Commercial vehicle driving comfort self-adaptive adjusting method

Abstract

The invention discloses a commercial vehicle driving comfort self-adaptive adjusting method, which belongs to the technical field of vehicle control, and comprises the following steps: acquiring physiological parameters of a driver and a seat position, pre-storing parameters of a most comfortable driving posture and a seat distance relation model, obtaining an adaptive seat distance, and adjusting the seat distance according to the adaptive seat distance. Calculating a knee height theoretical value and a hip angle theoretical value of the driver, and adjusting the position of the seat based on the reference knee height and the reference hip angle; adjusting the steering wheel in the vertical direction according to the position relation between the steering wheel view area and the combination instrument model, and adjusting the steering wheel in the front-back direction according to the elbow included angle of the driver and the reference elbow included angle; according to the position relation between the rearview mirror view coverage area and the national standard view area, the rearview mirror is controlled to rotate in the Z-axis / Y-axis direction, and the rearview mirror view area completely covers the national standard view area in a self-adaptive mode. The problem that in the prior art, a driver needs to manually adjust the optimal driving position is solved.

Description

Technical Field

[0001] The invention relates to a method for adaptively adjusting driving comfort of a commercial vehicle, and belongs to the technical field of vehicle control. Background Art

[0002] With the rapid development of automotive electronic technology and the improvement of consumers' demand for quality of life, consumers' requirements for vehicles are gradually increasing, especially in the field of commercial vehicles. Due to frequent long-term driving, drivers' demands for comfort, safety and intelligence are gradually increasing.

[0003] However, the seats in commercial vehicle cabs are mainly adjusted manually. The driver adjusts the seat position according to his or her height and personal preferences. The adjusted seat posture is not a reference posture suitable for long-term riding, which can easily cause driver fatigue. In addition, if the seat is adjusted manually during driving, there are also great safety hazards. Commercial vehicle rearview mirrors now have manual adjustment and electric adjustment functions, but even electric adjustment requires the driver to manually adjust it, and the adjusted rearview mirror position may not meet the field of vision requirements, and if it is adjusted again during driving, it will affect driving safety. Commercial vehicle steering wheels now have mechanical or pneumatic adjustment functions, but both adjustment methods require manual operation, and the manually adjusted position may block the dashboard or make arm operation uncomfortable. Summary of the invention

[0004] The purpose of the present invention is to provide a method for adaptively adjusting driving comfort of commercial vehicles, which can put the driver in the most comfortable driving position by adaptively adjusting the seat position, rearview mirror angle, and steering wheel position, thereby solving the problem in the prior art that the driver needs to manually adjust the optimal driving position, reducing the driver's manual operation frequency, reducing fatigue during long-distance driving, and effectively improving the comfort and safety of commercial vehicle drivers.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions:

[0006] The present invention provides a method for adaptively adjusting driving comfort of a commercial vehicle, comprising:

[0007] Obtain the driver's height, weight, elbow angle, knee height, eye point position and seat position;

[0008] Pre-store the parameters of the most comfortable driving posture and the seat distance relationship model;

[0009] The parameters of the most comfortable driving posture include seat reference point, foot position point, ankle angle, pedal angle, knee height, reference knee angle, reference hip angle, reference elbow angle, seat H point trajectory, seat back angle, vehicle boundary, ground line information, rearview mirror model, steering wheel model and instrument cluster model;

[0010] The seat distance relationship model includes an X-direction distance relationship model from the seat H point to the foot position point and a Z-direction distance relationship model from the seat H point to the cab floor plane;

[0011] According to the height and weight of the driver, the seat position, the seat H-point trajectory and the seat distance relationship model, the adapted seat distance is obtained;

[0012] Calculate the driver's knee angle theoretical value and hip angle theoretical value according to the adapted seat distance, ankle angle, pedal angle, knee height, seat H-point trajectory, seat position and seat back angle, and adjust the seat position based on the reference knee angle and reference hip angle;

[0013] According to the driver's eye position, steering wheel model and instrument cluster model, the steering wheel visual field is constructed;

[0014] According to the positional relationship between the steering wheel visual field and the instrument cluster model, the steering wheel is adjusted in the up-down direction, and according to the driver's elbow angle and the reference elbow angle, the steering wheel is adjusted in the forward-backward direction;

[0015] Construct the national standard vision area based on the seat reference point and vehicle boundaries;

[0016] Construct the rearview mirror field of view according to the driver's eye position, rearview mirror model and national standard field of view;

[0017] The rearview mirror is controlled to rotate according to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, so that the rearview mirror field of view area completely covers the national standard field of view area.

[0018] Furthermore, the driver's height, weight, elbow angle, foot position, eye position, knee height, seat position, rearview mirror rotation angle and steering wheel position are acquired through sensors.

