Control system for controlling a heating, ventilation and air conditioning

Abstract

Aspects of the present invention relate to a control system (300) for controlling a heating, ventilation and air conditioning, HVAC, system (200) of a vehicle (100), the control system (300) comprising one or more processors collectively configured to: receive, from one or more cameras of the vehicle (100), at least one image of a cabin of the vehicle (100); determine, in dependence on the at least one image, a pose of an occupant of the vehicle (100) relative to the cabin; and output a control signal controlling the HVAC system (200) to control air flow in the cabin according to the pose of the occupant.

Description

[0001] CONTROL SYSTEM

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a control system and method and particularly, but not exclusively, to a control system for controlling a heating, ventilation and air conditioning system (HVAC) of a vehicle, and a method for controlling an HVAC system of a vehicle. Aspects of the invention relate to a control system, a system comprising a control system and an HVAC system, a vehicle, a method for controlling an HVAC system and computer readable instructions.

[0004] BACKGROUND

[0005] It is known to provide a heating, ventilation and air conditioning (HVAC) system in a vehicle in order to regulate the climate within the vehicle. An HVAC system may regulate the climate in a vehicle by directing conditioned air into a vehicle cabin through vents. The conditioned air entering the cabin may be a different temperature to the current temperature of the cabin, and as such an occupant of the cabin may find that they are in the path of air which is either warmer or colder than the current temperature of the cabin. This can be uncomfortable for the occupant, especially when the air is directed towards bare skin.

[0006] It is an aim of the present invention to address one or more of the disadvantages associated with the prior art.

[0007] SUMMARY OF THE INVENTION

[0008] Aspects and embodiments of the invention provide: a control system; a system comprising a control system and a heating, ventilation and air conditioning (HVAC) system; a vehicle; a method for controlling an HVAC system; and computer readable instructions as claimed in the appended claims.

[0009] According to an aspect of the present invention there is provided a control system for controlling an HVAC system of a vehicle, the control system comprising one or more processors collectively configured to: receive at least one image of a vehicle; determine, in dependence on the at least one image, a pose of an occupant of the vehicle; and output a control signal controlling the HVAC system to control air flow in the vehicle according to the pose of the occupant.

[0010] According to an aspect of the present invention there is provided a control system for controlling an HVAC system of a vehicle, the control system comprising one or more processors collectively configured to: receive, from one or more cameras of the vehicle, at least one image of a cabin of the vehicle; determine, in dependence on the at least one image, a pose of an occupant of the vehicle relative to the cabin; and output a control signal controlling the HVAC system to control air flow in the cabin according to the pose of the occupant.

[0011] By controlling the air flow in a cabin according to the pose of an occupant it is possible to provide a more comfortable experience forthe occupant, for example by taking account of the position of the occupant’s hands and face and directing air flow so that these areas are not subject to a current of air at an uncomfortable temperature.The control system comprises one or more controllers collectively comprising at least one electronic processor having an electrical input for receiving an input signal; and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to: receive, from one or more cameras of the vehicle, at least one image of a cabin of the vehicle; determine, in dependence on the at least one image, a pose of an occupant of the vehicle relative to the cabin; and output a control signal controlling the HVAC system to control air flow in the cabin according to the pose of the occupant.

[0012] In an embodiment, the pose of the occupant may comprise information on the location of the occupant in three dimensional space. The pose of the occupant may comprise information on the orientation of the occupant in three dimensional space. The pose of the occupant may comprise information on the location of particular body parts of the occupant in three dimensional space. The pose of the occupant may comprise information on the orientation of particular body parts of the occupant in three dimensional space. Advantageously, the information on the pose of the occupant can be used to determine the location of specific parts of the occupants body with respect to the cabin.

[0013] In an embodiment the pose of the occupant may be determined using an Al driven 3D pose estimation system. The Al driven 3D pose estimation system may be a system trained on a data set comprising images of people in vehicles. Advantageously, an Al driven 3D pose estimation system can process images data such as two dimensional images and provide three dimensional data.

[0014] The image of a cabin may comprise image data.

[0015] In an embodiment, the control system may receive, from a distance sensor of the vehicle, measurements of distances within the vehicle. The measurements of distances may comprise measurements of distances from the sensor to the occupant and other surfaces of the vehicle. The one or more processors may be collectively configured to determine, in dependence on the measurements of distances within the vehicle, a pose of an occupant of the vehicle. The distance sensor may comprise an infrared distance sensor, a lidar sensor, an ultrasonic sensor, or an LED time of flight sensor. Advantageously, the measurements of distances can be used to determine the location objects within the vehicle cabin, including the vehicle occupants.

[0016] The cabin of the vehicle may be a space of the vehicle which is intended for human occupancy. The cabin of the vehicle may be an interior space of the vehicle. The cabin of the vehicle may be a passenger compartment.

