CN-122008973-A - In-car article taking method and system combining seat adjustment and visual identification

CN122008973ACN 122008973 ACN122008973 ACN 122008973ACN-122008973-A

Abstract

The invention provides a method and a system for taking articles in a vehicle by combining seat adjustment and visual identification, and belongs to the technical field of vehicle control. The method comprises the steps of periodically collecting a rear-row area image through a camera in a vehicle, identifying an object type and a position frame in the image by utilizing a target detection algorithm, outputting object confidence and object position information, calculating an accessible area range according to the front and rear positions, the backrest angle and the height of a seat by taking a preset reference point of a front-row seat as a reference, calculating the spatial relationship between the object position information and the accessible area range in real time, confirming that the target object cannot be directly taken if the target object exceeds the accessible area range, calculating and obtaining a seat adjusting action when the target object cannot be directly taken, enabling the target object to enter the accessible area of a front-row passenger after the seat adjusting action is completed, generating a control command sequence according to the seat adjusting action, and sending the control command sequence to a seat control unit for execution. The intelligent auxiliary object taking device has the function of realizing intelligent auxiliary object taking.

Inventors

CHEN QIN
Ma Mengxi
SHI YUQIN
Lv Dongli
ZHANG NA

Assignees

东风汽车集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260316

Claims (10)

1. A method for accessing an article in a vehicle combining seat adjustment and visual identification, comprising: Periodically acquiring a rear-row area image through an in-car camera, identifying the type and position frame of an article in the image by utilizing a target detection algorithm, and outputting the confidence coefficient and the position information of the article; taking a preset datum point of a front row of seats as a reference, and calculating an accessible region range according to the front and rear positions, the backrest angle and the height of the seats; Calculating the spatial relationship between the position information of the object and the range of the accessible area in real time, and if the object exceeds the range of the accessible area, confirming that the object is not available directly; When the target article is not directly available, calculating and obtaining a seat adjusting action so that the target article can enter the reach range of a front passenger after the seat adjusting action is finished, and generating a control command sequence according to the seat adjusting action and sending the control command sequence to a seat control unit for execution.
2. The method according to claim 1, wherein the step of periodically acquiring the rear-row area image by the in-vehicle camera, identifying the type of the article and the position frame in the image by using the target detection algorithm, and outputting the confidence level of the article and the position information of the article comprises the steps of: and estimating the spatial position of the object relative to the vehicle by combining the in-vehicle camera calibration parameters and a monocular depth estimation algorithm or a binocular matching algorithm to obtain the position information of the object under the vehicle coordinate system.
3. The method according to claim 1, wherein the step of calculating the accessible range based on the front-rear position, the back angle, and the height of the seat, using the reference point preset for the front seat as a reference: the reach area is a three-dimensional space area taking a preset reference point of a front seat as a center and comprises a maximum touchable distance in the front-back direction, a maximum touchable distance in the up-down direction and a maximum touchable distance in the left-right direction.
4. The method of claim 1, wherein when the target item is not directly available, calculating and obtaining a seat adjustment action so that the target item can enter an reach of a front passenger after the seat adjustment action is completed, and generating a control command sequence according to the seat adjustment action and sending the control command sequence to a seat control unit to execute the steps comprises: when the target object is not directly available, reading the adjustment capability of the vehicle seat, wherein the adjustment capability comprises maximum forward travel, maximum backrest forward inclination angle and maximum lifting height; generating a plurality of action combinations in the adjusting capacity range of the vehicle seat, predicting a new position of a front seat datum point after adjustment of each group of action combinations, calculating a new accessible area range corresponding to the new position, and judging whether a target object enters the new accessible area range; When the target action combination can enable the target object to enter the new reach area, the target action combination is confirmed to enable the target object to enter the reach area of the front passenger after the target action combination is completed, and a control command sequence is generated according to the target action combination and sent to the seat control unit for execution.
5. The method according to claim 4, wherein when the target action combination enables the target article to enter the new reach area, the target action combination is confirmed so that the target article can enter the reach area of the front passenger after the target action combination is completed, and the control command sequence is generated according to the target action combination and sent to the seat control unit execution step: When a plurality of target action combinations enable the target articles to enter the corresponding new reach areas, the target action combinations with the minimum total adjustment quantity, the minimum influence on the comfort of passengers or smooth adjustment process and short execution time are selected as the optimal seat adjusting actions, and a control command sequence is generated according to the optimal seat adjusting actions and sent to a seat control unit for execution.
6. The method according to claim 4, wherein when the target article is not directly available, the seat adjusting action is calculated and obtained so that the target article can enter the reach of the front passenger after the seat adjusting action is completed, and a control command sequence is generated according to the seat adjusting action and sent to the seat control unit execution step: And when any preset safety condition is not met, not executing the generation control command sequence according to the seat adjusting action, sending the control command sequence to the seat control unit for executing the steps, and sending a prompt that the safety condition is not met.
7. The method as recited in claim 1, further comprising: And after the seat adjusting action is finished, detecting the position of the target object by using the camera in the vehicle, calculating the range of the current seat, if the target object enters the range of the current seat, sending out a prompt that the object is preferable, and if the target object does not enter the range of the current seat, sending out a prompt for manually taking the object or re-triggering the planning.
8. An in-vehicle item access system combining seat adjustment and visual identification configured to enable the method of any one of claims 1 to 7, the system comprising: The article identification and positioning module is used for periodically acquiring a rear-row area image through an in-vehicle camera, identifying the type and position frame of an article in the image by utilizing a target detection algorithm, and outputting the confidence coefficient and the position information of the article; The module for calculating the reach area is used for calculating the reach area according to the front and back positions, the backrest angle and the height of the seat by taking a preset datum point of the front row of seats as a reference; The accessibility analysis module is used for calculating the spatial relationship between the position information of the object and the accessibility area range in real time, and confirming that the object is not available directly if the object exceeds the accessibility area range; And the seat motion planning module is used for calculating and obtaining a seat adjusting motion when the target object is not directly available, so that the target object can enter the reach range of a front passenger after the seat adjusting motion is finished, and generating a control command sequence according to the seat adjusting motion and sending the control command sequence to the seat control unit for execution.
9. An electronic device, comprising: one or more processors; A memory for storing one or more programs; when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1 to 7.
10. A computer readable medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the method according to any of claims 1 to 7.