[0019] Furthermore, according to the height and weight of the driver, the seat position, the seat H-point trajectory and the seat distance relationship model, the adapted seat distance is obtained, including:

[0020] Set the seat position so that the seat H point coincides with the seat reference point;

[0021] According to the height and weight of the driver and the trajectory of the H point of the seat, the Z-direction distance from the H point of the seat to the floor plane of the cab is obtained;

[0022] The Z-direction distance from the seat point H to the cab floor plane is input into the seat distance relationship model to obtain the X-direction distance from the seat point H to the foot position point;

[0023] The Z-direction distance from the seat H point to the cab floor plane and the X-direction distance from the seat H point to the foot position point are used as the adapted seat distance.

[0024] Furthermore, the seat distance relationship model is expressed as:

[0025] ;

[0026] In the formula, - They represent the X-direction distance from the H point of the seat to the foot position corresponding to the ag group of people, and H30 represents the Z-direction distance from the H point of the seat to the floor plane of the cab. - They respectively represent the height correction values ​​of group A and A people. K1-K7 correspond to the body mass index (BMI) of group A and A people. The height of group A people is over 1.9m, the height of group B people is between 1.85m and 1.9m, the height of group C people is between 1.75m and 1.85m, the height of group D people is between 1.7m and 1.75m, the height of group E people is between 1.65m and 1.7m, the height of group F people is between 1.6m and 1.65m, and the height of group G people is below 1.6m.

[0027] Further, according to the adapted seat distance, ankle angle, pedal angle, knee height, seat H-point trajectory, seat position and seat back angle, the driver's knee angle theoretical value and hip angle theoretical value are calculated, and the seat position is adjusted based on the reference knee angle and the reference hip angle, including:

[0028] Repeat the following steps to adjust the seat position within a preset time until the difference between the driver's theoretical knee angle and the reference knee angle, and the difference between the driver's theoretical hip angle and the reference hip angle are within a preset range:

[0029] According to the adapted seat distance, ankle angle value, pedal angle value, knee height, Z-direction distance from the seat H point to the cab floor plane, seat H point trajectory, seat position and seat back angle value, and theoretical calculation formulas of knee angle and hip angle, the theoretical knee angle value and hip angle value of the driver are obtained;

[0030] When the theoretical knee angle and the theoretical hip angle of the driver are less than the reference knee angle and the reference hip angle, the seat is adjusted to move backward and downward along the H-point trajectory of the seat;

[0031] When the theoretical knee angle and the theoretical hip angle of the driver are greater than the reference knee angle and the reference hip angle, the seat is adjusted to move forward and upward along the H-point trajectory of the seat;

[0032] Among them, the theoretical value calculation formula of the knee angle is expressed as:

[0033] ;

[0034] In the formula, represents the theoretical value of the knee angle, It represents the angle between the calf and the horizontal vertical plane passing through the connection point between the calf and the thigh. It represents the angle between the thigh and the horizontal vertical plane passing through the connection point between the calf and thigh. represents the ankle angle value, represents the pedal angle value, represents the inverse tangent function, represents the tangent function, Indicates the Z-direction distance from the seat H point to the cab floor plane, Indicates knee height;

[0035] Among them, the theoretical value calculation formula of hip angle is expressed as:

[0036] ;

[0037] ;

[0038] In the formula, represents the theoretical value of the hip angle, It represents the angle between the thigh and the horizontal vertical plane passing through the connection point between the thigh and the torso. Indicates the seat position and seat back angle values.

[0039] Furthermore, according to the driver's eye position, the steering wheel model and the instrument cluster model, a steering wheel field of view is constructed, including:

[0040] On the plane where the instrument cluster model is located, along the boundary of the steering wheel model, a number of rays with uniform angles are drawn in sequence starting from the driver's eye point position to intersect with the plane where the instrument cluster model is located, and a number of intersection points of the rays and the plane where the instrument cluster model is located are connected to obtain the steering wheel field of view.

[0041] Further, according to the positional relationship between the steering wheel visual field and the instrument cluster model, the steering wheel is adjusted in the up and down direction, including:

[0042] When the height H10 from the upper boundary of the steering wheel's visual field to the upper plane of the instrument cluster model is less than a reference value, the steering wheel is controlled to move upward, so that the steering wheel's visual field can adaptively cover the instrument cluster model completely;

[0043] When the height H10 from the upper boundary of the steering wheel visual field to the upper plane of the instrument cluster model is greater than the reference value, the steering wheel is controlled to move downward so that the steering wheel visual field can fully cover the instrument cluster model adaptively;

[0044] Further, adjusting the steering wheel in the front-rear direction according to the driver's elbow angle and the reference elbow angle includes:

[0045] When the driver's elbow angle is larger than the reference elbow angle, the steering wheel is controlled to move backward, and the driver's elbow angle is adaptively adjusted to be consistent with the reference elbow angle;

[0046] When the driver's elbow angle is smaller than the reference elbow angle, the steering wheel is controlled to move forward to adaptively adjust the driver's elbow angle to be consistent with the reference elbow angle.