[0017] When the HVAC system controls the air flow in the cabin, it may control the temperature of air being directed into the cabin, the direction of airflow in the cabin, which regions of the cabin are subject to airflow, the amount of air flow being directed into the cabin, and / or the velocity or speed of air being directed into the cabin. In an embodiment, the control system may output a control signal controlling the HVAC system to direct and / or condition airflow in the cabin according to the pose of the occupant. Advantageously, where the HVAC systemcontrols the air flow in this manner it can be used to direct air flow away from sensitive areas of an occupant such as exposed skin.

[0018] Optionally, the one or more processors may be collectively configured to determine the pose of the occupant by fitting a human body model to the at least one image. This may help to provide a determination of the pose by imposing assumptions, inherent to the human body model, about the relative positions of parts of the human body. For example, the human body model may comprise a torso, with a head and limbs connected to the torso.

[0019] Optionally, the one or more processors may be collectively configured to determine a first region within the vehicle and a second region within the vehicle, the first region and second region being determined in dependence on the pose of the occupant, the one or more processors being collectively configured to control the HVAC system such that the velocity, amount or temperature of air directed to the first region by the HVAC system is different to the velocity, amount or temperature of air directed to the second region by the HVAC system. By varying the velocity, amount or temperature of air directed to a particular region determined in dependence on the pose of the occupant, the control system can seek to vary the velocity, amount or temperature of air directed to parts of the occupant. As such, the comfort of the occupant can be better maintained by varying the velocity, amount or temperature of air directed to the occupant’s face or hands, for example. The control system 300 may model the interior of the vehicle 100 as a number of voxels, and the first region may comprise one or more voxels within the cabin of the vehicle 100.

[0020] In an embodiment, the one or more processors may be collectively configured to determine at least one first region within the vehicle and at least one second region within the vehicle, the first regions and second regions being determined in dependence on the pose of the occupant, the one or more processors being collectively configured to control the HVAC system such that the velocity, amount or temperature of air directed to the first regions by the HVAC system is different to the velocity, amount or temperature of air directed to the second regions by the HVAC system. There may be at least one first region per vehicle occupant. Advantageously, dividing the vehicle into regions may simplify the calculations necessary to control air flow into those regions.

[0021] The velocity of the airdirected to a region may referto the velocity of airwhich will be directed to the region as that air passes a particular point in the HVAC system, such as for example as the air passes through a fan or impeller, or through a vent. Velocity of air in an HVAC system may be determined based upon the speed of a fan or impeller, or by direct measurement using an air speed sensor. The amount of air directed to a region may referto a volume of air directed towards a region by the HVAC system in a time interval. The temperature of air directed to a region may refer to the temperature of air which will be directed at the region as that air passes a particular point in the HVAC system. Temperature of air in an HVAC system may be determined based upon measurement using a temperature sensor.

[0022] Optionally, when the velocity or amount of air directed to the first region is different to the velocity or amount of air directed to the second region, the difference between the velocity or amount of air directed to the first region and to the second region may be determined in dependence on the difference between a currenttemperature of air in the cabin and a target temperature of air in the cabin. Advantageously, this allows the control system to respond to a changing current temperature of air in the cabin.

[0023] In an embodiment, the difference between the velocity or amount of air directed to the first region and to the second region may be proportional to the difference between a current temperature of air in the cabin and a target temperature of air in the cabin. Advantageously, then, as the air temperature of the cabin approaches a target temperature, the difference between the velocity or amount of air directed to each region is reduced.

[0024] Optionally, when the temperature of air directed to the first region is different to the temperature of air directed to the second region, the difference between the temperature of air directed to the first region and to the second region may be determined in dependence on the difference between the current temperature of air in the cabin and the target temperature of air in the cabin. Again, this allows the control system to respond to the changing current temperature of air in the cain.

[0025] In an embodiment, the difference between the temperature of air directed to the first region and to the second region may be proportional to the difference between the current temperature of air in the cabin and the target temperature of air in the cabin. Advantageously, then, as the air temperature of the cabin approaches a target temperature, the difference between the temperature of air directed to each region is reduced.

[0026] The target temperature may be set by an occupant of the vehicle. Advantageously, this allows the occupant to manually control their environment.

[0027] Optionally, the control system may be configured to control the HVAC system to decrease a difference between the velocity, amount or temperature of air directed to the first region and the velocity, amount or temperature of air directed to the second region as the difference between the current temperature of air in the cabin and a target temperature of air in the cabin decreases. As the current temperature of the cabin approaches a target temperature, the velocity, amount or temperature of air produced by the HVAC system becomes increasingly uniform. In this way, the control system is able to continuously adapt the air flow for user comfort as the temperature of air in the cabin changes.

