking at the vehicle screen is determined as the target posture information.

[0123] Step 403: The vehicle adjusts the vehicle adjustment component based on the offset to control the position and posture of the vehicle-mounted screen.

[0124] It should be understood that the "vehicle adjustment component" in the above step 403 is fixedly connected to the vehicle screen, and the vehicle adjustment component is adjustable. When the vehicle adjustment component includes a rotating component, the posture of the vehicle screen can be adjusted by rotating the rotating component to control the posture of the vehicle screen; when the vehicle adjustment component also includes a translation component, the position of the vehicle screen can be adjusted by moving the translation component to control the position of the vehicle screen.

[0125] First: Pitch direction and tilt direction

[0126] In some embodiments, the offset includes a pitch offset and a tilt offset, and step 403 includes: the vehicle determines a first direction and a first offset for adjusting the vehicle adjustment component in the pitch direction based on the pitch offset; and the vehicle determines a second direction and a second offset for adjusting the vehicle adjustment component in the tilt direction based on the tilt offset.

[0127] In one possible implementation, the vehicle adjustment component includes a first rotating component and a second rotating component with a rotation function. Step 403 includes: the vehicle controls the first rotating component to rotate the pitch offset in the pitch direction, and / or the vehicle controls the second rotating component to rotate the tilt offset in the tilt direction to control the posture of the vehicle-mounted screen.

[0128] It should be understood that after the first rotating assembly is rotated by the pitch offset, and after the second rotating assembly is rotated by the tilt offset, the first rotating assembly and the second rotating assembly are fixed. In other words, the vehicle adjustment assembly has been adjusted to a position, and the vehicle screen has been adjusted to a position.

[0129] In the above technical solution, the vehicle adjustment component includes a first rotating component and a second rotating component with a rotation function. The first rotating component is rotated in the pitch direction by a pitch offset to indirectly adjust the vehicle screen in the pitch direction; the second rotating component is rotated in the tilt direction by a tilt offset to indirectly adjust the vehicle screen in the tilt direction. In other words, the solution can realize posture control of the vehicle screen in the pitch direction and in the tilt direction.

[0130] In some embodiments, the vehicle controls the first rotating component to rotate the pitch offset in the pitch direction, including: the vehicle controls the first rotating component to rotate the first offset in the first direction; and the vehicle controls the second rotating component to rotate the tilt offset in the tilt direction, including: the vehicle controls the second rotating component to rotate the second offset in the second direction.

[0131] Second: horizontal and vertical directions

[0132] In some embodiments, the offset includes a horizontal offset and a vertical offset, and step 403 includes: the vehicle determines a third direction and a third offset for adjusting the vehicle adjustment component in the horizontal direction based on the horizontal offset; and the vehicle determines a fourth direction and a fourth offset for adjusting the vehicle adjustment component in the vertical direction based on the vertical offset.

[0133] In one possible implementation, the vehicle adjustment component also includes a translation component with a translation function, and step 403 includes: the vehicle controls the translation component to move the horizontal offset in the horizontal direction, and / or the vehicle controls the translation component to move the vertical offset in the vertical direction to control the position of the vehicle screen.

[0134] It should be understood that after the translation assembly is translated by the horizontal offset and after the translation assembly is translated by the vertical offset, the translation assembly is to be fixed. In other words, the vehicle adjustment assembly has been adjusted to the right position and the vehicle screen has been adjusted to the right position.

[0135] In the above technical solution, the vehicle adjustment component also includes a translation component with a translation function. The vehicle screen is indirectly adjusted in the pitch direction by moving the horizontal offset in the horizontal direction by the translation component; the vehicle screen is indirectly adjusted in the vertical direction by moving the vertical offset in the vertical direction by the translation component. In other words, the position control of the vehicle screen can be achieved in the horizontal direction and in the vertical direction through this solution.

[0136] In some embodiments, the vehicle controls the translation component to move the horizontal offset in the horizontal direction, including: the vehicle controls the translation component to translate the third offset in the third direction; and the vehicle controls the translation component to move the vertical offset in the vertical direction, including: the vehicle controls the translation component to translate the fourth offset in the fourth direction.

[0137] Figure 6 It is a schematic diagram of controlling the posture of a ceiling screen provided in an embodiment of the present application.

[0138] For example, the process of adjusting the ceiling screen is described by taking the vehicle screen as a ceiling screen, the horizontal offset is 2 cm, the pitch offset is -5 degrees, and the tilt offset is 5 degrees. Figure 6 As shown, the vehicle controls the translation component to move 2 cm to the right, and then fixes the translation component so that it does not move; the vehicle controls the first rotation component to rotate 5 degrees in the direction indicated by g (the first rotation component rotates counterclockwise), and then fixes the first rotation component so that it does not rotate; the vehicle controls the second rotation component to rotate 5 degrees in the direction indicated by h (the second rotation component rotates clockwise), and then fixes the second rotation component so that it does not rotate. At this time, the ceiling screen moves from the position indicated by the thick line frame to the position indicated by the virtual and solid line frames, thereby realizing the position control of the ceiling screen.