[0047] Furthermore, according to the driver's eye point position, the rearview mirror model and the national standard field of view, a rearview mirror field of view is constructed, including:

[0048] In the plane where the ground line is located, along the boundary of the rearview mirror model lens, with the driver's eye point as the starting point, several rays with uniform angles are drawn in sequence to intersect with the plane where the national standard field of view area is located, and several intersection points of several rays and the plane where the national standard field of view area is located are connected to obtain the field of view of the rearview mirror.

[0049] Further, the rearview mirror is controlled to rotate according to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, so that the rearview mirror field of view area completely covers the national standard field of view area, including:

[0050] According to the position relationship between the driver's eye point position, the rearview mirror model and the ground, the rearview mirror field of view coverage area relative to the ground is constructed;

[0051] According to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, the rearview mirror is controlled to rotate up and down along the Y axis / left and right along the Z axis, so that the rearview mirror field of view area can fully cover the national standard field of view area adaptively;

[0052] Among them, the calculation formula of the up and down rotation angle along the Y axis is expressed as:

[0053] ;

[0054] In the formula, Indicates the up and down rotation angle along the Y axis, Indicates the Y-direction distance between the rearview mirror field of view and the national standard field of view. It means the distance between the vertical point on the ground where the center point of the upper side of the rearview mirror edge is located and the intersection point where the field of view line of the center point of the upper side of the rearview mirror edge is extended to the ground;

[0055] Among them, the calculation formula for the left and right rotation angle along the Z axis is expressed as:

[0056] ;

[0057] In the formula, Indicates the left and right rotation angle along the Z axis, Indicates the X-direction distance between the rearview mirror field of view coverage area and the national standard field of view area. It indicates the distance between the vertical point on the ground at the right center point of the rearview mirror edge and the intersection point of the field of view line extended from the right center point of the rearview mirror edge to the ground.

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] 1. The present invention collects the driver's personalized physiological parameters and seat position information, and combines the pre-set most comfortable driving posture parameters and seat distance relationship model to calculate the seat position, steering wheel, and rearview mirror adjustment scheme suitable for each driver, which greatly improves the comfort during driving, reduces fatigue caused by long-term driving, and ensures that the driver has the best field of vision, including a clear combination instrument display, an unobstructed steering wheel field of vision, and a rearview mirror field of vision coverage that fully meets the national standard requirements, thereby effectively enhancing driving safety and driving controllability. In addition, the present invention also achieves a high degree of automated adjustment, reduces the time and difficulty of manual adjustment, and improves the convenience and intelligence level of the driving experience.

[0060] 2. The present invention not only focuses on the adjustment of the seat, but also realizes the all-round optimization of the driver's field of view by comprehensively considering the relationship between the steering wheel, the rearview mirror and the driver's eye position. By calculating the instrument cluster model, the steering wheel field of view and the rearview mirror field of view, and adaptively adjusting according to the difference between these field of view and the standard field of view, it ensures that the driver has a clear and unobstructed field of view during driving, thereby improving driving safety and driving controllability.

[0061] 3. The present invention realizes highly intelligent and automated adjustment. It automatically calculates the best adjustment plan for seats, steering wheels and rearview mirrors through the data collected by sensors and the pre-stored seat distance model. The driver only needs to perform simple operations or even no operations, and the system can automatically complete the adjustment, which greatly improves the convenience and intelligence level of the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a flow chart of a method for adaptively adjusting driving comfort of a commercial vehicle provided by an embodiment of the present invention;

[0063] Figure 2 is an axonometric schematic diagram of a steering wheel area in a cab provided by an embodiment of the present invention;

[0064] Figure 3 is an axonometric schematic diagram of the front area of ​​a cab provided by an embodiment of the present invention;

[0065] Figure 4is an axonometric diagram of a seat provided by an embodiment of the present invention;

[0066] Figure 5 is a schematic diagram of a driver's sitting posture provided by an embodiment of the present invention;

[0067] Figure 6 is a schematic diagram of a driver's field of view provided by an embodiment of the present invention;

[0068] Figure 7 is a schematic diagram of a driver observation instrument cluster provided by an embodiment of the present invention;

[0069] Figure 8 is a schematic diagram of a combination instrument model provided by an embodiment of the present invention;

[0070] Fig. 9 is a schematic diagram of knee angle and hip angle provided by an embodiment of the present invention;

[0071] Fig.10 is a schematic diagram of the steering wheel visual field calculation principle provided by an embodiment of the present invention;

[0072] Figure numerals: 1-cab; 2-rearview mirror; 3-seat; 4-steering wheel model; 5-seat belt; 6-cab floor; 7-pedal; 8-seat back; 9-seat base; 10-seat H point; 11-cab front wall; 12-door; 13-eye point; 14-seat belt buckle; 15-ankle angle; 16-knee angle; 17-hip angle; 18-elbow angle; 19-foot position point; 20-thigh and torso connection point; 21-pedal angle; 22-seat position and seat back angle; 23-instrument combination model; 24-field of vision. DETAILED DESCRIPTION

[0073] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0074] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0075] Example 1

[0076] like Figure 1 As shown, this embodiment introduces a method for adaptively adjusting driving comfort of a commercial vehicle, including:

[0077] Step 1: Obtain the driver's height, weight, elbow angle, knee height, eye point position 13 and seat position.

