Vehicle control method and device and vehicle

Abstract

The invention provides a vehicle control method and device and a vehicle, and the method comprises the steps: obtaining the current environment illumination, and the user height and content image of a film watching user in the vehicle, and obtaining the suggested transmittance and seat adjustment data of a corresponding vehicle-mounted sky screen based on the matching of the current environment illumination and the user height; then the vehicle-mounted sky screen and the seat are correspondingly adjusted, and the content image is displayed through the vehicle-mounted sky screen, so that a proper sitting posture can be adjusted according to the physical condition of a user to improve the riding comfort of the user during film watching, proper transmittance is adjusted according to the current environmental condition, the definition of the image presented by the vehicle-mounted sky screen is better, and the user experience is improved. And the film watching experience of the user is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, device and vehicle. Background Technology

[0002] In-vehicle cinema mode has received widespread attention and development in recent years. Among related technologies, the display system of in-vehicle cinema mode relies on the central control screen, rear screen, light field screen, or laser projector.

[0003] However, the screen sizes of the central control screen and the rear screen are relatively small due to installation location limitations, which may result in an uncomfortable sitting posture for users when watching movies; the light field screen cannot support comfortable viewing posture due to limited viewing angle; the in-vehicle laser projection only supports viewing in the rear seats, and most rear seats do not have zero gravity seats, resulting in a poor comfortable viewing experience. Summary of the Invention

[0004] This application provides a vehicle control method, device, and vehicle to solve the technical problem of poor user viewing comfort in in-vehicle cinema mode in related technologies.

[0005] This application provides a vehicle control method, the method comprising: acquiring current ambient illuminance, the height of a user watching a movie inside the vehicle, and a content image; matching a suggested transmittance of the vehicle-mounted sunroof based on the current ambient illuminance; matching seat adjustment data of the user's seat based on the user's height; adjusting the current transmittance of the vehicle-mounted sunroof based on the suggested transmittance; adjusting the user's seat based on the seat adjustment data; and displaying the content image through the vehicle-mounted sunroof.

[0006] In one embodiment of this application, displaying the content image through the vehicle-mounted panoramic sunroof includes: acquiring the desired image visual angle, the aspect ratio of the content image, the intrinsic parameters of the image output device, the extrinsic parameters of the image output device, and the adjusted head image of the in-vehicle viewer; determining the eye position and gaze direction vector of the in-vehicle viewer based on the adjusted head image; determining an image transformation relationship based on the eye position, gaze direction vector, desired image visual angle, the aspect ratio of the content image, the intrinsic parameters of the image output device, and the extrinsic parameters of the image output device; performing a perspective transformation on the content image based on the image transformation relationship to obtain an image to be output; outputting the image to be output to the vehicle-mounted panoramic sunroof through an image output device, and displaying the image to be output through the vehicle-mounted panoramic sunroof.

[0007] In one embodiment of this application, determining the image conversion relationship based on the eye position, gaze direction vector, desired image visual angle, content image aspect ratio, image output device intrinsic parameters, and image output device extrinsic parameters includes: determining the distance between the in-vehicle viewer's eye and the projection surface of the vehicle-mounted roof based on the eye position and gaze direction vector, and determining the intersection point of the gaze line and the gaze projection surface of the projection surface; determining the image output device size based on the distance and desired image visual angle; determining the image output device width and image output device height based on the image output device size and content image aspect ratio; determining multiple three-dimensional corner point positions based on the image output device width, image output device height, intersection point position, and gaze direction vector; and determining the image conversion relationship based on all the three-dimensional corner point positions, image output device intrinsic parameters, and image output device extrinsic parameters.

[0008] In one embodiment of this application, determining the image transformation relationship based on all the three-dimensional corner point positions, image output device intrinsic parameters, and image output device extrinsic parameters includes: determining the projection coordinate system position based on the three-dimensional corner point positions and image output device extrinsic parameters; determining the pixel coordinate system position based on the projection coordinate system position and image output device intrinsic parameters; and determining the homography matrix based on the three-dimensional corner point positions and pixel coordinate system positions to obtain the image transformation relationship.

[0009] In one embodiment of this application, determining the positions of multiple three-dimensional corner points based on the width of the image output device, the height of the image output device, the intersection point position, and the viewing direction vector includes: determining a horizontal vector based on the viewing direction vector and the unit normal vector of the projection plane; determining a vertical vector based on the horizontal vector and the unit normal vector of the projection plane; and determining the positions of four three-dimensional corner points centered on the intersection point position based on the width of the image output device, the height of the image output device, the intersection point position, the horizontal vector, and the vertical vector.

[0010] In one embodiment of this application, obtaining the suggested transmittance of the vehicle-mounted sunroof based on the current ambient illuminance includes: acquiring the current time; determining a corresponding preset illuminance-transmittance correspondence based on the current time; determining the suggested transmittance based on the current ambient illuminance and the preset illuminance-transmittance correspondence, wherein the method for determining the preset illuminance-transmittance correspondence includes: acquiring an initial illuminance-transmittance correspondence, adjusting the ambient illuminance, adjusting the time, and the user-adjusted transmittance; determining an initial transmittance based on the adjusted ambient illuminance and the initial illuminance-transmittance correspondence; determining an updated transmittance based on the initial transmittance and the user-adjusted transmittance; updating the initial transmittance in the initial illuminance-transmittance correspondence to the updated transmittance, thereby obtaining the preset illuminance-transmittance correspondence corresponding to the adjustment time.

[0011] In one embodiment of this application, obtaining the height of a user watching a movie in a car includes: obtaining a user image of the user, a preset weighting coefficient, a facial proportion factor, and a shoulder proportion factor; determining the user's shoulder width, face length, and face width based on the user image; determining a first height based on the user's face length and face width; determining a second height based on the user's shoulder width; determining a third height based on the preset weighting coefficient, facial proportion factor, and first height; determining a fourth height based on the preset weighting coefficient, shoulder proportion factor, and second height; and determining the user's height based on the third and fourth heights.

[0012] This application embodiment also provides a vehicle control device, the vehicle control device comprising: an acquisition module, configured to acquire current ambient illuminance, the height of the in-vehicle viewer, and the content image; a suggested transmittance determination module, configured to obtain a suggested transmittance of the vehicle-mounted sunroof based on the current ambient illuminance; a seat adjustment data determination module, configured to obtain seat adjustment data of the in-vehicle viewer's seat based on the height of the in-vehicle viewer; an in-vehicle sunroof adjustment module, configured to adjust the current transmittance of the in-vehicle sunroof based on the suggested transmittance; a seat adjustment module, configured to adjust the seat of the in-vehicle viewer based on the seat adjustment data; and an image display control module, configured to control the in-vehicle sunroof to display the content image.