[0139] It should be understood that Figure 6 As shown, the pitch offset and the tilt offset range is (0, 90) degrees.

[0140] Figure 7It is a structural schematic diagram of a device for controlling a vehicle-mounted screen provided in an embodiment of the present application.

[0141] For example, Figure 7 As shown, the device 700 is installed in a vehicle, and the vehicle screen in the vehicle is connected to the vehicle through a vehicle adjustment component. The device 700 includes:

[0142] The acquisition module 701 is used to acquire the first position information of the head of the user corresponding to the vehicle screen relative to the vehicle screen when the posture of the vehicle changes;

[0143] A determination module 702, configured to determine an offset for adjusting the vehicle adjustment component based on the first posture information and target posture information, wherein the target posture information is posture information of the user's head relative to the vehicle-mounted screen when the posture of the vehicle does not change;

[0144] The control module 703 is used to adjust the vehicle adjustment component based on the offset to control the position and posture of the vehicle-mounted screen.

[0145] Optionally, the posture information includes attitude information and / or position information, and the determination module 702 is specifically used to: determine the angle offset for adjusting the vehicle adjustment component based on the angle deviation between the first posture information in the first posture information and the target posture information in the target posture information; and / or determine the position offset for adjusting the vehicle adjustment component based on the position deviation between the first position information in the first posture information and the target position information in the target posture information.

[0146] Optionally, the determination module 702 is further specifically used to: determine the angular deviation between the first posture information and the target posture information in the pitch direction as a pitch offset for adjusting the vehicle adjustment component in the pitch direction, the pitch direction being the direction in which the vehicle screen can be adjusted when the vehicle screen is facing the user, with the horizontal axis on the vehicle screen as the rotation axis; and / or, determine the angular deviation between the first posture information and the target posture information in the tilt direction as a tilt offset for adjusting the vehicle adjustment component in the tilt direction, the tilt direction being the direction in which the vehicle screen can be deflected when the vehicle screen is facing the user, with the vertical axis on the vehicle screen as the reference.

[0147] Optionally, the vehicle adjustment component includes a first rotating component and a second rotating component with a rotation function, and the control module 703 is specifically used to: control the first rotating component to rotate the pitch offset in the pitch direction, and / or control the second rotating component to rotate the tilt offset in the tilt direction, so as to control the posture of the vehicle screen.

[0148] Optionally, the determination module 702 is further specifically used to: determine the position deviation between the first position information and the target position information in the horizontal direction as a horizontal offset for adjusting the vehicle adjustment component in the horizontal direction; and / or determine the position deviation between the first position information and the target position information in the vertical direction as a vertical offset for adjusting the vehicle adjustment component in the vertical direction.

[0149] Optionally, the vehicle adjustment component also includes a translation component with a translation function, and the control module 703 is specifically used to: control the translation component to move the horizontal offset in the horizontal direction, and / or control the translation component to move the vertical offset in the vertical direction to control the position of the vehicle screen.

[0150] Optionally, an image acquisition device is installed on the vehicle-mounted screen and an angle sensor is installed on the vehicle, and the acquisition module 701 is specifically used to: acquire at least two images containing the head through the image acquisition device; determine the first position information in the first posture information based on the distance between the optical center of the image acquisition device and the at least two images, the position of the head on the at least two images, and the internal and external parameters of the image acquisition device; and / or, acquire the posture information of the head and the posture information of the vehicle-mounted screen through the angle sensor; determine the first posture information in the first posture information based on the posture information of the head and the posture information of the vehicle-mounted screen.

[0151] Figure 8 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0152] For example, Figure 8 As shown, the vehicle 800 includes: a memory 801, a processor 802, and a computer program 803 stored in the memory 801 and running on the processor 802, wherein when the processor 802 executes the computer program 803, the vehicle can execute any one of the methods for controlling the vehicle screen introduced above.

[0153] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0154] In the case of dividing each functional module according to each function, the vehicle may include: an acquisition module, a determination module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0155] The vehicle provided in this embodiment is used to execute the above-mentioned method of controlling the vehicle-mounted screen, and thus can achieve the same effect as the above-mentioned implementation method.

[0156] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used for the vehicle to execute mutual program codes and data.

[0157] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0158] This embodiment provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes any one of the methods for controlling a vehicle-mounted screen described above.

[0159] This embodiment also provides a computer program product including instructions. When the computer program product runs on a computer or a processor, the computer or the processor executes the above-mentioned related steps to implement any of the methods for controlling a vehicle-mounted screen described above.