Description

In-car article taking method and system combining seat adjustment and visual identification Technical Field The invention relates to the technical field of vehicle control, in particular to a method and a system for taking articles in a vehicle by combining seat adjustment and visual identification. Background In an actual car scenario, a driver or co-driver often needs to take items on the rear seat, such as bags, drinks, documents or umbrellas. However, under the traditional design, the passenger is often required to unlock the safety belt, turn around and even get off, so that the driving safety is affected, and the use convenience in the vehicle is reduced. The prior art schemes often predict whether there is an intention to move backward by detecting the body posture of the front passenger, and assist in moving the seat when it is determined that there is a tendency to pick up a thing. However, such methods cannot directly identify the presence and location of the item, or cannot implement targeted automatic auxiliary picking operations, based only on the estimation of the occupant's motion intention. Disclosure of Invention The invention aims to solve at least one of the problems in the prior art, and provides a novel method for combining visual recognition and seat adjustment, so that a vehicle can actively sense the position of a rear-row article, and the seat adjustment action is automatically planned under the condition of meeting the safety constraint condition, thereby helping passengers to take articles conveniently and safely. In a first aspect, an embodiment of the present invention provides a method for taking an article in a vehicle, which combines seat adjustment and visual recognition, including: Periodically acquiring a rear-row area image through an in-car camera, identifying the type and position frame of an article in the image by utilizing a target detection algorithm, and outputting the confidence coefficient and the position information of the article; taking a preset datum point of a front row of seats as a reference, and calculating an accessible region range according to the front and rear positions, the backrest angle and the height of the seats; Calculating the spatial relationship between the position information of the object and the range of the accessible area in real time, and if the object exceeds the range of the accessible area, confirming that the object is not available directly; When the target article is not directly available, calculating and obtaining a seat adjusting action so that the target article can enter the reach range of a front passenger after the seat adjusting action is finished, and generating a control command sequence according to the seat adjusting action and sending the control command sequence to a seat control unit for execution. In a preferred embodiment, the step of periodically collecting the rear-row area image by the in-vehicle camera, identifying the type of the object and the position frame in the image by using the object detection algorithm, and outputting the confidence level of the object and the position information of the object includes the steps of: and estimating the spatial position of the object relative to the vehicle by combining the in-vehicle camera calibration parameters and a monocular depth estimation algorithm or a binocular matching algorithm to obtain the position information of the object under the vehicle coordinate system. In a preferred embodiment, the step of calculating the accessible region according to the front-rear position, the backrest angle and the height of the seat, using the preset reference point of the front row of seats as a reference, includes the steps of: the reach area is a three-dimensional space area taking a preset reference point of a front seat as a center and comprises a maximum touchable distance in the front-back direction, a maximum touchable distance in the up-down direction and a maximum touchable distance in the left-right direction. In a preferred embodiment, when the target article is not directly available, calculating and obtaining the seat adjusting action so that the target article can enter the reach of the front passenger after the seat adjusting action is completed, and generating a control command sequence according to the seat adjusting action and sending the control command sequence to the seat control unit to execute the steps includes: when the target object is not directly available, reading the adjustment capability of the vehicle seat, wherein the adjustment capability comprises maximum forward travel, maximum backrest forward inclination angle and maximum lifting height; generating a plurality of action combinations in the adjusting capacity range of the vehicle seat, predicting a new position of a front seat datum point after adjustment of each group of action combinations, calculating a new accessible area range corresponding to the new position, and judging whet