[0013] In one embodiment of this application, the vehicle control device further includes an output image adjustment module, a vehicle-mounted panoramic sunroof, and an image output device, wherein: the acquisition module is further configured to acquire the desired image visual angle, the aspect ratio of the content image, the intrinsic parameters of the image output device, the extrinsic parameters of the image output device, and the adjusted head image of the in-vehicle viewer; the output image adjustment module is configured to determine the eye position and gaze direction vector of the in-vehicle viewer based on the adjusted head image; determine an image transformation relationship based on the eye position, gaze direction vector, desired visual angle, aspect ratio of the content image, intrinsic parameters of the image output device, and extrinsic parameters of the image output device; perform perspective transformation on the content image based on the image transformation relationship to obtain an image to be output; output the image to be output to the vehicle-mounted panoramic sunroof through the image output device, and display the image to be output through the vehicle-mounted panoramic sunroof.

[0014] This application embodiment also provides a vehicle, the vehicle including an image acquisition device, a light sensor, a seat, a vehicle-mounted sunroof, a projection device, and a vehicle control module, wherein: the light sensor is used to acquire the current ambient illuminance; the image acquisition device is used to acquire a user image of a user watching a movie inside the vehicle; the vehicle control module is used to determine the user's height based on the user image, match a suggested transmittance of the vehicle-mounted sunroof based on the current ambient illuminance, match seat adjustment data of the user's seat based on the user's height, adjust the current transmittance of the vehicle-mounted sunroof based on the suggested transmittance, and adjust the seat adjustment data based on the user's height. The system adjusts the seat of the in-vehicle movie viewer; the image acquisition device is also used to acquire the head image of the in-vehicle movie viewer after adjustment; the vehicle control module is also used to determine the eye position and gaze direction vector of the in-vehicle movie viewer based on the adjusted head image; based on the eye position, gaze direction vector, desired visual angle, aspect ratio of the content image, projection device intrinsic parameters, and projection device extrinsic parameters, an image transformation relationship is determined; the content image is subjected to perspective transformation based on the image transformation relationship to obtain an output image; the projection device is used to output the output image to the vehicle-mounted panoramic screen; the vehicle-mounted panoramic screen is used to display the output image.

[0015] This application also provides an electronic device, including: a memory storing a computer program thereon; and a processor for executing the computer program in the memory to implement the steps of the method described in any of the above embodiments.

[0016] This invention also provides a computer-readable storage medium having a computer program stored thereon, the computer program being used to cause a computer to perform the method provided in any of the above embodiments.

[0017] The beneficial effects of this application are as follows: The vehicle control method, device, and vehicle proposed in this application are as follows: The method acquires the current ambient illuminance, the user's height, and the content image of the in-vehicle movie viewer. Based on the current ambient illuminance and the user's height, it obtains the corresponding suggested transmittance of the in-vehicle sunroof and seat adjustment data. Then, it adjusts the in-vehicle sunroof and seat accordingly and displays the content image through the in-vehicle sunroof. This allows for adjustment of the user's posture according to their physical condition, thereby improving the user's comfort while watching the movie. Adjusting the transmittance according to the current environmental conditions results in better image clarity from the in-vehicle sunroof, enhancing the user's movie-watching experience. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0019] In the attached diagram: Figure 1 A schematic diagram illustrating an example of implementing a car theater mode according to an embodiment of this application; Figure 2 This is a schematic diagram illustrating an application scenario of a vehicle control method provided in an embodiment of this application; Figure 3 A schematic flowchart of a vehicle control method provided in one embodiment of this application; Figure 4 A schematic flowchart of a user height prediction method provided in an embodiment of this application; Figure 5 A schematic diagram of an interface for adjusting transmittance provided in an embodiment of this application; Figure 6 A schematic diagram illustrating the initial illuminance-transmittance correspondence provided in an embodiment of this application; Figure 7 A schematic diagram illustrating the seating state of a user watching a movie inside a vehicle, as provided in an embodiment of this application; Figure 8 A schematic diagram illustrating a method for adjusting a content image according to an embodiment of this application; Figure 9 A specific schematic diagram of a vehicle control method provided in an embodiment of this application; Figure 10 A schematic diagram of a vehicle control device provided in an embodiment of this application; Figure 11 A schematic diagram of the structure of a vehicle provided in one embodiment of this application; Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0021] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0022] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0023] It should be noted that the collection and processing of data such as user images in this application must strictly comply with the requirements of relevant national laws and regulations in actual application, obtain the informed consent or separate consent of the personal information subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the personal information subject.

[0024] The in-vehicle cinema model has received widespread attention and development in recent years, evolving into a 5D viewing space that can be seen, moved, touched, heard, and smelled. Please see [link / reference]. Figure 1 , Figure 1 This is a schematic diagram illustrating an example of an in-vehicle cinema mode implementation provided in an embodiment of this application. Figure 1 As shown, 5D cinemas mainly include the following aspects: Display system (view): Equipped with a large central control screen, the screen has a high resolution and delicate display effect, providing a cinema-level visual experience, and offering modes such as 4K (4K resolution) and HDR (High Dynamic Range) for selection; Audio System (Listening): The high-end audio system equipped in the vehicle provides a surround sound effect, enhancing the movie-watching experience; Seat comfort (dynamic): Through multi-directional seat adjustment (seat vibration / movement), heating and ventilation functions, and even massage function in some high-end models, better comfort is provided for cinema mode to enhance the movie viewing experience; Connectivity and Content: The cinema mode supports multiple connection methods, including HDMI (High Definition Multimedia Interface), USB (Universal Serial Bus), Bluetooth, etc., and can connect to mobile phones; Supports tablets and other devices: The vehicle's built-in system also supports online streaming media playback, allowing users to directly access various streaming media platforms through the in-vehicle system; Privacy and sound insulation: The vehicle has made significant improvements in the sound insulation design of the windows and doors, reducing external noise interference and providing a quiet viewing environment; Air conditioning and fragrance (smell / touch): Air conditioning (air conditioning air) and fragrance provide a tactile and olfactory experience for movie watching; Ambient lighting (for viewing): Provides rhythmic light and shadow for in-car movie viewing, enhancing the viewing experience.

[0025] In related technologies, the display system for in-vehicle cinema mode relies on a central control screen, rear screens, light field screens, ceiling-mounted screens, or laser projectors. The central control screen and rear screens are limited in size due to installation location constraints and do not support comfortable viewing postures; light field screens, due to viewing angle limitations, also cannot support comfortable viewing postures; in-vehicle laser projectors only support rear-seat viewing, and most rear seats lack zero-gravity seats, resulting in a poor viewing experience.

[0026] To address the limitations of the aforementioned display systems, this embodiment provides a novel transparent vehicle-mounted canopy theater that combines electrochromic dome glass, a photonic transparent screen, and a projector, utilizing a multimodal algorithm to achieve adaptive projection angle and screen size. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic diagram illustrating an application scenario of a vehicle control method provided in an embodiment of this application. For example... Figure 2 As shown, taking a user sitting in the back seat of a car as an example, when the vehicle is parked and the user activates the in-car cinema function, the transmittance of the sunroof and the seat posture are adjusted according to the current ambient light and the user's height, allowing the user to view the content displayed on the sunroof in a more comfortable sitting position. By adjusting the transmittance of the sunroof, the user can both see the content clearly and feel the external light, reducing the feeling of confinement inside the car.