[0078] In some embodiments, the driver's height, weight, elbow angle 18, eye point position 13, knee height H20, seat position, rearview mirror rotation angle, and steering wheel position are acquired through sensors.

[0079] Figure 2 It is an axonometric schematic diagram of the steering wheel area of ​​a cab provided in an embodiment of the present invention, including a cab 1, a seat 3, a steering wheel model 4, a cab floor 6, a pedal 7 and a door 12.

[0080] Figure 3 It is a schematic axonometric diagram of the cab front area provided by an embodiment of the present invention, including a rearview mirror 2 and a cab front area 11.

[0081] Figure 4 It is a schematic diagram of an axonometric view of a seat provided in an embodiment of the present invention, including a seat belt 5, a seat back 8, a seat base 9, a seat H point 10 and a seat belt buckle 14.

[0082] Figure 5 It is a schematic diagram of a driver's sitting posture provided by an embodiment of the present invention, including an eye point position 13, an ankle angle 15, a knee angle 16, a hip angle 17, an elbow angle 18, a foot position point 19, and a thigh and torso connection point 20.

[0083] like Figure 2-Figure 5 As shown, in this embodiment, a first sensor is arranged on the pedal 7 for detecting the height of the driver; a second sensor and a third sensor are arranged on the seat base 9, and after the driver fastens the seat belt 5, the connection point 20 between the thigh and the torso coincides with the seat H point 10, which are respectively used to detect the driver's weight and seat position; a fourth sensor is arranged on the rearview mirror 2 for detecting the rotation angle of the rearview mirror; a fifth sensor is arranged on the steering wheel for detecting the steering wheel position, a sixth sensor and a seventh sensor are arranged on the cab floor 6 for detecting the driver's foot position and knee height, an eighth sensor is arranged in front of the vehicle for detecting the driver's eye point position 13, and a ninth sensor is arranged on the driver's arm for detecting the driver's elbow angle 18.

[0084] Step 2: Pre-store the parameters of the most comfortable driving posture and the seat distance relationship model.

[0085] In some embodiments, the parameters of the most comfortable driving posture include a seat reference point, a foot position point 19, an ankle angle 15, a pedal angle, a knee height H20, a reference knee angle, a reference hip angle, a reference elbow angle, a seat H-point trajectory, a seat back angle, a vehicle boundary, ground line information, a rearview mirror model, a steering wheel model 4 and an instrument cluster model 23.

[0086] In this embodiment, the most comfortable driving posture is obtained through competitive product analysis, simulation analysis or actual user evaluation and collection. When the seat 3 moves, the sensor arranged on the seat base 9 can collect the movement distance of the seat 3, and adjust the seat position in real time according to the adjustment amount in units of 10 mm until the knee angle 16 and the hip angle 17 are equal to or approximately equal to the preset comfort value within the allowable range.

[0087] In some embodiments, the seat distance relationship model includes an X-direction distance relationship model from the seat H point 10 to the foot position point 19 and a Z-direction distance relationship model from the seat H point 10 to the plane of the cab floor 6 .

[0088] In this embodiment, the seat distance relationship model is expressed as:

[0089] ;

[0090] In the formula, - They represent the X-direction distance from the H point of the seat to the foot position corresponding to the ag group of people, and H30 represents the Z-direction distance from the H point of the seat to the floor plane of the cab. - They respectively represent the height correction values ​​of group A and A people. K1-K7 correspond to the body mass index (BMI) of group A and A people. The height of group A people is over 1.9m, the height of group B people is between 1.85m and 1.9m, the height of group C people is between 1.75m and 1.85m, the height of group D people is between 1.7m and 1.75m, the height of group E people is between 1.65m and 1.7m, the height of group F people is between 1.6m and 1.65m, and the height of group G people is below 1.6m.

[0091] Step 3: Obtain an adapted seat distance according to the height and weight of the driver, the seat position, the seat H-point trajectory and the seat distance relationship model.

[0092] In some embodiments, when drivers of different heights take their seats, the adapted seat distance is obtained according to the height and weight of the driver, the seat position, the seat H-point trajectory and the seat distance relationship model, including:

[0093] The seat position is set to coincide with the seat H point 10 and the seat reference point as the seat position;

[0094] According to the height and weight of the driver and the trajectory of the seat H point, the Z-direction distance from the seat H point 10 to the plane of the cab floor 6 is obtained;

[0095] The Z-direction distance from the seat H point 10 to the plane of the cab floor 6 is input into the seat distance relationship model to obtain the X-direction distance from the seat H point 10 to the foot position point 19;

[0096] The Z-direction distance from the seat H point 10 to the plane of the cab floor 6 and the X-direction distance from the seat H point to the foot position point are used as the adapted seat distance.

