Vehicle-mounted remote controller pose recognition method and system, and medium and vehicle-mounted remote controller

Abstract

The present application belongs to the technical field of vehicle interaction. Disclosed are a vehicle-mounted remote controller pose recognition method and system, and a medium and a vehicle-mounted remote controller. The vehicle-mounted remote controller pose recognition method comprises: acquiring an initial pose of a vehicle-mounted remote controller; dynamically acquiring first motion data collected by a first inertial sensing module, and dynamically acquiring second motion data collected by a second inertial sensing module; correcting the second motion data on the basis of the first motion data, so as to obtain current motion data of the vehicle-mounted remote controller; and determining the current pose of the vehicle-mounted remote controller on the basis of the initial pose and the current motion data. The present application solves the technical problem in the prior art of the accuracy of vehicle-mounted remote controller pose recognition being relatively low.

Description

Vehicle remote control posture recognition method, system, medium and vehicle remote control

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 5, 2023, application number 202311660681.X, and application name "Vehicle-mounted remote control posture recognition method, system, medium and vehicle-mounted remote control", all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle interaction technology, and in particular to a method, system, medium, and vehicle remote control for posture recognition of an in-vehicle remote control. Background Art

[0003] With the increasing maturity of high-precision positioning technologies such as UWB (Ultra Wide Band) and Bluetooth AOA (Angle of Arrival), in-vehicle remote controls have become a crucial tool for interacting with in-vehicle devices. The "point and click" capability of in-vehicle remote controls enhances user convenience in interacting with in-vehicle devices. However, to enable interaction between in-vehicle remote controls and in-vehicle devices, precise in-vehicle position and posture of the remote control is required. This in turn allows the remote control to accurately identify the target device, enabling interaction.

[0004] Conventional remote controls or other handheld devices can estimate the pose of an object by setting up inertial navigation sensors. However, in a vehicle environment, the movement of the vehicle will generate interference signals, which in turn affects the pose recognition of the object, resulting in low pose recognition accuracy of the vehicle remote control.

[0005] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0006] The main purpose of this application is to provide a method, system, medium and vehicle remote control for posture recognition of a vehicle remote control, aiming to solve the technical problem of low accuracy in posture recognition of a vehicle remote control.

[0007] To achieve the above objectives, the present application provides a method for recognizing the posture of an in-vehicle remote control, which is applied to an in-vehicle remote control posture recognition system. The in-vehicle remote control posture recognition system includes: a vehicle and an in-vehicle remote control, wherein the vehicle is provided with a first inertial conduction module, and the in-vehicle remote control is provided with a second inertial conduction module. The in-vehicle remote control posture recognition method includes the following steps:

[0008] Get the initial pose of the vehicle remote control;

[0009] Dynamically acquiring first motion data collected by the first inertial conduction module, and dynamically acquiring second motion data collected by the second inertial conduction module;

[0010] Correcting the second motion data based on the first motion data to obtain current motion data of the vehicle remote controller;

[0011] Determine the current position and posture of the vehicle-mounted remote controller according to the initial position and the current motion data.

[0012] Optionally, the vehicle is provided with at least one storage location for fixing the vehicle remote control and keeping its position in the vehicle unchanged, and the step of obtaining the initial position of the vehicle remote control includes:

[0013] determining, based on the induction sensors provided in the respective storage locations, the target storage location where the vehicle-mounted remote control was last located before being taken out;

[0014] A preset fixed posture when the vehicle-mounted remote control is in the target storage position is identified as the initial posture.

[0015] Optionally, the step of correcting the second motion data based on the first motion data to obtain current motion data of the vehicle remote controller includes:

[0016] According to the data difference between the first motion data and the second motion data, relative motion data of the vehicle remote controller relative to the vehicle is determined, and the relative motion data is used as the current motion data.

[0017] Optionally, the vehicle is provided with at least one storage location for fixing the in-vehicle remote control and keeping its position in the vehicle unchanged, and after the step of determining the current position of the in-vehicle remote control, the method further includes:

[0018] Determining whether the vehicle-mounted remote control is in a storage position of the vehicle;

[0019] If so, the vehicle-mounted remote controller enters a dormant state, and stops executing the step of dynamically acquiring the second motion data collected by the second inertial conduction module.

[0020] Optionally, the step of determining whether the vehicle-mounted remote control is in the storage position of the vehicle includes:

[0021] Determining whether the current posture is consistent with a preset fixed posture, and whether a duration for which the current posture is consistent with the fixed posture is greater than a preset duration, wherein the fixed posture is a posture of the vehicle-mounted remote control when it is in the storage position of the vehicle;

[0022] If so, it is determined that the vehicle-mounted remote control is in the storage position of the vehicle.