[0027] It should be noted that the above scenario is only an example of an application scenario provided by the embodiments of this application. The embodiments of this application do not limit the actual form of various devices, components, etc. included in the scenario. In the specific application of the solution, it can be set according to actual needs. Please see Figure 3 , Figure 3 A schematic flowchart of a vehicle control method provided in one embodiment of this application is shown below. Figure 3 As shown, the method includes the following steps: Step S310: Obtain the current ambient light level, the user's height, and the content image of the user watching the movie inside the car.

[0028] In one embodiment, the method further includes: in response to the user activating the cinema mode, obtaining the current gear of the vehicle; if the current gear is P gear, then activating the cinema mode and triggering step S310; if the current gear is not P gear, then prompting the user to adjust the vehicle gear to P gear, and prompting the user that the cinema mode activation failed.

[0029] Content images are the visual content waiting to be played, which can be videos, pictures, etc.

[0030] The current ambient illuminance can be obtained through the light sensor installed in the vehicle, or through other means known to those skilled in the art.

[0031] In one embodiment, the current ambient illuminance can be obtained by acquiring light data from the vehicle's light sensors and smoothing the data to obtain the current ambient illuminance. The smoothing process can be achieved by averaging the light intensity at multiple consecutive time points, which can reduce the impact of instantaneous fluctuations. For example, averaging the most recent 20-30 light data points can calculate a smoothed brightness value as the basis for adjustment, reducing the impact of frequent adjustments under different lighting conditions on the user experience. The above process can be implemented using a cockpit domain controller or similar device.

[0032] User height can be obtained by identifying in-vehicle movie viewers and obtaining the user height from pre-collected user information, or by obtaining the user height through voice interaction, or by other methods known to those skilled in the art.

[0033] As an example, the seating position for movie viewers inside the vehicle can be any seat; there are no restrictions here. When there are multiple movie viewers inside the vehicle, the seats can be adjusted to suit the individual height of each viewer.

[0034] If the user's height is unknown in advance, it can be obtained through image acquisition and prediction, allowing for a seamless acquisition of the user's height and reducing user discomfort. In one embodiment, obtaining the height of a user watching a movie in a car includes: acquiring a user image of the user, preset weighting coefficients, facial proportion factors, and shoulder proportion factors; determining the user's shoulder width, face length, and face width based on the user image; determining a first height based on the user's face length and face width; determining a second height based on the user's shoulder width; determining a third height based on the preset weighting coefficients, facial proportion factors, and the first height; determining a fourth height based on the preset weighting coefficients, shoulder proportion factors, and the second height; and determining the user's final height based on the third and fourth heights.

[0035] If the user image can capture both the user's head and the user's complete shoulder image, then the above method can be used to predict the user's height.

[0036] In another embodiment, if only a head image of the user watching a movie inside the car is captured, the user's height can be determined based on that head image. A mapping relationship between height and facial length, width, and other data is established using publicly available data, such as GBT-10000 data. The facial length and width are then determined from the head image, leading to the corresponding predicted height.

[0037] In one embodiment, the method further includes: if the confidence score of head detection obtained by object detection on the user image is less than a preset confidence threshold (e.g., 0.8), then the user image is discarded, and a new user image is acquired to determine the height. The object detection method can be implemented in a manner known to those skilled in the art.

[0038] In one embodiment, if the user's shoulder width cannot be determined based on the user image, the user's height is determined directly by the user's face length and face width.

[0039] In another embodiment, if the in-vehicle movie viewer is sitting in a side-facing position, the user's height can be determined based on shoulder width.

[0040] In one embodiment, models for determining height based on user facial data (face length and / or face width), models for determining height based on user facial data and shoulder width, and models for determining height based on shoulder width can be pre-trained. The training sample data for the above models can be trained using the GBT-10000 data mentioned above.

[0041] In one embodiment, if the user watching a movie inside the car in the user image is in a head-up posture, the height estimate may be too high. In this case, the head pitch angle can be calculated based on PnP (Perspective-n-Point) and the user's height can be corrected. As an example, the correction method is as follows: Formula (1), in, To correct the height, For the user's height, This refers to the head tilt angle.

[0042] Please see Figure 4 , Figure 4 A flowchart illustrating a user height prediction method provided in an embodiment of this application is shown below. Figure 4 As shown, taking a camera as the image acquisition device as an example, the method includes the following steps: Camera calibration. Obtain the camera's intrinsic parameters (focal length, principal point, and distortion coefficient, etc.) and extrinsic parameters (installation position and orientation). Pre-calibrate using a checkerboard calibration to establish a precise correspondence between the two-dimensional pixel coordinates in the camera image and the actual three-dimensional physical space inside the vehicle; (calibration error must be controlled within ±1%).

[0043] Head detection and 3D reconstruction. Head bounding boxes are detected using models such as the RetinaFace model, and 3D face models are fitted using techniques such as MediaPipe Face Mesh to directly output the 3D bounding box dimensions. Height proportion mapping: This includes the fusion of a head-to-body ratio model and a shoulder width auxiliary correction model to ensure the accuracy of the real-time height output by the vision system; The model is trained based on GBT-10000 data (the mapping relationship between height and face length, face width, shoulder width, etc.) to obtain head-body model, shoulder width and height model, etc.; other legitimate data sources can also be used as sample data to train the model to improve the accuracy of the height model output. As an example, assuming the camera can detect shoulder width, the height result can be corrected using shoulder width as an aid. The calculation method is as follows: Statistical relationship between shoulder width W and height H: Formula (2), in, The second tallest, For the user's shoulder width, 5 is an example of a shoulder proportion factor; those skilled in the art can set it as needed. These are preset parameters, which can be set as needed by those skilled in the art. As an example, the unit of the above parameters can be centimeters.

[0044] Fusing the results of two models reduces errors: Formula (3), in, For the user's height, For preset weighting coefficients, As the tallest, `khead` is the user's shoulder width, `khead` is the face proportion factor, `kshoulder` is the shoulder proportion factor, and `b` is a preset parameter.

[0045] Dynamic calibration optimization is performed using multi-frame filtering and attitude compensation, as follows: Multi-frame filtering: Acquire multiple frames of data with stable driver posture and simultaneously smooth the output using Kalman filtering or moving average; Attitude compensation: Detect head pitch angle (solved via PnP).

[0046] When looking up, the height estimate is too high and needs to be corrected according to the angle θ. For details, please refer to formula (1).

[0047] When sitting sideways, the shoulder width model is the primary model.

[0048] Error control and verification: Discard the data of the frame when the head detection confidence is <0.8, and switch to the pure head-to-body ratio model when the visibility of the shoulder width point is insufficient.

[0049] Step S320: Obtain the recommended transmittance of the vehicle-mounted sunroof based on the current ambient illuminance.