[0028] Optionally, the one or more processors are collectively configured to: determine at least one area in the at least one image which shows exposed skin of the occupant; map the at least one area which shows the exposed skin of the occupant to the pose of the occupant to determine a location of the exposed skin of the occupant relative to the cabin; and determine the first region based on the location of the exposed skin of the occupant. As directing air flow towards the exposed skin of the occupant is more likely to cause them discomfort than directing air flow towards, for example, an area covered by clothing, determining the location of the exposed skin of the occupant and controlling the HVAC accordingly can help to improve the comfort of the occupant.

[0029] In an embodiment, the one or more processors are collectively configured to: determine at least one area in the at least one image which shows exposed skin of the occupant; map the at least one area which shows theexposed skin of the occupant to the pose of the occupant to determine a location of one or more points wherein the exposed skin of the occupant is located relative to the cabin; and determine the first region based on the location of the one or more points wherein the exposed skin of the occupant is located. Advantageously, air flow can then be moderated with regards to the location of exposed skin in the cabin, so that the occupants are not subject to, for example, a blast of cold air across an exposed forearm, which they might find uncomfortable.

[0030] In an embodiment, the one or more processors may be collectively configured to determine one or more first regions so that they contain all of the locations of the exposed skin of the occupant. In an embodiment, the one or more processors may be collectively configured to determine one or more second regions so that they contain none of the locations of the exposed skin of the occupant. Advantageously, including all of the locations of exposed skin in the first regions helps to avoid any instances of exposed skin being subject to unwanted or uncomfortable conditions.

[0031] Optionally, when the location of the exposed skin is a first location, the one or more processors may be collectively configured to, having determined the first location, determine a second location within the cabin where the exposed skin of the occupant is located, wherein the second location is not visible within the at least one image and wherein the second location is determined based on the pose of the occupant and an expected symmetry of the occupant or their clothing. In this way, reasonable inferences can be made about exposed skin even when it cannot be seen.

[0032] The expected symmetry of the occupant or their clothing may be sagittal symmetry, or symmetry across the sagittal plane. The sagittal plane is a plane which divides the left from the right side of the human body. The expected symmetry of the occupant or their clothing may be an assumption that that if an area of skin on a left side of an occupant’s body is exposed then the corresponding area on the right side of their body is also exposed, and that if an area of skin on a right side of an occupant’s body is exposed then the corresponding area on the left side of their body is also exposed. Advantageously, clothing is often symmetrical across the sagittal plane, such as for example where sleeve of a left arm is the same length as the sleeve of a right arm in an item of clothing.

[0033] The expected symmetry of the occupant or their clothing may be coronal symmetry, or symmetry across the coronal plane. The coronal plane is a plane which divides the front from the back of the human body. The expected symmetry of the occupant or their clothing may be an assumption that that if an area of skin on a front side of an occupant’s body is exposed then the corresponding area on the back side of their body is also exposed, and that if an area of skin on a back side of an occupant’s body is exposed then the corresponding area on the front side of their body is also exposed. Advantageously, clothing is often symmetrical across the coronal plane, as in where if a front of the abdomen is exposed then the back of the abdomen is also exposed.

[0034] When the one or more processors determine that a first side of a forearm of the occupant comprises exposed skin, they may further determine that a second side of a forearm of the occupant comprises exposed skin. When the one or more processors determine that a first forearm of the occupant comprises exposed skin, theymay further determine that a second forearm of the occupant comprises exposed skin. When the one or more processors determine that a first side of an upper arm of the occupant comprises exposed skin, they may further determine that a second side of the upper arm of the occupant comprises exposed skin. When the one or more processors determine that a first upper arm of the occupant comprises exposed skin, they may further determine that a second upper arm of the occupant comprises exposed skin. When the one or more processors determine that a first side of a shoulder of the occupant comprises exposed skin, they may further determine that a second side of a shoulder of the occupant comprises exposed skin. When the one or more processors determine that a first shoulder of the occupant comprises exposed skin, they may further determine that a second shoulder of the occupant comprises exposed skin. When the one or more processors determine that a first side of a lower leg of the occupant comprises exposed skin, they may further determine that a second side of a lower leg of the occupant comprises exposed skin. When the one or more processors determine that a first lower leg of the occupant comprises exposed skin, they may further determine that a second lower leg of the occupant comprises exposed skin. When the one or more processors determine that a first side of an upper leg of the occupant comprises exposed skin, they may further determine that a second side of the upper leg of the occupant comprises exposed skin. When the one or more processors determine that a first upper leg of the occupant comprises exposed skin, they may further determine that a second upper leg of the occupant comprises exposed skin. When the one or more processors determine that a first side of the occupant’s face comprises exposed skin, they may further determine that a second side of the occupant’s face comprises exposed skin. When the one or more processors determine that a first side of the occupant’s neck comprises exposed skin, they may further determine that a second side of the occupant’s neck comprises exposed skin. When the one or more processors determine that a first side of the occupant’s abdomen comprises exposed skin, they may further determine that a second side of the occupant’s abdomen comprises exposed skin. When the one or more processors determine that a first side of the occupant’s hips comprises exposed skin, they may further determine that a second side of the occupant’s hips comprises exposed skin. The first and second sides of the forearm, upper arm, lower leg, upper leg, neck, abdomen and hips may be opposite sides of forearm, upper arm, lower leg, upper leg, neck, abdomen and hips, respectively. Advantageously, assuming that different sides of a part of a body are similarly exposed allows the one or more processors to determine whether parts of the occupant which cannot be seen in an image comprise exposed skin.