[0023] Optionally, the storage position is provided with at least one inductive sensor for detecting whether the vehicle remote control is placed therein, and the step of determining whether the vehicle remote control is in the storage position of the vehicle includes:

[0024] When it is detected that the sensing signal collected by the sensing sensor is consistent with a preset signal, it is determined that the vehicle-mounted remote controller is in the storage position of the vehicle.

[0025] Optionally, the storage position is provided with at least one induction sensor for detecting whether the vehicle remote control is placed therein, and after the step of putting the vehicle remote control into a dormant state, the method further includes:

[0026] Dynamically acquiring the sensing signal collected by the sensing sensor;

[0027] When it is detected that the sensing signal is inconsistent with the preset signal, the vehicle remote controller is awakened from the dormant state, and the step of dynamically acquiring the second motion data collected by the second inertial conduction module is re-executed.

[0028] The present application also provides a vehicle-mounted remote control posture recognition system, the vehicle-mounted remote control posture recognition system comprising a vehicle, a vehicle-mounted remote control, and a control device, wherein the vehicle, the vehicle-mounted remote control, and the control device are communicatively connected to each other, and the vehicle-mounted remote control posture recognition system comprises:

[0029] The vehicle is provided with a first inertial conduction module;

[0030] The vehicle-mounted remote controller is provided with a second inertial conduction module;

[0031] The control device is configured to obtain an initial position and posture of the vehicle remote control; dynamically obtain first motion data collected by a first inertial conduction module and dynamically obtain second motion data collected by a second inertial conduction module; correct the second motion data based on the first motion data to obtain current motion data of the vehicle remote control; and determine the current position and posture of the vehicle remote control based on the initial position and the current motion data.

[0032] The present application also provides a vehicle-mounted remote control, which includes: a memory, a processor, and a vehicle-mounted remote control posture recognition program stored in the memory and runnable on the processor, wherein the vehicle-mounted remote control posture recognition program is configured to implement the steps of the above-mentioned vehicle-mounted remote control posture recognition method.

[0033] The present application also provides a storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores a vehicle remote control posture recognition program, and the vehicle remote control posture recognition program is executed by a processor to implement the steps of the above-mentioned vehicle remote control posture recognition method.

[0034] The present application discloses a method for recognizing the posture of an in-vehicle remote control. The method obtains the initial posture of the in-vehicle remote control and dynamically obtains first motion data of the vehicle collected by a first inertial conduction module provided on the vehicle, as well as second motion data of the in-vehicle remote control collected by a second inertial conduction module provided on the in-vehicle remote control. The method then corrects the second motion data of the in-vehicle remote control based on the first motion data of the vehicle to eliminate data errors caused by vehicle motion in an in-vehicle scenario, thereby obtaining accurate current motion data of the in-vehicle remote control. The method then accurately identifies the current posture of the in-vehicle remote control based on the initial posture and the accurate current motion data, thereby improving the accuracy of the in-vehicle remote control posture recognition in an in-vehicle scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic diagram of the structure of a vehicle remote control in a hardware operating environment according to an embodiment of the present application;

[0036] FIG2 is a flow chart of a method for recognizing the posture of a vehicle-mounted remote controller according to an embodiment of the present application;

[0037] FIG3 is a schematic diagram of the structure of the storage position involved in the embodiment of the present application;

[0038] FIG4 is a schematic diagram of the framework structure of the vehicle remote control posture recognition system involved in the embodiment of the present application;

[0039] FIG5 is a schematic diagram of a scenario of a method for recognizing the posture of a vehicle-mounted remote controller according to an embodiment of the present application.

[0040] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0042] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0043] Refer to Figure 1, which is a schematic diagram of the structure of a vehicle remote control in the hardware operating environment involved in the embodiment of the present application.

[0044] As shown in Figure 1, the vehicle remote control may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) memory or a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 may also be a storage system independent of the aforementioned processor 1001.

[0045] Those skilled in the art will appreciate that the structure shown in FIG1 does not limit the vehicle remote control and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0046] As shown in FIG1 , the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a vehicle remote controller posture recognition program.

[0047] In the vehicle remote control shown in FIG1 , the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle remote control of the present application can be set in the vehicle remote control, and the vehicle remote control calls the vehicle remote control posture recognition program stored in the memory 1005 through the processor 1001 and performs the following operations:

[0048] Get the initial pose of the vehicle remote control;

[0049] Dynamically acquiring first motion data collected by the first inertial conduction module, and dynamically acquiring second motion data collected by the second inertial conduction module;

[0050] Correcting the second motion data based on the first motion data to obtain current motion data of the vehicle remote controller;

[0051] Determine the current position and posture of the vehicle-mounted remote controller according to the initial position and the current motion data.

[0052] Furthermore, the vehicle is provided with at least one storage position for fixing the vehicle remote control and keeping its position in the vehicle unchanged, and the operation of obtaining the initial position of the vehicle remote control includes:

[0053] determining, based on the induction sensors provided in the respective storage locations, the target storage location where the vehicle-mounted remote control was last located before being taken out;

[0054] A preset fixed posture when the vehicle-mounted remote control is in the target storage position is identified as the initial posture.