[0097] Step 4: Calculate the theoretical knee angle and hip angle of the driver based on the adapted seat distance, ankle angle 15, pedal angle 21, knee height H20, Z-direction distance H30 from the seat H point to the cab floor plane, seat H point trajectory, seat position and seat back angle 22, and adjust the seat position based on the reference knee angle and reference hip angle.

[0098] In some embodiments, according to the adapted seat distance, ankle angle 15, pedal angle 21, knee height H20, Z-direction distance H30 from seat H point to the cab floor plane, seat H point trajectory, seat position and seat back angle 22, the driver's knee angle theoretical value and hip angle theoretical value are calculated, and the seat position is adjusted based on the reference knee angle and the reference hip angle, including:

[0099] like Fig. 9 As shown, within the preset time, repeat the following steps to adjust the seat position until the difference between the driver's theoretical knee angle and the reference knee angle, and the difference between the driver's theoretical hip angle and the reference hip angle are within the preset range:

[0100] According to the adapted seat distance, ankle angle value, pedal angle value, knee height, Z-direction distance from the seat H point to the cab floor plane, seat H point trajectory, seat position and seat back angle value, and theoretical calculation formulas of knee angle and hip angle, the theoretical knee angle value and hip angle value of the driver are obtained;

[0101] When the theoretical knee angle and the theoretical hip angle of the driver are less than the reference knee angle and the reference hip angle, the seat is adjusted to move backward and downward along the H-point trajectory of the seat;

[0102] When the theoretical knee angle and the theoretical hip angle of the driver are greater than the reference knee angle and the reference hip angle, the seat is adjusted to move forward and upward along the H-point trajectory of the seat;

[0103] Among them, the theoretical value calculation formula of the knee angle is expressed as:

[0104] ;

[0105] In the formula, represents the theoretical value of the knee angle, It represents the angle between the calf and the horizontal vertical plane passing through the connection point between the calf and the thigh. It represents the angle between the thigh and the horizontal vertical plane passing through the connection point between the calf and thigh. represents the ankle angle value, represents the pedal angle value, represents the inverse tangent function, represents the tangent function, Indicates the Z-direction distance from the seat H point to the cab floor plane, Indicates knee height;

[0106] Among them, the theoretical value calculation formula of hip angle is expressed as:

[0107] ;

[0108] ;

[0109] In the formula, represents the theoretical value of the hip angle, It represents the angle between the thigh and the horizontal vertical plane passing through the connection point between the thigh and the torso. Indicates the seat position and seat back angle values.

[0110] In this embodiment, "rear" is defined as a direction close to the driver, and "front" is defined as a direction away from the driver.

[0111] Step 5: Construct the steering wheel field of view according to the driver's eye position, steering wheel model and instrument cluster model.

[0112] In some embodiments, according to the instrument cluster model 23 , the instrument cluster model L1 zone is obtained;

[0113] like Fig.10 As shown, according to the driver's eye point position 13, the steering wheel model 4 and the combination instrument model 23, the steering wheel visual field area L2 is obtained, including:

[0114] In the plane where the combination instrument model 23 is located, along the steering wheel model boundary L3, a number of rays with uniform angles are made in sequence with the driver's eye point position 13 as the starting point to intersect with the plane where the combination instrument model 23 is located, and a number of intersection points of the rays and the plane where the combination instrument model 23 are located are connected to obtain the steering wheel field of view L2.

[0115] The height from the upper boundary of the steering wheel visual field L2 to the upper plane of the instrument cluster model 23 is expressed as:

[0116] ;

[0117] In the formula, Indicates the height from the upper boundary of the steering wheel field of view to the upper plane of the instrument cluster model. is the radius of the steering wheel model, is the distance between the intersection of the eye point position and the steering wheel model position along the visual line direction, is the distance between the intersection of the eye point position and the steering wheel model position and the intersection of the eye point position and the instrument cluster model along the visual line direction, is the width of the instrument cluster model, It is the correction value for the height category corresponding to the driver.

[0118] Step 6: According to the positional relationship between the steering wheel field of view and the instrument cluster model, adjust the steering wheel in the up and down directions, and according to the driver's elbow angle and the reference elbow angle, adjust the steering wheel in the front and rear directions.

[0119] Figure 7 It is a schematic diagram of a driver observing a combination instrument provided by an embodiment of the present invention.

[0120] Figure 8 It is a schematic diagram of a combination instrument model provided by an embodiment of the present invention.