[0035] Optionally, the one or more processors may be collectively configured to determine the first region to contain a plurality of points within the cabin which is within a threshold distance of the location of the exposed skin of the occupant. The one or more processors may be collectively configured to determine the first region to contain every point within the cabin which is within a threshold distance of the location of the exposed skin of the occupant. Advantageously, in this way, a margin may be provided around the occupant in order to help ensure their comfort. This margin may help compensate for variations in the size and shape of vehicle occupants, and also compensate for any inaccuracies in the determination of the pose of the occupant. The threshold distance may be determined in dependence on the difference between a current temperature of air in the cabin and a target temperature of air in the cabin.Optionally, the one or more processors may be collectively configured to control the HVAC system to provide no direct air flow to the first region. In this way air flow may be directed away from the occupant.

[0036] According to another aspect of the invention, there is provided a system comprising the control system of any preceding claim and an HVAC system, the HVAC system comprising at least one vent, the vent comprising one or more control surfaces which control the direction of air emerging from the vent. The vent further comprises a motor coupled to the one or more control surfaces. The control system is configured to output the control signal to the motor to change the position of the one or more control surfaces. Advantageously, the control system may then control the HVAC system.

[0037] In an embodiment, the HVAC may further comprise at least one fan or impeller. The control system may be configured to output a control signal to the fan or impeller to change the speed of the fan or impeller. In an embodiment the HVAC may further comprise at least one heater and / or cooling apparatus. The control system may be configured to output a control signal to the heater to change the temperature of the heater and / or cooling apparatus. Advantageously, the control system may therefore control the HVAC system by controlling the components of the HVAC system, including any fans, impellers, heating apparatus and cooling apparatus.

[0038] According to another aspect of the invention, there is provided a vehicle comprising a system or control system as described above.

[0039] According to another aspect of the invention, there is provided a method for controlling an HVAC system of a vehicle, the method comprising: receiving, from one or more cameras of the vehicle, at least one image of a cabin of the vehicle; determining, in dependence on the at least one image, a pose of an occupant of the vehicle relative to the cabin; and outputting a control signal controlling the HVAC system to control air flow in the cabin according to the pose of the occupant.

[0040] According to another aspect of the invention, there is provided computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the method described above.

[0041] Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and / or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and / or features of any embodiment can be combined in anyway and / or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and / or incorporate any feature of any other claim although not originally claimed in that manner.

[0042] BRIEF DESCRIPTION OF THE DRAWINGS

[0043] One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:Figure 1 shows a vehicle 100 in accordance with an embodiment of the invention;

[0044] Figure 2 is a block diagram of the vehicle 100 in accordance with an embodiment of the invention;

[0045] Figure 3 shows a Heating Ventilation and Air Conditioning, HVAC, system 200 in accordance with an embodiment of the invention;

[0046] Figure 4 shows a control system 300 in accordance with an embodiment of the invention;

[0047] Figure 5 shows an image capture device 400 in accordance with an embodiment of the invention;

[0048] Figure 6 shows a method 500 of controlling the HVAC system 200 of the vehicle 100 in accordance with an embodiment of the invention;

[0049] Figure 7 shows a further method 600 of controlling the HVAC system 200 of a vehicle 100 in accordance with an embodiment of the invention; and

[0050] Figure 8 show a distance sensing device 700 in accordance with an embodiment of the invention.

[0051] DETAILED DESCRIPTION

[0052] A vehicle 100 in accordance with an embodiment of the present invention is described herein with reference to the accompanying Figure 1. The vehicle 100 may comprise a control system 300 as described herein e.g. in relation to Figure 4, or a system comprising a control system 300 and a HVAC system 200, e.g. as described in relation to Figures 3 and 4.