[0055] Furthermore, the operation of correcting the second motion data based on the first motion data to obtain the current motion data of the vehicle remote controller includes:

[0056] According to the data difference between the first motion data and the second motion data, relative motion data of the vehicle remote controller relative to the vehicle is determined, and the relative motion data is used as the current motion data.

[0057] Furthermore, the processor 1001 may call the vehicle remote controller posture recognition program stored in the memory 1005 and perform the following operations:

[0058] The vehicle is provided with at least one storage position for fixing the vehicle remote control and keeping its position in the vehicle unchanged. After the operation of determining the current position of the vehicle remote control, the method further includes:

[0059] Determining whether the vehicle-mounted remote control is in a storage position of the vehicle;

[0060] If so, the vehicle-mounted remote controller enters a dormant state, and stops dynamically acquiring the second motion data collected by the second inertial conduction module.

[0061] Furthermore, the operation of determining whether the vehicle-mounted remote control is in the storage position of the vehicle includes:

[0062] Determining whether the current posture is consistent with a preset fixed posture, and whether a duration for which the current posture is consistent with the fixed posture is greater than a preset duration, wherein the fixed posture is a posture of the vehicle-mounted remote control when it is in the storage position of the vehicle;

[0063] If so, it is determined that the vehicle-mounted remote control is in the storage position of the vehicle.

[0064] Furthermore, the storage position is provided with at least one inductive sensor for detecting whether the vehicle remote control is placed therein, and the operation of determining whether the vehicle remote control is in the storage position of the vehicle includes:

[0065] When it is detected that the sensing signal collected by the sensing sensor is consistent with a preset signal, it is determined that the vehicle-mounted remote controller is in the storage position of the vehicle.

[0066] Furthermore, the processor 1001 may call the vehicle remote controller posture recognition program stored in the memory 1005 and perform the following operations:

[0067] At least one inductive sensor is provided in the storage position for detecting whether the vehicle remote control is placed therein. After the operation of causing the vehicle remote control to enter a dormant state, the method further includes:

[0068] Dynamically acquiring the sensing signal collected by the sensing sensor;

[0069] When it is detected that the sensing signal is inconsistent with the preset signal, the vehicle remote controller is awakened from the dormant state, and the operation of dynamically acquiring the second motion data collected by the second inertial conduction module is re-executed.

[0070] Based on the above structure, various embodiments of a method for recognizing the posture of a vehicle-mounted remote control are proposed.

[0071] 2 , which is a flow chart of a first embodiment of a method for recognizing a posture of a vehicle-mounted remote controller according to the present invention.

[0072] In this embodiment, the execution subject of the vehicle remote control posture recognition method can be a vehicle remote control, which is a handheld device that can interact with the vehicle device. It can be a separate new physical device, or it can be a device that interacts with the vehicle device by adding corresponding software and hardware modules to an existing device (for example, a car key, a mobile phone, etc.). The execution subject of the method can also be a control device, which can be a local device, such as the vehicle's central control system, an electronic control unit (ECU, Electronic Control Unit), etc. It can also be a mobile terminal such as a mobile phone or a notebook, or a functional module installed on the vehicle or the vehicle remote control, used to obtain the initial posture and motion data of the vehicle remote control to accurately identify the current posture of the vehicle remote control; the control device can also be a network device, which is not limited in this embodiment. For the sake of convenience, the following description of each embodiment by the execution subject is omitted. In this embodiment, a first inertial conduction module is provided in the vehicle, and a second inertial conduction module is provided in the vehicle remote control. The vehicle remote control posture recognition method includes:

[0073] Step S10, obtaining the initial position of the vehicle remote controller;

[0074] During the use of the vehicle remote control, the initial position and posture of the vehicle remote control can be obtained. The initial position and posture can be the position and posture of the vehicle remote control before it starts to move (for example, before it is picked up), including the initial position and initial posture.

[0075] It should be understood that the postures mentioned in this embodiment, including the initial posture, current posture, real-time posture, etc., are all the postures of the vehicle remote control in the vehicle, that is, the postures of the vehicle remote control in the vehicle coordinate system of the vehicle; among them, the vehicle cabin can be used as a reference to establish a vehicle coordinate system, and then determine the posture of the vehicle remote control in the vehicle coordinate system.

[0076] On-board devices are various functional devices installed on the vehicle, such as air conditioning, audio and video entertainment systems, seats, trunk, sunroof, windows, etc., which are not limited in this embodiment; a vehicle can be provided with multiple on-board devices, and the user can use the on-board remote control to send interaction instructions to various interactive devices on the vehicle at any location in the vehicle cabin, so that the human-computer interaction with the various interactive devices in the vehicle is no longer limited to the user's location, and human-computer interaction with the vehicle's interactive devices can be achieved at any location in the vehicle cabin, especially improving the convenience of interaction in multi-person riding scenarios, and can meet the interaction needs of passengers at various positions in the vehicle, thereby enhancing the user experience.