[0121] like Figure 7 , Figure 8 As shown, in some embodiments, adjusting the steering wheel in the up and down direction according to the positional relationship between the steering wheel visual field L2 and the combination instrument model L1 includes:

[0122] When the steering wheel visual field L2 overlaps with the upper part of the instrument cluster model L1, the steering wheel is controlled to move upward to adaptively make the steering wheel visual field L2 completely cover the instrument cluster model;

[0123] When the steering wheel viewing area L2 overlaps with the lower part of the instrument cluster model L1, the steering wheel is controlled to move downward to adaptively make the steering wheel viewing area L2 completely cover the instrument cluster model L1.

[0124] In some embodiments, adjusting the steering wheel in the front-rear direction according to the driver's elbow angle and the reference elbow angle includes:

[0125] When the driver's elbow angle is larger than the reference elbow angle, the steering wheel is controlled to move backward, and the driver's elbow angle is adaptively adjusted to be consistent with the reference elbow angle;

[0126] When the driver's elbow angle is smaller than the reference elbow angle, the steering wheel is controlled to move forward to adaptively adjust the driver's elbow angle to be consistent with the reference elbow angle.

[0127] Step 7: Construct the national standard field of view based on the seat reference point and vehicle boundary, and construct the rearview mirror field of view based on the driver's eye point position, rearview mirror model and national standard field of view.

[0128] In some embodiments, the rearview mirror field of view is constructed according to the driver's eye point position, the rearview mirror model and the national standard field of view, including:

[0129] In the plane where the ground line is located, along the boundary of the rearview mirror model lens, with the driver's eye point position 13 as the starting point, several rays with uniform angles are sequentially drawn to intersect with the plane where the national standard field of view area is located, and several intersection points of the several rays and the plane where the national standard field of view area is located are connected to obtain the rearview mirror field of view area.

[0130] Step 8: Control the rotation of the rearview mirror according to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, so that the rearview mirror field of view area completely covers the national standard field of view area.

[0131] In some embodiments, the rearview mirror is controlled to rotate according to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, so that the rearview mirror field of view area completely covers the national standard field of view area, including:

[0132] According to the position relationship between the driver's eye point position, the rearview mirror model and the ground, the rearview mirror field of view coverage area relative to the ground is constructed;

[0133] According to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, the rearview mirror is controlled to rotate up and down along the Y axis / left and right along the Z axis, so that the rearview mirror field of view area can fully cover the national standard field of view area adaptively;

[0134] Among them, the calculation formula of the up and down rotation angle along the Y axis is expressed as:

[0135] ;

[0136] In the formula, Indicates the up and down rotation angle along the Y axis, Indicates the Y-direction distance between the rearview mirror field of view and the national standard field of view. The distance between the vertical point on the ground at the center point of the upper side of the rearview mirror edge and the intersection point of the field of view line extended from the center point of the upper side of the rearview mirror edge to the ground;

[0137] Among them, the calculation formula for the left and right rotation angle along the Z axis is expressed as:

[0138] ;

[0139] In the formula, Indicates the left and right rotation angle along the Z axis, Indicates the X-direction distance between the rearview mirror field of view coverage area and the national standard field of view area. The distance between the vertical point on the ground at the right center point of the rearview mirror edge and the intersection point of the field of view line extended from the right center point of the rearview mirror edge to the ground.

[0140] like Figure 6As shown, in this embodiment, according to the seat reference point and the vehicle boundary, the national standard field of view defg surrounded by points d, e, f and g is obtained, and in the plane where the ground line is located, along the boundary of the rearview mirror model lens, a number of rays with uniform angles are sequentially made starting from the driver's eye point position 13 to intersect with the plane where the national standard field of view is located, and a number of intersection points of the several rays and the plane where the national standard field of view is located are connected to obtain the rearview mirror field of view coverage area ABCDEF surrounded by points A, B, C, D, E and F.

[0141] Example 2

[0142] Based on the same inventive concept as other embodiments, this embodiment introduces a computer-readable storage medium on which computer instructions are stored, characterized in that the computer instructions implement the steps of the method of the above-mentioned embodiment 1 or 2 when executed by a processor.

[0143] Example 3

[0144] Based on the same inventive concept as other embodiments, this embodiment introduces that the present invention also provides a computer program product, including computer instructions, characterized in that when the computer instructions are executed by a processor, the steps of the method in the above-mentioned embodiment 1 or 2 are implemented.

[0145] In summary, the present invention collects the driver's personalized physiological parameters and seat position information, and combines the pre-set most comfortable driving posture parameters and seat distance relationship model to calculate the seat position, steering wheel, and rearview mirror adjustment scheme suitable for each driver, which greatly improves the comfort during driving, reduces fatigue caused by long-term driving, and ensures that the driver has the best field of view, including a clear combination instrument display, an unobstructed steering wheel field of view, and a rearview mirror field of view coverage that fully meets the national standard requirements, thereby effectively enhancing driving safety and driving controllability. In addition, the present invention also achieves a high degree of automated adjustment, reduces the time and difficulty of manual adjustment, and improves the convenience and intelligence level of the driving experience.