[0053] Figure 2 shows a block diagram of components of the vehicle 100, the vehicle 100 comprising a Heating Ventilation and Air Conditioning, HVAC, system 200, a control system 300 and an image capture device 400. The vehicle 100 is suitable to have an HVAC system 200 and a control system 300 fitted; there is a suitably dimensioned space in the vehicle 100, e.g. under the bonnet, to include such an HVAC system 200 and such a control system 300. The vehicle 100 is also suitable to have an image capture device 400 fitted, for example in a ceiling of a vehicle cabin. The vehicle 100 comprises a vehicle body, which may comprise a monocoque which can have body panels attached to it. The vehicle 100 may be a battery electric vehicle, a plug-in hybrid vehicle, or a mild hybrid vehicle, for example. The vehicle 100 may comprise an engine which uses a fuel such as petrol, diesel or hydrogen. The vehicle 100 comprises one or more batteries, not shown, which power the control system 300 and the image capture device 400 in use and may power some or all of the functions of the HVAC system in use.

[0054] Figure 3 shows an example HVAC system 200 which may be used in the vehicle 100, which comprises one or more sensors 210, one or more condensing units 220, one or more heating units 230, one or more refrigeration units 240 and ductwork 250. The refrigeration units 240 may comprise one or more evaporator units, such as an evaporator coil, which can be controlled to reduce temperature of the air. The refrigeration units 240, including the evaporator units, may also be controlled to reduce the humidity of air by causing water vapour to condense out of the air as it is cooled. The ductwork 250 comprises one or more control surfaces 260 which can be moved to open, restrict or close certain parts of the ductwork 250, as well as to direct air flow exiting the duct work into the vehicle cabin. Moving one or more of the control surfaces 260 will adjust the angle of air flow entering the cabin from the ductwork, and therefore the control surfaces can be used to direct the flow of air within the cabin. The ductwork 250 further comprises one or more filters 270 which filterparticulates from the air, and one or more fans or impellers 280 which drive air flow through the ductwork 250. The ductwork 250 provides a fluid connection between each of the condensing units 220, the heating units 230, the refrigeration units 240, an exterior of the vehicle 100 and a cabin of the vehicle 100.

[0055] The one or more sensors 210 may comprise sensors which measure a temperature of the cabin of the vehicle 100 and a humidity level of the cabin of the vehicle 100.

[0056] Figure 4 shows an example control system 300 which comprises one control system controller 310, although it will be appreciated that this is merely illustrative. The control system 300 may comprise a plurality of controllers. The control system controller 310 comprises processing means 320 and memory means 330. The processing means 320 may be one or more electronic processing devices which operably execute computer-readable instructions. The memory means 330 may be one or more memory devices. The memory means 330 is electrically coupled to the processing means 320. The memory means 330 is configured to store instructions, and the processing means 320 is configured to access the memory means 330 and execute the instructions stored thereon.

[0057] The control system controller 310 comprises a control system input means 340 and a control system output means 350. The control system input means 340 may comprise an electrical input of the control system controller 310. The control system output means 350 may comprise an electrical output of the control system controller 310. The control system input means 340 is arranged to receive a signal from the image capture device 400, and may further be arranged to receive a signal from the one or more sensors 210. The signal from the image capture device 400 is a signal which may be received through wires or wirelessly, and which transmits image data captured by the image capture device 400. The signal from the one or more sensors 210 is a signal which may be transmitted through wires or wirelessly and is indicative of at least one of a temperature of the cabin of the vehicle 100 and a humidity level of the cabin of the vehicle 100. The control system output means 350 is arranged to output a control signal for controlling the HVAC system 200.

[0058] The processing means 320 are configured to control the actions of the HVAC system 200. In particular the processing means 320 may control an activation of the condensing units 220, an activation and temperature of the heating units 230, and an activation and temperature of the refrigeration units 240. The processing means 320 is also configured to control the positioning of the control surfaces and the operation of the fans or impellers 280, and thereby controls the flow of air through the ductwork 250 and in to the cabin of the vehicle 100.

[0059] Figure 5 shows an example image capture device 400 which comprises at least one image capture device controller 410. The image capture device controller 410 is arranged to control an optical sensor 420 to capture at least one image of the cabin of the vehicle 100. The image capture device controller 410 further comprises an image capture device output means 430, and the image capture device controller 410 is arranged to control the image capture device output means 430 to transmit image data based upon an image captured by the optical sensor 420 to the control system 300.A vehicle 100 may comprise multiple image capture devices 400. The vehicle may be provided with one image capture device 400 per row of seats within the vehicle, with each image capture device 400 arranged to capture images of a row of seats. There may be one image capture device per seat in the vehicle, which each image capture device arranged to capture images of a seat.