[0077] In one feasible embodiment, the vehicle is provided with at least one storage location for fixing the vehicle remote control and keeping its position in the vehicle unchanged. Step S10, obtaining the initial position of the vehicle remote control, includes:

[0078] Step S11, determining the target storage position where the vehicle-mounted remote control was last located before being taken out based on the induction sensors provided in each of the storage positions;

[0079] In order to improve the accuracy of initial posture recognition of the vehicle remote control and at the same time reduce the power consumption of real-time posture calculation, at least one storage position is set in the vehicle. The storage position is used to fix the vehicle remote control and ensure that when the vehicle remote control is in the storage position, its posture in the vehicle remains fixed; and each storage position can also be provided with at least one inductive sensor to detect whether the vehicle remote control is placed in the storage position and which storage position it is placed in specifically; and then based on the inductive signal collected by the inductive sensor set in each storage position, the last storage position (hereinafter referred to as the target storage position for distinction) where the vehicle remote control was before being taken out (picked up) can be determined.

[0080] Step S12: identifying a preset fixed posture of the vehicle-mounted remote control when it is in the target storage position as the initial posture.

[0081] The storage position can be a space with a fixed shape and size preset in the vehicle cabin, and cannot be changed after leaving the factory; the storage position not only serves as a storage space, but more importantly, it initializes the position of the car remote control placed therein through the position of the storage position itself in the vehicle space, that is, when the car remote control is in the storage position, its position in the vehicle coordinate system of the vehicle is known; then the preset position of the car remote control when it is in the target storage position is determined (hereinafter referred to as the fixed position for distinction), and the fixed position is used as the initial position to achieve accurate recognition of the initial position of the car remote control.

[0082] Optionally, the storage location may have obvious anti-foolproof measures to ensure that the user can only put the car remote control in a fixed direction.

[0083] Optionally, when there are multiple storage locations in the vehicle, each storage location corresponds to a fixed posture; by determining the last target storage location where the vehicle remote control was located before being taken out, the posture of the vehicle remote control in the storage location can be determined as the initial posture.

[0084] Optionally, when there is only one storage space in the vehicle, the fixed posture of the storage space can be set as the default posture of the vehicle remote control, so that the vehicle remote control uses the default posture as the initial posture.

[0085] Optionally, since the position of the vehicle remote control in the storage position is known and fixed, when the vehicle remote control is in the storage position, the acquisition of motion data from the second inertial conduction module can be stopped, and the vehicle remote control can be put into a dormant state to reduce power consumption. Compared with conventional handheld device position recognition methods, the position of the handheld device needs to be calculated and stored in real time, which has the problem of high power consumption and computational complexity. To reduce power consumption, the handheld device can be put into a dormant state when the position change is small. However, to ensure the accuracy of position recognition, it is necessary to ensure that the handheld device can be awakened in time. If there is a delay in the awakening of the handheld device, the user moves the handheld device, which may cause the initial position stored before the dormancy to become invalid. However, this embodiment, through the setting of the storage position, can accurately and timely determine the initial position of the vehicle remote control when it is taken out, and can safely enter the dormant state when the vehicle remote control is placed in the storage position, while reducing power consumption and computational complexity, ensuring the accuracy of the initial position.

[0086] For example, referring to Figure 3, the storage position 101 is a preset groove in the vehicle cabin, which can be set below the air-conditioning outlet 102 in the rear row of the vehicle. Its structural shape is like a wedge with a larger upper part and a smaller lower part, so that the car remote control cannot be easily moved after being placed in the storage position 101, that is, ordinary bumps, turns, ups and downs and other normal driving environments will prevent the car remote control placed in the storage position 101 from shifting; thereby ensuring that when the car remote control is in the storage position 101, its posture is a preset posture (hereinafter referred to as a preset fixed posture for distinction).

[0087] The inductive sensor can be a pressure sensor, a light sensor, etc. At the same time, the inductive sensor can also provide multiple functions, for example, it can realize the charging function of the vehicle remote control, which can be wireless charging or charging, etc. On the one hand, it can clearly determine the initial position of the vehicle remote control, and on the other hand, it can also charge the vehicle remote control in time.

[0088] In this embodiment, since only the movement of the vehicle remote control can be known through the inertial conduction module, if the vehicle remote control is not equipped with a UWB or other positioning device and the initial position of the vehicle remote control cannot be known, it is difficult to determine the real-time position of the vehicle remote control in the vehicle; therefore, the acquisition of the initial position is crucial for the position recognition of the vehicle remote control in the vehicle; furthermore, this embodiment is provided with at least one storage position in the vehicle for fixing and keeping the position of the vehicle remote control unchanged in the vehicle, and based on the inductive sensors provided in each storage position, the target storage position where the vehicle remote control was last located before being taken out is determined; and the preset fixed position when the vehicle remote control is in the target storage position is directly used as the initial position to achieve accurate recognition of the initial position; and when the vehicle remote control is not equipped with a UWB or other positioning device, accurate real-time determination of the position can also be achieved, thereby reducing implementation costs.