[0146] The present invention not only focuses on the adjustment of the seat, but also realizes the all-round optimization of the driver's field of view by comprehensively considering the relationship between the steering wheel, the rearview mirror and the driver's eye position. By calculating the combined instrument model, the steering wheel field of view and the rearview mirror field of view, and adaptively adjusting according to the differences between these fields of view and the standard field of view, it ensures that the driver has a clear and unobstructed field of view during driving, thereby improving driving safety and driving controllability.

[0147] The present invention realizes highly intelligent and automated adjustment, and automatically calculates the best adjustment plan for the seat, steering wheel and rearview mirror through the data collected by the sensor and the pre-stored seat distance model. The driver only needs to perform simple operations or even no operations, and the system can automatically complete the adjustment, which greatly improves the convenience and intelligence level of the driving experience.

[0148] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0149] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0150] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0151] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0152] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A method for adaptively adjusting driving comfort of a commercial vehicle, characterized in that: include: Obtain the driver's height, weight, elbow angle, knee height, eye point position and seat position; Pre-store the parameters of the most comfortable driving posture and the seat distance relationship model; The parameters of the most comfortable driving posture include seat reference point, foot position point, ankle angle, pedal angle, knee height, reference knee angle, reference hip angle, reference elbow angle, seat H point trajectory, seat back angle, vehicle boundary, ground line information, rearview mirror model, steering wheel model and instrument cluster model; The seat distance relationship model includes an X-direction distance relationship model from the seat H point to the foot position point and a Z-direction distance relationship model from the seat H point to the cab floor plane; According to the height and weight of the driver, the seat position, the seat H-point trajectory and the seat distance relationship model, the adapted seat distance is obtained; Calculate the driver's knee angle theoretical value and hip angle theoretical value according to the adapted seat distance, ankle angle, pedal angle, knee height, seat H-point trajectory, seat position and seat back angle, and adjust the seat position based on the reference knee angle and reference hip angle; According to the driver's eye position, steering wheel model and instrument cluster model, the steering wheel visual field is constructed; According to the positional relationship between the steering wheel visual field and the instrument cluster model, the steering wheel is adjusted in the up-down direction, and according to the driver's elbow angle and the reference elbow angle, the steering wheel is adjusted in the forward-backward direction; Construct the national standard vision area based on the seat reference point and vehicle boundaries; Construct the rearview mirror field of view according to the driver's eye position, rearview mirror model and national standard field of view; The rearview mirror is controlled to rotate according to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, so that the rearview mirror field of view area completely covers the national standard field of view area.

2. The commercial vehicle driving comfort adaptive adjustment method according to claim 1, characterized in that: The sensor can be used to obtain the driver's height, weight, elbow angle, foot position, eye position, knee height, seat position, rearview mirror rotation angle and steering wheel position.

3. The commercial vehicle driving comfort adaptive adjustment method according to claim 2, characterized in that: According to the height and weight of the driver, the seat position, the seat H-point trajectory and the seat distance relationship model, the adapted seat distance is obtained, including: Set the seat position so that the seat H point coincides with the seat reference point; According to the height and weight of the driver and the trajectory of the H point of the seat, the Z-direction distance from the H point of the seat to the floor plane of the cab is obtained; The Z-direction distance from the seat point H to the cab floor plane is input into the seat distance relationship model to obtain the X-direction distance from the seat point H to the foot position point; The Z-direction distance from the seat H point to the cab floor plane and the X-direction distance from the seat H point to the foot position point are used as the adapted seat distance.

4. The commercial vehicle driving comfort adaptive adjustment method according to claim 3, characterized in that: The seat distance relationship model is expressed as: ； In the formula, - They represent the X-direction distance from the H point of the seat to the foot position corresponding to the ag group of people, and H30 represents the Z-direction distance from the H point of the seat to the floor plane of the cab. - They respectively represent the height correction values ​​of group A and A people. K1-K7 correspond to the body mass index (BMI) of group A and A people. The height of group A people is over 1.9m, the height of group B people is between 1.85m and 1.9m, the height of group C people is between 1.75m and 1.85m, the height of group D people is between 1.7m and 1.75m, the height of group E people is between 1.65m and 1.7m, the height of group F people is between 1.6m and 1.65m, and the height of group G people is below 1.6m.