[0060] Figure 6 illustrates a method 500 according to an embodiment of the invention. The method 500 is a method of controlling functions of a vehicle, such as the vehicle 100 illustrated in Figure 1. In particular, the method 500 is a method of controlling an HVAC system such as the HVAC system 200 illustrated in Figure 3. The method may be performed by the control system 300 illustrated in Figure 4. In particular, the memory means 330 may comprise computer-readable instructions which, when executed by the control system controller 310, perform the method 500 according to an embodiment of the invention.

[0061] At step 510 the control system controller 310 receives, through the control system input means 340 and from the image capture device 400, at least one image of a cabin of the vehicle. The at least one image may comprise a single image or several images captured over a span of time. The at least one image may comprise a short video. The at least one image may show a seating area of the cabin of the vehicle. The at least one image may be arranged such that at least one occupant of the vehicle will be visible in the image. The at least one image may comprise one or more image of the occupant sat in a seat of the vehicle 100. The at least one image may comprise one or more images of the occupant entering the vehicle 100.

[0062] At step 520 the control system controller 310 determines, in dependence on the at least one image, a pose of an occupant of the vehicle relative to the cabin. The control system controller 310 may determine a pose of an occupant in part by fitting a human body model to the at least one image. The control system controller 310 may determine a pose of an occupant by using a 3D pose estimator such as an Al 3D pose estimator trained on datasets of humans, such as datasets of humans sat in seats similar to those in the vehicle 100. The 3D pose estimator may estimate the pose of particular features of the occupant, such as their head, hands, elbows and shoulders, and determine a pose based upon this information and general information about the connections between the features of the occupant, for example by using a human body model. The 3D pose estimator may make use of one or more convolutional neural networks. The 3D pose estimator may make use of one or more recurrent neural networks. The 3D pose estimator may make use of one or more graph convolution networks. The control system controller 310 may determine a pose of part of the occupant (rather than the whole of the occupant), such as for example the head and arms.

[0063] At step 530 the control system 300 outputs a control signal controlling the HVAC system 200 to control airflow in the cabin according to the pose of the occupant. Where there is more than one occupant of the vehicle, the control system may be configured to control the HVAC system 200 to control air flow in the cabin according to the pose of the plurality of occupants

[0064] In order to output a control signal, the control system 300 may define a plurality of regions in the cabin of the vehicle. In particular, the control system 300 may define one or more first regions and one or more second regions. The control system 300 may then control the HVAC system 200 such that the velocity, amount ortemperature of air directed to the first regions by the HVAC system 200 is different to the velocity, amount or temperature of air directed to the second regions by the HVAC system 200. The first regions may be defined so that they include all or at least part of the occupant. The first regions may be defined so that they include the head and hands of the occupant.

[0065] The first regions may be “no ventilation zones”, that is the control system 300 may control the HVAC system 200 so that no air is directed into the first regions by the HVAC system 200. This can be achieved by moving the control surfaces 260 of the ductwork 250 so as to direct air leaving the ductwork away from the first regions. An advantageous solution of how to control the HVAC system 200 can be calculated as directing the air flow as close as possible to the occupant without violating a no ventilation zone, that is, without providing air flow directed into the first regions. Alternatively or in addition to this, the control surfaces can be moved orthe speed of the fans or impellers 280 can be adjusted so that the speed of air leaving vents directed towards the first regions is reduced so that no air flow reaches the first regions.

[0066] The control system 300 may control the HVAC system 200 so that the velocity of air flowing into the first regions from the HVAC system 200 is reduced but not halted. The control system 300 may control the HVAC system 200 so that the amount of air flowing into the first regions from the HVAC system is reduced but reduced to nothing. These changes can be made by adjusting the control surfaces 260 and fans and impellers 280 of the HVAC system 200.

[0067] The control system 300 may control the HVAC system 200 so that the difference between the velocity or amount of air directed to the first region and to the second region is determined in dependence on the difference between a current temperature of air in the cabin and a target temperature of air in the cabin. The control system 300 may control the HVAC system 200 so that as the HVAC operates and a current temperature of the air in the cabin approaches the target temperature, the difference between the velocity or amount of air directed to the first region and to the second region is decreased. The difference between the velocity or the amount of air directed into the first region and the velocity or amount or air directed into the second region may change in proportion to the difference between a current temperature of the cabin and the target temperature of the cabin.

[0068] The control system 300 may control the HVAC system 200 so that the temperature of air flowing into the first regions from the HVAC system is different to the temperature of the air flowing into the second regions from the HVAC system. The control system 300 may control the HVAC system 200 so that the difference between the temperature of air flowing into the first regions from the HVAC system and the current temperature of the cabin is less than the difference between the temperature of the air flowing into the second regions from the HVAC system and the current temperature of the cabin. Variations in temperature of the air flow to particular parts of the cabin can be achieved by controlling the control surfaces 260, fans and impellers 280, heating units 230 and refrigeration units 240 to provide air flow at two different temperatures within the cabin. Air passing through the HVAC system which is directed to the first regions may be exposed to different heating units 230 or refrigeration units 240 to the air and which is passing through the HVAC system and which is directed to the second regions. Air passing through the HVAC system which is directed to the first regions maybe combined with air from the cabin of the vehicle after it has passed the heating units 230 or refrigeration units 240.