[0089] Step S20, dynamically acquiring first motion data collected by the first inertial conduction module, and dynamically acquiring second motion data collected by the second inertial conduction module;

[0090] During the use of the vehicle remote control, the vehicle motion data (hereinafter referred to as the first motion data for distinction) collected by the inertial conduction module (hereinafter referred to as the first inertial conduction module for distinction) set on the vehicle and the vehicle remote control motion data (hereinafter referred to as the second motion data for distinction) collected by the inertial conduction module (hereinafter referred to as the second inertial conduction module for distinction) set on the vehicle can be dynamically obtained.

[0091] The motion data may include the three-axis acceleration, three-axis angular velocity, etc. measured by the inertial conduction module on its measurement axis at each moment, and may also include the position and posture of the device on which the inertial conduction module is installed (for example, a vehicle remote control, a vehicle, etc.) at each moment.

[0092] The inertial measurement module (IMU) contains an inertial measurement unit (IMU), which can detect and measure acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom motion. It is a crucial component for navigation, orientation, and motion control. Inertial sensors include acceleration sensors, angular velocity sensors, and inertial measurement modules composed of single-, dual-, or tri-axis combinations of these. The inertial measurement module used in this embodiment can be a three-axis acceleration sensor and a three-axis angular velocity sensor, each separately configured, or a six-axis gyroscope that can simultaneously measure three-axis acceleration and three-axis angular velocity.

[0093] Optionally, the time interval for acquiring the motion data of the inertial conduction module can be set according to actual conditions, and this embodiment does not limit this; for example, the acquisition time interval is short enough to basically achieve real-time acquisition, and thus achieve real-time calculation of the current position of the vehicle remote control.

[0094] For example, referring to Figure 4, a vehicle remote control posture recognition system includes: a vehicle, a vehicle remote control and a control device, wherein the control device can be a local device set on the vehicle or the vehicle remote control, or a network device, etc., which is not limited in this embodiment; then the control device dynamically obtains the first motion data of the vehicle collected by the first inertial conduction module set on the vehicle, and the second motion data of the vehicle remote control collected by the second inertial conduction module set on the vehicle remote control.

[0095] Step S30, correcting the second motion data based on the first motion data to obtain current motion data of the vehicle-mounted remote controller;

[0096] During vehicle driving, the vehicle may experience bumps and other situations. Therefore, when the user holds the car remote control and aims it at the target vehicle device and keeps it still, the car remote control may still move with the vehicle, causing certain interference information in the acquired second motion data of the car remote control. Therefore, if the position and posture of the car remote control is directly recognized based on the second motion data, the recognized position and posture information may contain large errors and lead to incorrect recognition of the target vehicle device. In order to improve the accuracy of the position and posture recognition of the car remote control, the second motion data of the car remote control is corrected based on the acquired first motion data of the vehicle to eliminate the interference information in the second motion data and accurately obtain the current motion data of the car remote control relative to the vehicle.

[0097] In one feasible implementation, step S30, the step of correcting the second motion data based on the first motion data to obtain the current motion data of the vehicle remote controller includes:

[0098] Step S31 : determining relative motion data of the vehicle remote controller relative to the vehicle based on a data difference between the first motion data and the second motion data, and using the relative motion data as the current motion data.

[0099] Since there is relative motion between the on-board remote control and the vehicle, and the motion data of the relative motion represents the motion of the on-board remote control in the vehicle cabin, the motion data of the on-board remote control relative to the vehicle (hereinafter referred to as relative motion data for distinction) is determined based on the data difference between the first motion data and the second motion data, and the relative motion data is set as the current motion data of the on-board remote control. This corrects the motion data collected by the second inertial conduction module, eliminates the impact of the vehicle's driving on the motion data collected by the second inertial conduction module of the on-board remote control, and improves the accuracy of subsequent position recognition of the on-board remote control in the vehicle.

[0100] Step S40: determining the current posture of the vehicle-mounted remote controller according to the initial posture and the current motion data.

[0101] The current position and posture of the vehicle remote controller are calculated based on the acquired initial position and current motion data of the vehicle remote controller, which may include the current position and the current posture.