[0050] In one embodiment, the recommended transmittance of the vehicle-mounted panoramic sunroof is obtained based on the current ambient illuminance, including: Obtain the current time; determine the corresponding preset illuminance-transmittance correspondence based on the current time; determine the suggested transmittance based on the current ambient illuminance and the preset illuminance-transmittance correspondence. The method for determining the preset illuminance-transmittance correspondence includes: obtaining the initial illuminance-transmittance correspondence, adjusting the ambient illuminance, adjusting the time, and the user-adjusted transmittance; determining the initial transmittance based on the adjusted ambient illuminance and the initial illuminance-transmittance correspondence; determining the updated transmittance based on the initial transmittance and the user-adjusted transmittance; updating the initial transmittance in the initial illuminance-transmittance correspondence to the updated transmittance, thereby obtaining the preset illuminance-transmittance correspondence corresponding to the adjustment time.

[0051] It is understandable that the calculation of the suggested transmittance is not based on a fixed correspondence, but rather on a combination of the current moment and the user's historical preferences. An initial illuminance-transmittance correspondence is provided in the initial state. This can be pre-set by those skilled in the art. Considering that different users have their own preferences, the initial illuminance-transmittance correspondence can be adjusted accordingly by collecting data on user adjustments to the vehicle's panoramic sunroof (user adjustment of transmittance and the time of adjustment). Different times of day can be pre-divided into multiple time periods, such as early morning, daytime, evening, and nighttime, and the current moment can be assigned to the corresponding time period. Each time period can have a corresponding preset illuminance-transmittance correspondence. After adjusting the initial transmittance with the updated transmittance, the initial illuminance-transmittance correspondence also needs to be adaptively adjusted to ensure that the ambient illuminance for each interval corresponds to the transmittance for that interval. The adjustment method can be set by those skilled in the art as needed and will not be elaborated upon here.

[0052] Please refer to Table 1, which is an example of the mapping relationship between ambient brightness (illuminance) and electrochromic canopy transmittance (transmittance).

[0053] Table 1

[0054] As an example, a user interface could be provided to allow users to manually adjust the transmittance of an electrochromic canopy. See also... Figure 5 , Figure 5 This application provides a schematic diagram of an interface for adjusting transmittance according to an embodiment of the present application, as shown below. Figure 5 As shown, if the user selects automatic, the system will adjust according to the initial illuminance-transmittance relationship. The user can manually control the progress bar to adjust the transmittance.

[0055] Taking this process implemented through the cockpit domain controller as an example, the cockpit domain controller can dynamically optimize the relationship between ambient light intensity and canopy transmittance, making the system more personalized and intelligent. Specifically, the calibration relationship can be optimized through the following steps: Data collection and preparation. Record ambient illuminance, user-manually adjusted canopy transmittance settings (adjusting ambient illuminance), and timestamps (adjustment times). Modeling the relationship between ambient illuminance and user transmittance settings, see [link / reference]. Figure 6 , Figure 6 A schematic diagram illustrating the initial illuminance-transmittance correspondence provided in an embodiment of this application is shown below. Figure 6As shown, the relationship between initial ambient illuminance (light sensitivity) and transmittance (canopy transmittance) is as follows: (1-10) lux has a default transmittance of 4%; (11-50) lux has a default transmittance of 3%; (51-100) lux has a default transmittance of 2%; (101-150) lux has a default transmittance of 1%; and >151 lux has a default transmittance of 0%.

[0056] Adjust transmittance within an ambient illuminance range based on user settings: Record the adjustment amount each time the user manually adjusts the brightness. If the user adjusts the transmittance under a certain ambient illuminance (e.g., increasing the transmittance in a low ambient light range), the default brightness setting for that ambient illuminance range is adjusted by analyzing this behavior; Cumulative adjustment rule: Update the transmittance setting of each bucket based on user adjustment behavior within each ambient illuminance range (bucket). For example, if most users increase the transmittance at an ambient illuminance of 300 Lux, then increase the default transmittance for that range and update the brightness within the bucket using a weighted average. = * +(1 )*L Formula (4), in, It's the updated transmittance. It is the initial transmittance, L It is a user-adjustable transmittance. It is a smoothing factor, which, as an example, can take values ​​from 0.1 to 0.3.

[0057] Time series learning: Utilizing timestamp information, the system analyzes users' transmittance preferences at different times. For example, at night, users may prefer high transmittance, and the system can gradually adjust the transmittance in low ambient light zones at night based on this trend. Each time the transmittance is adjusted, ambient brightness and user settings are recorded to form a training dataset. This data is used to incrementally learn the model, further optimizing the brightness settings for each range. The cockpit domain controller can retrain the model periodically (e.g., weekly or monthly) to ensure it remains consistent with user preferences.

[0058] Step S330: Obtain seat adjustment data for the in-vehicle movie-watching user based on the user's height.

[0059] The comfortable seating angle for panoramic movie viewing can be pre-calibrated, that is, a mapping relationship can be established between the knee angle / backrest angle for comfortable panoramic movie viewing and the height of the person, and the seat adjustment data can be determined based on this mapping relationship.

[0060] When there are multiple movie viewers in the car, if the seats support electric adjustment by the cabin domain controller, the seat adjustment data for each movie viewer in the car will be determined separately.

[0061] Please see Figure 7 , Figure 7 A schematic diagram illustrating the seating position of a user watching a movie in a vehicle, as provided in an embodiment of this application, is shown below. Figure 7 As shown, 1 represents the knee angle, and 2 represents the backrest angle. This is just one example; seat adjustment data can also include adjustments to features such as the leg rest and seat cushion angle.

[0062] Step S340: Adjust the current transmittance of the vehicle sunroof based on the recommended transmittance.

[0063] As an example, taking an electroluminescent roof as an example, the transmittance of the roof can be controlled by adjusting the voltage of the electroluminescent roof glass, so as to ensure the viewing effect of the cinema mode under different ambient light conditions.

[0064] Those skilled in the art can also adjust the transmittance of the vehicle-mounted sunroof through other known methods.

[0065] Please refer to Table 2, which is an example of the mapping relationship between ambient brightness and transmittance, as well as the mapping relationship between transmittance and voltage of the electrochromic canopy.

[0066] Table 2

[0067] Step S350: Adjust the seats of the movie-watching users in the car based on the seat adjustment data.

[0068] For example, the cockpit domain controller uses the height result (user height) output by the visual recognition algorithm, combined with a mapping table between the knee angle / backrest angle for comfortable panoramic viewing and the height, to complete the adaptive adjustment of the panoramic viewing comfort seat. The adaptive seat adjustment must ensure that the distance D from the user's eyes to the panoramic projection is greater than the preset comfort distance, where, as an example, the preset comfort distance is 0.4m.

[0069] Step S360: Display content images through the vehicle's panoramic sunroof.

[0070] It should be noted that the identification of the above steps is not a limitation on their execution order. Those skilled in the art can adjust the execution order as needed, and perform certain steps in parallel or in reverse order.