[0069] The control system 300 may control the HVAC system 200 so that the difference between the temperature of air directed to the first region and to the second region is determined in dependence on the difference between the current temperature of air in the cabin and the target temperature of air in the cabin. The control system 300 may control the HVAC system 200 so that as the HVAC operates and a current temperature of the air in the cabin approaches the target temperature, the difference between the temperature of air directed to the first region and to the second region is decreased. The difference between the temperature of air directed into the first region and the temperature or air directed into the second region may change in proportion to the difference between a current temperature of the cabin and the target temperature of the cabin.

[0070] Figure 7 illustrates a further method 600 according to an embodiment of the invention. The further method 600 is a method of controlling an HVAC system of a vehicle, such as the HVAC system 200 of the vehicle 100 illustrated in Figures 1 and 2. The further method 600 may be performed by the control system 300 illustrated in Figure 3. In particular, the memory 330 may comprise computer-readable instructions which, when executed by the processing means 320, perform the method 600 according to an embodiment of the invention.

[0071] Steps 610, 620 and 630 are similar to steps 510, 520 and 530, respectively, described above, and the variations in embodiments described above in relation to Figure 5 may also apply to Figure 6.

[0072] At step 610 the control system controller 310 receives, through the control system input means 340 and from the image capture device 400, at least one image of a cabin of the vehicle.

[0073] At step 620 the control system controller 310 determines, in dependence on the at least one image, a pose of an occupant of the vehicle relative to the cabin.

[0074] At step 625 the control system controller 310 is configured to determine at least one area in the at least one image which shows exposed skin of the occupant and map the at least one area which shows the exposed skin of the occupant to the pose of the occupant to determine a location of the exposed skin of the occupant relative to the cabin.

[0075] Having determined that the location of the exposed skin is a first location, the control system 300 may determine a second location within the cabin where the exposed skin of the occupant is located. The second location may not be visible within the at least one image. The second location is determined based on the pose of the occupant and an expected symmetry of the occupant or their clothing. On the arms of an occupant, where a point on a first arm of the occupant is determined to comprise exposed skin, the same point on the other arm may also be determined to comprise exposed skin. On the legs of an occupant, where a point on a first leg of the occupant is determined to comprise exposed skin, the same point on the other leg may also be determined to comprise exposed skin. On a limb of the occupant, where a point on the limb at a given distance from the end of the limb is identified as having exposed skin, the control system may determine that all otherpoints at the given distance from the end of the limb also comprise exposed skin. In particular, where a front of a part of the limb is determined to comprise exposed skin, the back of the same part of the limb may be determined to comprise exposed skin. Similarly, where a back of a part of the limb is determined to comprise exposed skin, the front of the same part of the limb may be determined to comprise exposed skin.

[0076] The control system 300 may determine that an area of skin which is exposed at a first point in time is also exposed at a second point in time. The control system 300 may determine that an area of skin which is exposed in the image data at a first point in time is also exposed at a second point in time even where that area of the occupant cannot be seen in image data from the second point in time.

[0077] At step 630 the control system 300 outputs a control signal controlling the HVAC system 200 to control airflow in the cabin according to the pose of the occupant and the location of the exposed skin. The control system 300 may determine one or more first regions based on the location of the exposed skin of the occupant. The one or more first regions may contain all of the locations which are determined to comprise the exposed skin of the occupant. The one or more first regions may contain all of the locations which within a threshold distance of the locations determined to comprise the exposed skin of the occupant. The threshold distance may be determined in dependence on the difference between a current temperature of air in the cabin and a target temperature of air in the cabin. The threshold distance may decrease as a difference between a current temperature of air in the cabin and a target temperature of air in the cabin decreases. The threshold distance may be proportional to a difference between a current temperature of air in the cabin and a target temperature of air in the cabin.

[0078] Figure 8 shows an example distance sensing device 700 which may be provided in a vehicle 100. The distance sensing device 700 comprises at least one distance sensing device controller 710. The distance sensing device controller 710 is arranged to control a distance sensor 720 to determine a distance between the distance sensing device 700 and objects in the cabin of the vehicle 100. The distance sensor may comprise an infrared distance sensor, a lidar sensor, an ultrasonic sensor, a radar sensor, or an LED time of flight sensor.