[0102] For example, referring to Figure 5, when the vehicle remote control is in use, if a trigger operation for the smart remote control is detected, for example, a button on the vehicle remote control is triggered, where the button can be a virtual button or a physical button, indicating that the user has a need to interact with the vehicle-mounted device, the current orientation of the vehicle remote control can be determined based on the current posture when the trigger operation for the smart remote control is detected, and then a heading ray L1 is generated in the current orientation direction with the current position Q1 in the current posture as the starting point; and then the target device is determined from the vehicle-mounted devices of the vehicle through which the heading ray passes, namely P1 and P2; wherein the vehicle-mounted device P1 that is closest to the vehicle-mounted device through which the heading ray passes can be used as the target device, and the vehicle-mounted device within a preset range of the vehicle-mounted device through which the heading ray passes can also be used as the target device. This embodiment does not impose any restrictions on this.

[0103] In this embodiment, the initial posture of the vehicle remote control is obtained, and the first motion data of the vehicle collected by the first inertial conduction module provided on the vehicle and the second motion data of the vehicle remote control collected by the second inertial conduction module provided on the vehicle remote control are dynamically obtained; the second motion data of the vehicle remote control is then corrected based on the first motion data of the vehicle to eliminate the data error caused by the vehicle motion in the vehicle scenario, and accurate current motion data of the vehicle remote control is obtained; and the current posture of the vehicle remote control is accurately identified based on the initial posture and the accurate current motion data, thereby improving the accuracy of the posture recognition of the vehicle remote control in the vehicle scenario.

[0104] Furthermore, based on the above-mentioned first embodiment, a second embodiment of the method for recognizing the posture of a vehicle-mounted remote control of the present application is proposed. In this embodiment, the vehicle is provided with at least one storage position for fixing the vehicle-mounted remote control and keeping its posture in the vehicle unchanged. After the step of determining the current posture of the vehicle-mounted remote control in step S40, the method further includes:

[0105] Step S50, determining whether the vehicle-mounted remote control is in the storage position of the vehicle;

[0106] At least one storage position is provided in the vehicle for fixing the vehicle remote control and keeping the position of the vehicle remote control in the vehicle unchanged; and then determining whether the vehicle remote control is in any storage position of the vehicle.

[0107] In one feasible implementation, step S50, determining whether the vehicle-mounted remote control is in the storage position of the vehicle, includes:

[0108] Step S51, determining whether the current posture is consistent with a preset fixed posture, and whether a duration for which the current posture is consistent with the fixed posture is greater than a preset duration, wherein the fixed posture is the posture of the vehicle-mounted remote control when it is in the storage position of the vehicle;

[0109] Step S52: If yes, determine that the vehicle-mounted remote control is in the storage position of the vehicle.

[0110] Determine whether the calculated current posture of the vehicle remote control is consistent with the fixed posture of the vehicle remote control when placed in each storage position; if consistent, further determine whether the duration of consistency between the current posture and the fixed posture is greater than a preset duration; if greater, the vehicle remote control is in the storage position of the vehicle and the user is not using the vehicle remote control temporarily.

[0111] In another feasible embodiment, the storage position is provided with at least one induction sensor for detecting whether the vehicle remote control is placed therein. Step S50, determining whether the vehicle remote control is in the storage position of the vehicle, includes:

[0112] Step S53: When it is detected that the sensing signal collected by the sensing sensor is consistent with the preset signal, it is determined that the vehicle-mounted remote control is in the storage position of the vehicle.

[0113] At least one induction sensor is provided in the storage position of the vehicle for detecting whether the vehicle remote control is placed therein. By detecting the induction signal collected by the induction sensor, it can be confirmed whether the vehicle remote control is in the storage position of the vehicle; and when it is detected that the induction signal collected by the induction sensor is consistent with the preset signal, it is determined that the vehicle remote control is in the storage position of the vehicle, wherein the preset signal is a signal generated when the vehicle remote control is in the storage position and the posture of the vehicle remote control is consistent with the fixed posture corresponding to the storage position; that is, if the vehicle remote control is not placed according to the placement requirements of the storage position, for example, it is not completely placed in the storage position, the current posture of the vehicle remote control is inconsistent with the fixed posture corresponding to the storage position, and thus the induction signal collected by the induction sensor is inconsistent with the preset signal.

[0114] Optionally, if other devices are placed in, the sensing signal collected by the sensing sensor is inconsistent with the preset signal, so as to avoid erroneous judgment of the status of the vehicle remote control due to the placement of other devices in the storage position.

[0115] Step S60: If yes, the vehicle-mounted remote controller enters a dormant state, and stops executing the step of dynamically acquiring the second motion data collected by the second inertial conduction module.

[0116] If the vehicle remote control is in any storage position of the vehicle, it indicates that the user is not using the vehicle remote control temporarily. Since the position of the vehicle remote control in the vehicle is fixed and does not change when the vehicle remote control is in the storage position of the vehicle, the vehicle remote control can be put into a dormant state and the step of dynamically acquiring the second motion data collected by the second inertial conduction module can be stopped to reduce power consumption and computational complexity.