[0071] In one embodiment, displaying content images via a vehicle-mounted panoramic sunroof includes: acquiring the desired image visual angle, the content image aspect ratio, the image output device intrinsic parameters, the image output device extrinsic parameters, and the adjusted head image of the in-vehicle viewer; determining the in-vehicle viewer's eye position and gaze direction vector based on the adjusted head image; determining an image transformation relationship based on the eye position, gaze direction vector, desired image visual angle, content image aspect ratio, image output device intrinsic parameters, and image output device extrinsic parameters; performing perspective transformation on the content image based on the image transformation relationship to obtain the image to be output; and outputting the image to be output to the vehicle-mounted panoramic sunroof via an image output device, and displaying the image to be output on the vehicle-mounted panoramic sunroof.

[0072] If there are at least two users watching a movie inside the vehicle, either one can be selected as the target user, and only the adjusted head image of the target user will be collected subsequently. The target user can be determined based on a preset priority of vehicle seats, through voice interaction with the user to determine which seat is the target user, or through other methods known to those skilled in the art.

[0073] The desired image viewing angle can be set by those skilled in the art as needed, or it can be determined based on the needs of in-vehicle viewers. As an example, the desired image viewing angle range (target comfortable viewing angle) is 20°-30°.

[0074] The aspect ratio of the content images can be a value defined by those skilled in the art, such as 16:9, or a value selected by the in-vehicle viewing user.

[0075] The intrinsic parameters of an image output device are an intrinsic parameter matrix, which includes optical parameters such as focal length and principal point (offset of the origin in the pixel coordinate system), similar to the intrinsic parameters of a camera. The extrinsic parameters of an image output device include things like mounting location and mounting orientation.

[0076] The head image of the in-car movie viewer after adjustment can be obtained by re-capturing the image of the in-car movie viewer after the seat adjustment is completed.

[0077] As an example, when determining the image conversion relationship, the image acquisition device needs to be calibrated in advance. The checkerboard calibration can be used to establish a precise correspondence between the two-dimensional pixel coordinates and the real three-dimensional physical space inside the vehicle; (the calibration error needs to be controlled within ±1%).

[0078] The eye position can be taken as a reference point, such as the center of the cornea. The gaze direction vector is determined based on the direction of human eye gaze. It can be determined by an eye-tracking algorithm based on optical flow or corneal reflection tracking technology based on infrared reflection. The methods for determining the eye position and gaze direction vector can also be implemented in ways known to those skilled in the art, and will not be elaborated here.

[0079] When displaying content images, directly projecting them onto a fixed projection position may result in a poor viewing angle and a poor user experience. Therefore, based on pre-set user-preferred comfortable viewing angles and aspect ratios, combined with the image output device's intrinsic and extrinsic parameters, the content image can be adaptively adjusted according to the in-vehicle viewer's line of sight and eye position. This makes viewing the content more comfortable and achieves a personalized image display effect.

[0080] Following the above embodiments, the image transformation relationship is determined based on eye position, gaze direction vector, desired image visual angle, content image aspect ratio, image output device intrinsic parameters, and image output device extrinsic parameters. This includes: determining the distance between the in-vehicle viewer's eye and the projection surface of the vehicle's roof based on the eye position and gaze direction vector, and determining the intersection point of the eye's gaze and the projection surface; determining the image output device size based on the distance and desired image visual angle; determining the image output device width and height based on the image output device size and content image aspect ratio; determining multiple three-dimensional corner point positions based on the image output device width, image output device height, intersection point position, and gaze direction vector; and determining the image transformation relationship based on all three-dimensional corner point positions, image output device intrinsic parameters, and image output device extrinsic parameters.

[0081] The number of three-dimensional corner points can be four. Taking a planar projection as an example, the three-dimensional corner points can be the positions of the four vertices corresponding to the projected image.

[0082] The above method can be used to determine the transformation relationship between the world coordinate system under the cockpit and the projection coordinate system of the image output device, so as to facilitate subsequent image adjustment of the content image.

[0083] Following the above embodiments, the image transformation relationship is determined based on all three-dimensional corner point positions, image output device intrinsic parameters, and image output device extrinsic parameters, including: determining the projection coordinate system position based on the three-dimensional corner point positions and image output device extrinsic parameters; determining the pixel coordinate system position based on the projection coordinate system position and image output device intrinsic parameters; and determining the homography matrix based on the three-dimensional corner point positions and pixel coordinate system positions to obtain the image transformation relationship.

[0084] After obtaining the three-dimensional corner positions in the world coordinate system, it is necessary to determine the transformation relationship between them and the projection coordinate system. At this time, the position of the corresponding projection coordinate system can be determined based on the extrinsic parameters of the image output device, and then the association with the pixel coordinate system can be realized based on the intrinsic parameters of the image output device. This realizes the determination of the transformation relationship between the world coordinate system under the cockpit, the projection coordinate system of the projection surface where the canopy is located, and the pixel coordinate system (image coordinate system) of the content image, so as to realize subsequent image transformation.

[0085] Following the above embodiments, multiple three-dimensional corner point positions are determined based on the image output device width, image output device height, intersection position, and viewing direction vector, including: determining a horizontal vector based on the viewing direction vector and the unit normal vector of the projection plane; determining a vertical vector based on the horizontal vector and the unit normal vector of the projection plane; and determining four three-dimensional corner point positions centered on the intersection position based on the image output device width, image output device height, intersection position, horizontal vector, and vertical vector.

[0086] The above method can determine the location of the comfortable viewing area for in-vehicle movie viewers in their current sitting posture. Subsequently, the content image is projected onto the projection area corresponding to the four three-dimensional corner points, which can ensure that the user can watch the playback in a comfortable sitting posture without having to tilt or turn their head, thus helping to further improve the user's movie viewing experience.

[0087] Please see Figure 8 , Figure 8 A schematic diagram illustrating a content image adjustment method provided in an embodiment of this application, as shown below. Figure 8 As shown, taking the process implemented through the cockpit domain controller, with a camera as the image acquisition device and a projector as the image output device as an example, after the adaptive seat adjustment is completed, the projector screen size and angle are adaptively adjusted according to the following flowchart. The specific steps are as follows: In-vehicle camera calibration: Obtain the camera's intrinsic parameters (focal length, principal point, and distortion coefficient, etc.) and extrinsic parameters (installation position and orientation), and pre-calibrate using a checkerboard calibration to establish a precise correspondence between the two-dimensional pixel coordinates in the camera image and the actual three-dimensional physical space inside the vehicle; (calibration error must be controlled within ±1%).

[0088] 3D pose estimation for moviegoers (in-car movie viewers): The head bounding box is detected by the RetinaFace model, and the 3D bounding box size is directly output by fitting the 3D face model using MediaPipe Face Mesh. Head localization and gaze tracking: Head pose is output using 2D-3D facial landmarks and OpenCV, while 3D gaze vectors are output using a lightweight CNN. (Line of sight vector). This allows us to calculate the distance D from the eye to the projection surface of the canopy and the intersection point P of the line of sight and the projection surface. The calculation method is as follows: Distance D from the eye to the projection surface of the dome: Formula (5), Where D is the distance between the eyes of the in-vehicle movie viewer and the projection surface of the in-vehicle panoramic sunroof. For the eye position of users watching movies in the car, Let be any known point on the projection surface of the vehicle-mounted sunroof. is the normal vector of the projection plane.