[0079] The distance sensor 720 may capture information about the occupant including information about the distance between parts of the occupant and the distance sensing device 700. The distance sensing device controller 710 further comprises a distance sensing device output means 730, and the distance sensing device controller 710 is arranged to control the distance sensing device output means 730 to transmit data based upon the distances sensed by the distance sensor 720 to the control system 300. In the control system 300, the data based upon the distances sensed by the distance sensor 720 may be received by the control system input means 340. In embodiments where the vehicle 100 comprises a distance sensing device 700, the control system controller 310 may determine the pose of the occupant based in part on data based upon the distances sensed by the distance sensor 720.

[0080] In an embodiment, the control system 300 may determine information about the distance between parts of the occupant and image capture device 400 by performing a depth estimation on one or more images received from the image capture device 400 using a depth estimation Al model. The control system controller 310 maythen determine the pose of the occupant based in part on the information about the distance between parts of the occupant and image capture device 400.

[0081] It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.

Claims

CLAIMS1. A control system for controlling a heating, ventilation and air conditioning, HVAC, system of a vehicle, the control system comprising one or more processors collectively configured to:receive, from one or more cameras of the vehicle, at least one image of a cabin of the vehicle; determine, in dependence on the at least one image, a pose of an occupant of the vehicle relative to the cabin; andoutput a control signal controlling the HVAC system to control air flow in the cabin according to the pose of the occupant.

2. The control system of claim 1 , wherein the one or more processors is collectively configured to determine the pose of the occupant by fitting a human body model to the at least one image.

3. The control system of claim 1 or claim 2, wherein the one or more processors are collectively configured to determine a first region within the vehicle and a second region within the vehicle, the first region and second region being determined in dependence on the pose of the occupant, the one or more processors being collectively configured to control the HVAC system such that the velocity, amount or temperature of air directed to the first region by the HVAC system is different to the velocity, amount or temperature of air directed to the second region by the HVAC system.

4. The control system of claim 3, wherein the velocity or amount of air directed to the first region is different to the velocity or amount of air directed to the second region, and wherein the difference between the velocity or amount of air directed to the first region and to the second region is determined in dependence on the difference between a current temperature of air in the cabin and a target temperature of air in the cabin.

5. The control system of claim 3 or claim 4, wherein the temperature of air directed to the first region is different to the temperature of air directed to the second region, and wherein the difference between the temperature of air directed to the first region and to the second region is determined in dependence on the difference between the current temperature of air in the cabin and the target temperature of air in the cabin.

6. The control system of any of claims 3 to 5, wherein the control system is configured to control the HVAC system to decrease a difference between the velocity, amount or temperature of air directed to the first region and the velocity, amount or temperature of air directed to the second region as the difference between the current temperature of air in the cabin and a target temperature of air in the cabin decreases.

7. The control system of any of claims 3 to 6, wherein the one or more processors are collectively configured to:determine at least one area in the at least one image which shows exposed skin of the occupant;map the at least one area which shows the exposed skin of the occupant to the pose of the occupant to determine a location of the exposed skin of the occupant relative to the cabin; and determine the first region based on the location of the exposed skin of the occupant.

8. The control system of claim 7, wherein the location of the exposed skin is a first location, and wherein the one or more processors are collectively configured to, having determined the first location, determine a second location within the cabin where the exposed skin of the occupant is located, wherein the second location is not visible within the at least one image and wherein the second location is determined based on the pose of the occupant and an expected symmetry of the occupant or their clothing.

9. The control system of claim 7 or claim 8, wherein the one or more processors are collectively configured to determine the first region to contain every point within the cabin which is within a threshold distance of the location of the exposed skin of the occupant.

10. The control system of claim 9, wherein the threshold distance is determined in dependence on the difference between a current temperature of air in the cabin and a target temperature of air in the cabin.

11. The control system of any of claims 3 to 10, wherein the one or more processors are collectively configured to control the HVAC system to provide no direct air flow to the first region.

12. A system comprising the control system of any preceding claim and an HVAC system, the HVAC system comprising at least one vent, the vent comprising one or more control surfaces which control the direction of air emerging from the vent,wherein the vent further comprises a motor coupled to the one or more control surfaces, and wherein the control system is configured to output the control signal to the motor to change the position of the one or more control surfaces.

13. A vehicle comprising the system of claim 12, or the control system of claims 1 to 11.

14. A method for controlling an HVAC system of a vehicle, the method comprising:receiving, from one or more cameras of the vehicle, at least one image of a cabin of the vehicle; determining, in dependence on the at least one image, a pose of an occupant of the vehicle relative to the cabin; andoutputting a control signal controlling the HVAC system to control air flow in the cabin according to the pose of the occupant.

15. Computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the method according to claim 14.

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