[0117] Optionally, based on the first motion data collected by the first inertial conduction module, it is determined whether the vehicle is in a driving state. If so, the vehicle remote control enters a first sleep state. In the first sleep state, functional modules of the vehicle remote control except the second inertial conduction module may cease operation. Since the vehicle remote control has been placed in a storage space, the user will not use the vehicle remote control before removing the vehicle remote control. However, since the vehicle is in motion, i.e., the user is already in the vehicle, the vehicle remote control still needs to be awakened at any time, so the second inertial conduction module remains in operation. If the vehicle is not in a driving state, indicating that the user has left the vehicle, the vehicle remote control enters a second sleep state, in which all functional modules of the vehicle remote control cease operation.

[0118] In this embodiment, the vehicle remote control is determined to be in the vehicle's storage position. If so, the vehicle remote control enters a dormant state and stops dynamically acquiring the second motion data collected by the second inertial conduction module. This stops acquiring motion data and calculating the position of the vehicle remote control after the vehicle remote control is placed in the storage position, thereby reducing power consumption and computational complexity.

[0119] In one feasible embodiment, at least one inductive sensor for detecting whether the vehicle remote control is placed is provided in the storage position. After the step of putting the vehicle remote control into a dormant state in step S60, the method further includes:

[0120] Step S61, dynamically acquiring the sensing signal collected by the sensing sensor;

[0121] Step S62: When it is detected that the sensing signal is inconsistent with the preset signal, the vehicle remote controller is awakened from the dormant state, and the step of dynamically acquiring the second motion data collected by the second inertial conduction module is re-executed.

[0122] After the vehicle remote control enters the sleep state, in order to ensure normal use by the user, the sensing signal collected by the sensing sensor set at the storage position is dynamically obtained to determine whether the vehicle remote control has been taken out; and when it is detected that the sensing signal is inconsistent with the preset signal, it indicates that the vehicle remote control has been taken out, the vehicle remote control is awakened from the sleep state in time, and the step of dynamically obtaining the second motion data collected by the second inertial conduction module is re-executed to re-realize the real-time calculation of the position and posture of the vehicle remote control.

[0123] Furthermore, an embodiment of the present application also provides a vehicle-mounted remote control posture recognition system, the vehicle-mounted remote control posture recognition system comprising a vehicle, a vehicle-mounted remote control, and a control device, wherein the vehicle, the vehicle-mounted remote control, and the control device are communicatively connected to each other, and the vehicle-mounted remote control posture recognition system comprises:

[0124] The vehicle is provided with a first inertial conduction module;

[0125] Optionally, the vehicle is further provided with at least one storage location for fixing the vehicle-mounted remote control and keeping its position in the vehicle unchanged;

[0126] Optionally, the storage position is provided with at least one induction sensor for detecting whether the vehicle remote control is placed therein;

[0127] The vehicle-mounted remote controller is provided with a second inertial conduction module;

[0128] The control device is configured to obtain an initial position and posture of the vehicle remote control; dynamically obtain first motion data collected by a first inertial conduction module and dynamically obtain second motion data collected by a second inertial conduction module; correct the second motion data based on the first motion data to obtain current motion data of the vehicle remote control; and determine the current position and posture of the vehicle remote control based on the initial position and the current motion data.

[0129] Optionally, the control device is further configured to determine the target storage position where the vehicle-mounted remote control was last located before being taken out based on the induction sensors provided in each of the storage positions;

[0130] A preset fixed posture when the vehicle-mounted remote control is in the target storage position is identified as the initial posture.

[0131] Optionally, the control device is further used to determine the relative motion data of the vehicle remote control relative to the vehicle based on the data difference between the first motion data and the second motion data, and use the relative motion data as the current motion data.

[0132] Optionally, the control device is further configured to determine whether the vehicle-mounted remote control is in a storage position of the vehicle;

[0133] If so, the vehicle-mounted remote controller enters a dormant state, and stops executing the step of dynamically acquiring the second motion data collected by the second inertial conduction module.

[0134] Optionally, the control device is further configured to determine whether the current posture is consistent with a preset fixed posture, and whether a duration for which the current posture is consistent with the fixed posture is greater than a preset duration, wherein the fixed posture is the posture of the vehicle-mounted remote control when it is in the storage position of the vehicle;

[0135] If so, it is determined that the vehicle-mounted remote control is in the storage position of the vehicle.

[0136] Optionally, the control device is further configured to determine that the vehicle-mounted remote control is in the storage position of the vehicle when it is detected that the sensing signal collected by the sensing sensor is consistent with a preset signal.

[0137] Optionally, the control device is further configured to dynamically acquire the sensing signal collected by the sensing sensor;

[0138] When it is detected that the sensing signal is inconsistent with the preset signal, the vehicle remote controller is awakened from the dormant state, and the step of dynamically acquiring the second motion data collected by the second inertial conduction module is re-executed.

[0139] The specific implementation of the vehicle remote control posture recognition system of the present application is basically the same as the embodiments of the above-mentioned vehicle remote control posture recognition method, and will not be repeated here.