[0089] The intersection point P of the line of sight and the projection plane (the position where the line of sight of the eye intersects the projection plane): Formula (6), Formula (7), Where P is the position of the intersection of the eye's line of sight and the projection plane of the projection plane. For the eye position of users watching movies in the car, Let be the normal vector of the projection plane. Let t be the line-of-sight vector, and t be a real scalar representing the direction of the line of sight starting from eye position E. The proportion of the directed distance to the intersection point P with the projection plane. For the eye position vector of the user watching a movie in the car, Let be any known point vector on the projection surface of the vehicle-mounted roof.

[0090] Projection area calculation: Based on the target's comfortable viewing angle (20°-30°), calculate the physical dimensions of the projection area to ensure that the projection visually meets the target's comfortable viewing angle. The calculation method is as follows: Formula (8), in, For image output device size, For the desired image visual angle, For distance.

[0091] Image geometric transformation: Based on the intersection point P on the projection plane output by the above algorithm, construct the three-dimensional coordinates of the four corners of the target rectangle according to the projection size S and the projection plane direction.

[0092] Calculate the physical width and height W and H from the area S (image output device size) (taking a content image aspect ratio of 16:9 as an example).

[0093] Formula (9), Formula (10), in, Width of the image output device. For image output device size, r is the height of the image output device, and r is the aspect ratio of the content image.

[0094] Define local bases on the projection plane (i.e., determine the orientation of the rectangles): Given the unit normal vector n of the projection plane and its intersection point P, let the unit vector of the occupant's line of sight be... To direct the camera towards the occupants, you can... Projected onto the horizontal and vertical axes: Formula (11), Formula (12), in, It is a horizontal vector. It is a vertical vector. The line-of-sight vector. The normal vector of the projection plane (i.e., the aforementioned) ).

[0095] so{ } is an orthogonal basis in the plane, and Along the "direction of the projection of the line of sight onto the plane".

[0096] Construct four three-dimensional corner points with P as the center: Formula (13), in, , , , Here are the positions of the four 3D corner points, and P is the intersection point. It is a horizontal vector. It is a vertical vector. Width of the image output device. This refers to the height of the image output device.

[0097] As an example, the order of the four 3D corner points needs to be consistent with the four corners of the source image. For example, the vertices of the source image are: top left - top right - bottom right - bottom left.

[0098] The process of projecting four 3D corner points from the world coordinate system onto the projector's pixel coordinate system essentially treats the "projector" as a "camera," using the camera's intrinsic and extrinsic parameters to complete the mapping from 3D to 2D pixels. The steps are as follows: Transforming a 3D point from the "world coordinate system" to the "projected coordinate system": Formula (14), in, Three-dimensional corner points in the world coordinate system (coordinate form is a three-dimensional vector); The extrinsic rotation matrix of the projector describes the rotation relationship from the world coordinate system to the projector coordinate system; The extrinsic translation vector of the projector describes the translation relationship from the world coordinate system to the projector coordinate system; The coordinates of the 3D points in the projector coordinate system after transformation are as follows: , , ).

[0099] This allows three-dimensional points to be projected from the "projector (projector) coordinate system" to the "pixel coordinate system".

[0100] Formula (15), in,( The final two-dimensional coordinates in the projector pixel coordinate system (i.e., the position of the corner point on the projector pixel) are given. The symbol "" indicates "proportional equivalence" because the left side is homogeneous coordinates, and the right side, after transformation by the intrinsic parameter matrix, is also in homogeneous form. In actual calculations, perspective division (dividing by) is required. The final pixel coordinates are obtained by linear transformation of the intrinsic parameter matrix and the intrinsic parameter matrix. This is the intrinsic parameter matrix of the projector, which includes optical parameters such as focal length and principal point (offset of the origin of the pixel coordinate system), similar to the intrinsic parameters of a camera.

[0101] Projector control: Given the intrinsic and extrinsic parameters of the projector, project the three-dimensional corner points onto the projector pixel plane to obtain four pixels.

[0102] Adaptive projection output: Calculate the 3×3 homography matrix H (image transformation relationship) using the above four pairs of points, and perform perspective transformation on the content image to correctly project the content image onto the celestial screen.

[0103] The vehicle control method provided in the above embodiments acquires the current ambient illuminance, the user's height, and the content image. Based on the current ambient illuminance and the user's height, it obtains the corresponding suggested transmittance of the vehicle-mounted sunroof and seat adjustment data. Then, it adjusts the vehicle-mounted sunroof and seat accordingly, and displays the content image through the vehicle-mounted sunroof. This allows for adjusting a suitable sitting posture according to the user's physical condition, thereby improving the user's comfort while watching the movie. Adjusting the transmittance according to the current environmental conditions results in better image clarity from the vehicle-mounted sunroof, enhancing the user's movie-watching experience.

[0104] Considering the poor outdoor viewing experience of transparent displays, this application embodiment uses the cockpit domain controller to adaptively adjust the transmittance of the electrochromic panoramic glass through the vehicle's light sensor to meet the indoor and outdoor requirements of the above display system. Based on in-vehicle camera visual recognition technology and algorithms, the height of the target viewer is estimated in real time through facial and shoulder features. The seat height and fore-aft adjustment in the movie-watching mode are adaptively adjusted according to the height model and the seat position after vehicle calibration. Based on in-vehicle camera visual recognition technology and algorithms, the orientation vector of the eyeball is identified. Then, according to the normalized gaze vector (gaze direction vector), the corneal center position (eye position), and the canopy geometry model, the distance from the eye to the canopy and the intersection point are calculated. Finally, the physical size and angle of the projection are calculated based on the target comfort angle (desired image visual angle).

[0105] In one embodiment, the vehicle-mounted panoramic sunroof utilizes a photonic transparent film material. This sunroof, combined with a projection system, creates a large-size display system. The photonic transparent film is also incorporated within the electrochromic sunroof, achieving a transparent display effect. A pre-defined curve (preset illuminance-transmittance relationship) is used to optimize the ambient light and the transmittance of the electrochromic sunroof, ensuring an excellent viewing experience both indoors and outdoors. Visual algorithms (based on user height and image transformation relationships determined from collected user images) enable adaptive adjustment of the seat and the projection screen size and angle for comfortable viewing. This display system, combined with a vehicle audio system, zero-gravity seats, air conditioning, fragrance, and ambient lighting, provides the vehicle with a large-size, transparent 5D cinema experience that satisfies both indoor and outdoor viewing needs.