[0160] Among them, the vehicle, computer-readable storage medium, computer program product or chip containing instructions provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0161] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0162] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0163] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle-mounted screen, characterized in that: The method is performed by a vehicle, wherein a vehicle-mounted screen in the vehicle is connected to the vehicle via a vehicle adjustment component, and the method comprises: When the posture of the vehicle changes, obtaining first position information of the head of the user corresponding to the vehicle-mounted screen relative to the vehicle-mounted screen; Determining an offset for adjusting the vehicle adjustment component based on the first posture information and target posture information, wherein the target posture information is posture information of the user's head relative to the vehicle-mounted screen when the posture of the vehicle does not change; The vehicle adjustment component is adjusted based on the offset to control the posture of the vehicle-mounted screen.

2. The method according to claim 1, characterized in that The posture information includes posture information and / or position information, and determining the offset for adjusting the vehicle adjustment component based on the first posture information and the target posture information includes: determining an angle offset for adjusting the vehicle adjustment component based on an angle deviation between first posture information in the first posture information and target posture information in the target posture information; and / or, Based on a position deviation between first position information in the first posture information and target position information in the target posture information, a position offset for adjusting the vehicle adjustment component is determined.

3. The method according to claim 2, characterized in that The determining, based on an angle deviation between first posture information in the first posture information and target posture information in the target posture information, an angle offset for adjusting the vehicle adjustment component comprises: Determine the angular deviation between the first posture information and the target posture information in the pitch direction as a pitch offset for adjusting the vehicle adjustment component in the pitch direction, wherein the pitch direction is a direction in which the vehicle screen can be adjusted with the horizontal axis on the vehicle screen as a rotation axis when the vehicle screen is facing the user; and / or, The angular deviation between the first posture information and the target posture information in the tilt direction is determined as the tilt offset for adjusting the vehicle adjustment component in the tilt direction. The tilt direction is the direction in which the vehicle screen can be deflected with the vertical axis on the vehicle screen as a reference when the vehicle screen is facing the user.

4. The method according to claim 3, characterized in that The vehicle adjustment component includes a first rotation component and a second rotation component with a rotation function, and adjusting the vehicle adjustment component based on the offset includes: The first rotating component is controlled to rotate the pitch offset in the pitch direction, and / or the second rotating component is controlled to rotate the tilt offset in the tilt direction to control the posture of the vehicle-mounted screen.

5. The method according to claim 2, characterized in that: The determining, based on a position deviation between first position information in the first posture information and target position information in the target posture information, a position offset for adjusting the vehicle adjustment component comprises: Determine the position deviation between the first position information and the target position information in the horizontal direction as a horizontal offset for adjusting the vehicle adjustment component in the horizontal direction; and / or, A position deviation between the first position information and the target position information in the vertical direction is determined as a vertical offset for adjusting the vehicle adjustment component in the vertical direction.

6. The method according to claim 5, characterized in that The vehicle adjustment component further includes a translation component with a translation function, and the adjusting the vehicle adjustment component based on the offset includes: The translation component is controlled to move the horizontal offset in the horizontal direction, and / or the translation component is controlled to move the vertical offset in the vertical direction to control the position of the vehicle-mounted screen.

7. The method according to any one of claims 1 to 6, characterized in that: The vehicle-mounted screen is equipped with an image acquisition device and the vehicle is equipped with an angle sensor, and the obtaining of the first position posture information of the head of the user corresponding to the vehicle-mounted screen relative to the vehicle-mounted screen includes: Acquire at least two images including the head through the image acquisition device; Determine the first position information in the first posture information based on the distance between the optical center of the image acquisition device and the at least two images, the position of the head in the at least two images, and the intrinsic and extrinsic parameters of the image acquisition device; and / or, Acquiring the posture information of the head and the posture information of the vehicle-mounted screen through the angle sensor; Based on the posture information of the head and the posture information of the vehicle-mounted screen, first posture information in the first position information is determined.

8. A device for controlling a vehicle screen, characterized in that: The device is installed in a vehicle, and the vehicle-mounted screen in the vehicle is connected to the vehicle through a vehicle adjustment component. The device includes: An acquisition module, used for acquiring first position posture information of the head of the user corresponding to the vehicle-mounted screen relative to the vehicle-mounted screen when the posture of the vehicle changes; A determination module, configured to determine an offset for adjusting the vehicle adjustment component based on the first posture information and target posture information, wherein the target posture information is posture information of the user's head relative to the vehicle-mounted screen when the posture of the vehicle does not change; A control module is used to adjust the vehicle adjustment component based on the offset to control the position and posture of the vehicle-mounted screen.

9. A vehicle, characterized in that: It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle executes the method for controlling the vehicle-mounted screen as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the method for controlling a vehicle-mounted screen as described in any one of claims 1 to 7.

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