[0140] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0141] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0142] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for recognizing the posture of a vehicle remote controller, characterized in that: The invention is applied to a vehicle remote controller posture recognition system, the vehicle remote controller posture recognition system comprises: a vehicle and a vehicle remote controller, the vehicle is provided with a first inertial conduction module, the vehicle remote controller is provided with a second inertial conduction module, and the vehicle remote controller posture recognition method comprises the following steps: Get the initial position of the vehicle remote control; Dynamically acquire first motion data collected by the first inertial conduction module, and dynamically acquire second motion data collected by the second inertial conduction module; Correcting the second motion data based on the first motion data to obtain current motion data of the vehicle remote controller; The current position and posture of the vehicle remote controller is determined according to the initial position and posture and the current motion data.

2. The method for recognizing the position and posture of a vehicle remote controller according to claim 1, wherein: The vehicle is provided with at least one storage position for fixing the vehicle remote controller and keeping its position in the vehicle unchanged, and the step of obtaining the initial position of the vehicle remote controller includes: Based on the induction sensors provided in the storage positions, determining the target storage position where the vehicle-mounted remote control was last located before being taken out; A preset fixed posture when the vehicle-mounted remote controller is in the target storage position is identified as the initial posture.

3. The method for recognizing the position and posture of a vehicle remote controller according to claim 1, wherein: The step of correcting the second motion data based on the first motion data to obtain the current motion data of the vehicle remote controller includes: According to the data difference between the first motion data and the second motion data, relative motion data of the vehicle remote controller relative to the vehicle is determined, and the relative motion data is used as the current motion data.

4. The method for recognizing the position and posture of a vehicle remote controller according to claim 1, wherein: The vehicle is provided with at least one storage position for fixing the vehicle remote controller and keeping its position in the vehicle unchanged, and after the step of determining the current position of the vehicle remote controller, the method further includes: Determining whether the vehicle-mounted remote control is in a storage position of the vehicle; If so, the vehicle-mounted remote controller is put into a dormant state, and the step of dynamically acquiring the second motion data collected by the second inertial conduction module is stopped.

5. The method for recognizing the position and posture of a vehicle remote controller according to claim 4, characterized in that: The step of determining whether the vehicle-mounted remote controller is in the storage position of the vehicle comprises: Determine whether the current posture is consistent with a preset fixed posture, and whether the duration for which the current posture is consistent with the fixed posture is greater than a preset duration, wherein the fixed posture is the posture of the vehicle-mounted remote control when it is in the storage position of the vehicle; If so, it is determined that the vehicle-mounted remote controller is in the storage position of the vehicle.

6. The method for recognizing the position and posture of a vehicle remote controller according to claim 4, characterized in that: At least one induction sensor is provided in the storage position for detecting whether the vehicle remote controller is placed therein, and the step of determining whether the vehicle remote controller is in the storage position of the vehicle comprises: When it is detected that the sensing signal collected by the sensing sensor is consistent with a preset signal, it is determined that the vehicle-mounted remote controller is in the storage position of the vehicle.

7. The method for recognizing the position and posture of a vehicle remote controller according to claim 4, characterized in that: At least one induction sensor is provided in the storage position for detecting whether the vehicle remote controller is placed therein, and after the step of making the vehicle remote controller enter a dormant state, the method further includes: Dynamically acquiring the sensing signal collected by the sensing sensor; When it is detected that the sensing signal is inconsistent with the preset signal, the vehicle-mounted remote controller is awakened from the dormant state, and the step of dynamically acquiring the second motion data collected by the second inertial conduction module is re-executed.

8. A vehicle remote control posture recognition system, characterized in that: The vehicle remote controller posture recognition system comprises a vehicle, a vehicle remote controller and a control device, wherein the vehicle, the vehicle remote controller and the control device are connected to each other for communication, and the vehicle remote controller posture recognition system comprises: The vehicle is provided with a first inertial conduction module; The vehicle-mounted remote controller is provided with a second inertial conduction module; The control device is used to obtain an initial position and posture of the vehicle remote control; dynamically obtain first motion data collected by a first inertial conduction module, and dynamically obtain second motion data collected by a second inertial conduction module; correct the second motion data based on the first motion data to obtain current motion data of the vehicle remote control; and determine the current position and posture of the vehicle remote control according to the initial position and posture and the current motion data.

9. A vehicle-mounted remote controller, characterized in that: The vehicle remote control includes: a memory, a processor, and a vehicle remote control posture recognition program stored in the memory and executable on the processor, wherein the vehicle remote control posture recognition program is configured to implement the steps of the vehicle remote control posture recognition method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a vehicle remote control posture recognition program is stored on the storage medium. When the vehicle remote control posture recognition program is executed by the processor, the steps of the vehicle remote control posture recognition method according to any one of claims 1 to 7 are implemented.

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