[0106] Please see Figure 9 , Figure 9 A specific schematic diagram of a vehicle control method provided in an embodiment of this application is shown below. Figure 9As shown, after startup, when the user needs to activate the cinema mode, it checks if the vehicle is in Park (P) gear. If not, it reports a failure to activate cinema mode. If in Park (Yes), it reports a successful activation of cinema mode. Firstly, the cockpit domain controller is triggered to adaptively adjust the seat angle for comfortable viewing based on a visual algorithm. Secondly, the cockpit domain controller acquires data from the vehicle's light sensors and adaptively adjusts the sunroof transmittance. In the first aspect, it checks if the user has manually adjusted the seat's fore-aft position or backrest angle. If so, it records and learns the user's personalized viewing seat fore-aft position and backrest angle, then executes the screen projection size adjustment step. If not, it executes the screen projection size adjustment step, and the cockpit domain controller adaptively adjusts the projection size and angle based on a visual algorithm. It checks if the user has manually adjusted the projection size or angle. If so, it records and learns the user's personalized viewing size and angle. If not, the adaptive adjustment of projection size and angle ends. In the second aspect, it checks if the user has manually adjusted the transmittance. If so, it records and learns the user's personalized light brightness (ambient illuminance) and sunroof transmittance data. If not, the transmittance adaptive adjustment ends.

[0107] In one embodiment, a vehicle control device is provided for executing the vehicle control method provided in any of the above embodiments. See also... Figure 10 , Figure 10 A schematic diagram of a vehicle control device provided in an embodiment of this application is shown below. Figure 10 As shown, the vehicle control device 1000 includes an acquisition module 1010 for acquiring the current ambient illuminance, the height of the in-vehicle viewer, and the content image; a suggested transmittance determination module 1020 for matching the suggested transmittance of the vehicle-mounted sunroof based on the current ambient illuminance; a seat adjustment data determination module 1030 for matching the seat adjustment data of the in-vehicle viewer based on the height of the in-vehicle viewer; an in-vehicle sunroof adjustment module 1040 for adjusting the current transmittance of the in-vehicle sunroof based on the suggested transmittance; a seat adjustment module 1050 for adjusting the seat of the in-vehicle viewer based on the seat adjustment data; and an image display control module 1060 for controlling the display of the content image on the in-vehicle sunroof.

[0108] In one embodiment, the vehicle control device further includes an output image adjustment module, a vehicle-mounted panoramic sunroof, and an image output device, wherein: the acquisition module is further configured to acquire the desired image visual angle, the aspect ratio of the content image, the intrinsic parameters of the image output device, the extrinsic parameters of the image output device, and the adjusted head image of the in-vehicle viewer; the output image adjustment module is configured to determine the eye position and gaze direction vector of the in-vehicle viewer based on the adjusted head image; determine the image transformation relationship based on the eye position, gaze direction vector, desired visual angle, aspect ratio of the content image, intrinsic parameters of the image output device, and extrinsic parameters of the image output device; perform perspective transformation on the content image based on the image transformation relationship to obtain the image to be output; and output the image to be output to the vehicle-mounted panoramic sunroof through the image output device, and display the image to be output through the vehicle-mounted panoramic sunroof.

[0109] For specific limitations regarding the vehicle control device, please refer to the limitations on the vehicle control method above, which will not be repeated here. Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the electronic device, or stored in software in the memory of the electronic device, so that the processor can call and execute the operations corresponding to each module.

[0110] In this embodiment, the vehicle control device is essentially equipped with multiple modules to execute the vehicle control method in any of the above embodiments. The specific functions and technical effects can be referred to in the above embodiments, and will not be repeated here.

[0111] In one embodiment, a vehicle is provided for performing the vehicle control method provided in any of the above embodiments. See also... Figure 11 , Figure 11 A structural schematic diagram of a vehicle provided in one embodiment of this application, as shown below. Figure 11As shown, the vehicle 1100 includes an image acquisition device 1110, a light sensor 1120, a seat 1130, a vehicle-mounted panoramic sunroof 1140, a projection device 1150, and a vehicle control module 1160. Specifically: the light sensor 1110 is used to acquire the current ambient illuminance; the image acquisition device 1120 is used to acquire user images of the users watching movies inside the vehicle; the vehicle control module 1160 is used to determine the user's height based on the user image, match the recommended transmittance of the vehicle-mounted panoramic sunroof based on the current ambient illuminance, match the seat adjustment data of the user's seat 1130 based on the user's height, and adjust the current transmittance of the vehicle-mounted panoramic sunroof 1140 based on the recommended transmittance. The system adjusts the seat 1130 of the in-vehicle movie viewer based on seat adjustment data; the image acquisition device 1110 is also used to acquire the head image of the in-vehicle movie viewer after adjustment; the vehicle control module 1160 is also used to determine the eye position and gaze direction vector of the in-vehicle movie viewer based on the head image after adjustment; the image transformation relationship is determined based on the eye position, gaze direction vector, desired visual angle, aspect ratio of the content image, projection device intrinsic parameters, and projection device extrinsic parameters; the content image is transformed by perspective based on the image transformation relationship to obtain the image to be output; the projection device 1150 is used to output the image to be output to the vehicle-mounted panoramic screen 1140; the vehicle-mounted panoramic screen 1140 is used to display the image to be output.

[0112] Specific limitations regarding the vehicle can be found in the vehicle control method section above, and will not be repeated here. The various modules within the vehicle can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware within or independently of the processor in the electronic device, or stored in software within the memory of the electronic device, so that the processor can call and execute the corresponding operations of each module.

[0113] In this embodiment, the vehicle is essentially equipped with multiple modules to execute the vehicle-side execution method in any of the above embodiments of the vehicle control method. The specific functions and technical effects can be referred to in the above embodiments, and will not be repeated here.

[0114] See Figure 12 , Figure 12 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown below. Figure 12 As shown, this embodiment of the invention also provides an electronic device 1200, including a processor 1201, a memory 1202, and a communication bus 1203; the communication bus 1203 is used to connect the processor 1201 and the memory 1202; the processor 1201 is used to execute a computer program stored in the memory 1202 to implement the method described in any of the above embodiments.

[0115] This invention also provides a computer-readable storage medium having a computer program stored thereon, the computer program being used to cause a computer to perform the method provided in any of the above embodiments.

[0116] This application also provides a non-volatile readable storage medium storing one or more modules (programs) that, when applied to a device, enable the device to execute the instructions included in the steps provided in this application.

[0117] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0118] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0119] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0120] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0122] It should be understood that the terms "first," "second," etc., used in this application are used to distinguish similar objects and do not necessarily indicate a specific order or sequence. The technical features to which these terms are used can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text.

[0123] It should be understood that although the flowcharts provided in the embodiments of this application indicate the various steps with arrows, the order indicated by the arrows does not necessarily limit the implementation order of these steps. Those skilled in the art can perform these steps in other orders according to different implementation scenarios and requirements.

[0124] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A vehicle control method characterized by, The method comprises: obtaining current ambient illumination, user height of an in-vehicle viewing user, and a content image; matching a recommended transmittance of a vehicle-mounted sky screen according to the current ambient illumination; matching seat adjustment data of a seat of the in-vehicle viewing user according to the user height of the in-vehicle viewing user; adjusting a current transmittance of the vehicle-mounted sky screen based on the recommended transmittance; adjusting the seat of the in-vehicle viewing user based on the seat adjustment data; displaying the content image through the vehicle-mounted sky screen.