5. The commercial vehicle driving comfort adaptive adjustment method according to claim 1, characterized in that: According to the adapted seat distance, ankle angle, pedal angle, knee height, seat H-point trajectory, seat position and seat back angle, the theoretical knee angle and hip angle of the driver are calculated, and the seat position is adjusted based on the reference knee angle and reference hip angle, including: Repeat the following steps to adjust the seat position within a preset time until the difference between the driver's theoretical knee angle and the reference knee angle, and the difference between the driver's theoretical hip angle and the reference hip angle are within a preset range: According to the adapted seat distance, ankle angle value, pedal angle value, knee height, Z-direction distance from the seat H point to the cab floor plane, seat H point trajectory, seat position and seat back angle value, and theoretical calculation formulas of knee angle and hip angle, the theoretical knee angle value and hip angle value of the driver are obtained; When the theoretical knee angle and the theoretical hip angle of the driver are less than the reference knee angle and the reference hip angle, the seat is adjusted to move backward and downward along the H-point trajectory of the seat; When the theoretical knee angle and the theoretical hip angle of the driver are greater than the reference knee angle and the reference hip angle, the seat is adjusted to move forward and upward along the H-point trajectory of the seat; Among them, the theoretical value calculation formula of the knee angle is expressed as: ； In the formula, represents the theoretical value of the knee angle, It represents the angle between the calf and the horizontal vertical plane passing through the connection point between the calf and the thigh. It represents the angle between the thigh and the horizontal vertical plane passing through the connection point between the calf and thigh. represents the ankle angle value, represents the pedal angle value, represents the inverse tangent function, represents the tangent function, Indicates the Z-direction distance from the seat H point to the cab floor plane, Indicates knee height; Among them, the theoretical value calculation formula of hip angle is expressed as: ； ； In the formula, represents the theoretical value of the hip angle, It represents the angle between the thigh and the horizontal vertical plane passing through the connection point between the thigh and the torso. Indicates the seat position and seat back angle values.

6. The commercial vehicle driving comfort adaptive adjustment method according to claim 1, characterized in that: According to the driver's eye position, steering wheel model and instrument cluster model, the steering wheel field of view is constructed, including: On the plane where the instrument cluster model is located, along the boundary of the steering wheel model, a number of rays with uniform angles are drawn in sequence starting from the driver's eye point position to intersect with the plane where the instrument cluster model is located, and a number of intersection points of the rays and the plane where the instrument cluster model is located are connected to obtain the steering wheel field of view.

7. The commercial vehicle driving comfort adaptive adjustment method according to claim 1, characterized in that: According to the positional relationship between the steering wheel visual field and the instrument cluster model, the steering wheel is adjusted in the up and down directions, including: When the height H10 from the upper boundary of the steering wheel's visual field to the upper plane of the instrument cluster model is less than a reference value, the steering wheel is controlled to move upward, so that the steering wheel's visual field can adaptively cover the instrument cluster model completely; When the height H10 from the upper boundary of the steering wheel viewing area to the upper plane of the instrument cluster model is greater than a reference value, the steering wheel is controlled to move downward to adaptively make the steering wheel viewing area completely cover the instrument cluster model.

8. The commercial vehicle driving comfort adaptive adjustment method according to claim 1, characterized in that: According to the driver's elbow angle and the reference elbow angle, adjust the steering wheel in the front and rear directions, including: When the driver's elbow angle is larger than the reference elbow angle, the steering wheel is controlled to move backward, and the driver's elbow angle is adaptively adjusted to be consistent with the reference elbow angle; When the driver's elbow angle is smaller than the reference elbow angle, the steering wheel is controlled to move forward to adaptively adjust the driver's elbow angle to be consistent with the reference elbow angle.

9. The commercial vehicle driving comfort adaptive adjustment method according to claim 1, characterized in that: According to the driver's eye position, rearview mirror model and national standard field of view, the rearview mirror field of view is constructed, including: In the plane where the ground line is located, along the boundary of the rearview mirror model lens, with the driver's eye point as the starting point, several rays with uniform angles are drawn in sequence to intersect with the plane where the national standard field of view area is located, and several intersection points of several rays and the plane where the national standard field of view area is located are connected to obtain the field of view of the rearview mirror.

10. The commercial vehicle driving comfort adaptive adjustment method according to claim 1, characterized in that: According to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, the rearview mirror is controlled to rotate so that the rearview mirror field of view area completely covers the national standard field of view area, including: According to the position relationship between the driver's eye point position, the rearview mirror model and the ground, the rearview mirror field of view coverage area relative to the ground is constructed; According to the positional relationship between the rearview mirror field of view coverage area and the national standard field of view area, the rearview mirror is controlled to rotate up and down along the Y axis / left and right along the Z axis, so that the rearview mirror field of view area can fully cover the national standard field of view area adaptively; Among them, the calculation formula of the up and down rotation angle along the Y axis is expressed as: ； In the formula, Indicates the up and down rotation angle along the Y axis, Indicates the X-direction distance between the rearview mirror field of view coverage area and the national standard field of view area. It means the distance between the vertical point on the ground where the center point of the upper side of the rearview mirror edge is located and the intersection point where the field of view line of the center point of the upper side of the rearview mirror edge is extended to the ground; Among them, the calculation formula for the left and right rotation angle along the Z axis is expressed as: ； In the formula, Indicates the left and right rotation angle along the Z axis, Indicates the Y-direction distance between the rearview mirror field of view and the national standard field of view. It indicates the distance between the vertical point on the ground at the right center point of the rearview mirror edge and the intersection point of the field of view line extended from the right center point of the rearview mirror edge to the ground.

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