2. The vehicle control method according to claim 1, characterized by, The displaying of the content image through the vehicle-mounted sky screen comprises: obtaining a desired image visual angle, an aspect ratio of a content image, an image output device internal parameter, an image output device external parameter, and an adjusted head image of the in-vehicle viewing user; determining an eye position and a line-of-sight direction vector of the in-vehicle viewing user according to the adjusted head image; determining an image conversion relationship based on the eye position, the line-of-sight direction vector, the desired image visual angle, the aspect ratio of the content image, the image output device internal parameter, and the image output device external parameter; perspectively transforming the content image based on the image conversion relationship to obtain a to-be-output image; outputting the to-be-output image to the vehicle-mounted sky screen through an image output device, and displaying the to-be-output image through the vehicle-mounted sky screen.

3. The vehicle control method according to claim 2, characterized by, The determining of the image conversion relationship based on the eye position, the line-of-sight direction vector, the desired image visual angle, the aspect ratio of the content image, the image output device internal parameter, and the image output device external parameter comprises: determining a distance between an eye and a projection plane of the vehicle-mounted sky screen of the in-vehicle viewing user, and determining an intersection position of a line of sight of the eye and a line-of-sight projection plane of the projection plane according to the eye position and the line-of-sight direction vector; determining an image output device size according to the distance and the desired image visual angle; determining an image output device width and an image output device height according to the image output device size and the aspect ratio of the content image; determining a plurality of three-dimensional corner point positions based on the image output device width, the image output device height, the intersection position, and the line-of-sight direction vector; determining the image conversion relationship based on all the three-dimensional corner point positions, the image output device internal parameter, and the image output device external parameter.

4. The vehicle control method according to claim 3, characterized by, The determining of the image conversion relationship based on all the three-dimensional corner point positions, the image output device internal parameter, and the image output device external parameter comprises: determining a projection coordinate system position according to the three-dimensional corner point positions and the image output device external parameter; determining a pixel coordinate system position according to the projection coordinate system position and the image output device internal parameter; determining a homography matrix based on the three-dimensional corner point positions and the pixel coordinate system position to obtain the image conversion relationship.

5. The vehicle control method according to claim 3, characterized by, The determining of the plurality of three-dimensional corner point positions based on the image output device width, the image output device height, the intersection position, and the line-of-sight direction vector comprises: determining a horizontal vector according to the line-of-sight direction vector and a projection plane unit normal vector; determining a vertical vector according to the horizontal vector and the projection plane unit normal vector; determining four three-dimensional corner point positions centered on the intersection position based on the image output device width, the image output device height, the intersection position, the horizontal vector, and the vertical vector.

6. The vehicle control method according to any one of claims 1 to 5, characterized by, According to the current environment illumination, a recommended transmittance of a vehicle-mounted sky screen is matched, comprising: acquiring a current time; determining a preset illumination-transmittance corresponding relationship according to the current time; determining a recommended transmittance according to the current environment illumination and the preset illumination-transmittance corresponding relationship, wherein the determination manner of the preset illumination-transmittance corresponding relationship comprises: acquiring an initial illumination-transmittance corresponding relationship, an adjusted environment illumination, an adjusted time and a user-adjusted transmittance; determining an initial transmittance according to the adjusted environment illumination and the initial illumination-transmittance corresponding relationship; determining an updated transmittance according to the initial transmittance and the user-adjusted transmittance; updating the initial transmittance in the initial illumination-transmittance corresponding relationship to the updated transmittance, thereby obtaining a preset illumination-transmittance corresponding relationship corresponding to the adjusted time.

7. The vehicle control method according to any one of claims 1 to 5, characterized by, acquiring a user height of a vehicle-observation user, comprising: acquiring a user image of a vehicle-observation user, a preset weight coefficient, a face ratio factor and a shoulder ratio factor; determining a user shoulder width, a user face length and a user face width according to the user image; determining a first height according to the user face length and the user face width; determining a second height according to the user shoulder width; determining a third height based on the preset weight coefficient, the face ratio factor and the first height, and determining a fourth height based on the preset weight coefficient, the shoulder ratio factor and the second height; determining the user height based on the third height and the fourth height.

8. A vehicle control device characterized by comprising: The vehicle control device comprises: an acquisition module, configured to acquire a current environment illumination, a user height of a vehicle-observation user and a content image; a recommended transmittance determination module, configured to match a recommended transmittance of a vehicle-mounted sky screen according to the current environment illumination; a seat adjustment data determination module, configured to match seat adjustment data of a seat of the vehicle-observation user according to the user height of the vehicle-observation user; a vehicle-mounted sky screen adjustment module, configured to adjust a current transmittance of the vehicle-mounted sky screen based on the recommended transmittance; a seat adjustment module, configured to adjust the seat of the vehicle-observation user based on the seat adjustment data; an image display control module, configured to control the vehicle-mounted sky screen to display the content image.

9. The vehicle control device according to claim 8, characterized in that, The vehicle control device further comprises an output image adjustment module, a vehicle-mounted sky screen and an image output device, wherein: the acquisition module is further configured to acquire a desired visual angle, an aspect ratio of a content image, an image output device internal parameter, an image output device external parameter and an adjusted head image of the vehicle-observation user; the output image adjustment module is configured to determine an eye position and a line-of-sight direction vector of the vehicle-observation user according to the adjusted head image, determine an image conversion relationship based on the eye position, the line-of-sight direction vector, the desired visual angle, the aspect ratio of the content image, the image output device internal parameter and the image output device external parameter, and perform perspective transformation on the content image based on the image conversion relationship to obtain a to-be-output image; the to-be-output image is output to the vehicle-mounted sky screen through the image output device, and the to-be-output image is displayed through the vehicle-mounted sky screen.

10. A vehicle characterized by comprising: The vehicle comprises an image acquisition device, a light sensor, a seat, a vehicle-mounted sky screen, a projection device and a vehicle control module, wherein: The light sensor is configured to acquire a current ambient illumination; The image acquisition device is configured to acquire a user image of an in-vehicle viewing user; The vehicle control module is configured to determine a user height according to the user image, match a recommended transmittance of the vehicle-mounted sky screen according to the current ambient illumination, match seat adjustment data of a seat of the in-vehicle viewing user according to the user height of the in-vehicle viewing user, adjust a current transmittance of the vehicle-mounted sky screen based on the recommended transmittance, and adjust the seat of the in-vehicle viewing user based on the seat adjustment data; The image acquisition device is further configured to acquire an adjusted head image of the in-vehicle viewing user; The vehicle control module is further configured to determine an eye position and a line-of-sight direction vector of the in-vehicle viewing user according to the adjusted head image, determine an image conversion relationship based on the eye position, the line-of-sight direction vector, an expected visual angle, an aspect ratio of a content image, an internal parameter of the projection device and an external parameter of the projection device, perform perspective transformation on the content image based on the image conversion relationship to obtain a to-be-output image, and output the to-be-output image to the vehicle-mounted sky screen; The projection device is configured to output the to-be-output image to the vehicle-mounted sky screen; and The vehicle-mounted sky screen is configured to display the to-be-output image.

Images