Relative intertial measurement system

Patent metadata

Field	Value
Publication number	US-10503245-B2
Application number	US-201615271563-A
Country	US
Kind code	B2
Filing date	Sep 21, 2016
Priority date	Sep 21, 2016
Publication date	Dec 10, 2019
Grant date	Dec 10, 2019

Abstract

Methods and systems for relative inertial measurement may include a user device configured to couple with a user's body and measure motion of the user's body or a part of the user's body while the user rides in a vehicle. A second inertial measurement device may be configured to move with the vehicle but to not move with movements of the user's body within the vehicle. One or more processors may receive inertial measurements from the first and second inertial measurement devices and determine movement of the user's body or the part of the user's body relative to the vehicle by comparing the received inertial measurements.

First claim

What is claimed is:

1. A system, comprising:
a controller device configured to be coupled with a user's head and move with the user's body head as the user indicates a desired control action in relation to a vehicle control of a vehicle in which the user is riding, wherein the controller device is included in a head-mounted device;
a display coupled with the head-mounted device;
an inertial measurement device mechanically coupled to or included in the controller device and configured to measure movement of the controller device as the controller device moves with the user's head and as the user's head moves with the vehicle in which the user is riding;
an additional inertial measurement device configured to move with the vehicle in which the user is riding without moving with the user's head, wherein the additional inertial measurement device is configured to measure movement of the vehicle; and
one or more processors configured to:
receive inertial measurements from the inertial measurement device mechanically coupled to or included in the controller device;
receive inertial measurements from the additional inertial measurement device configured to measure movement of the vehicle;
determine a relative movement of the controller device relative to a reference frame of the movement of the vehicle, wherein the relative movement of the controller device is determined based on differences between the received inertial measurements from the inertial measurement device and the additional inertial measurement device; and
determine one or more control actions to be taken by a control system of the vehicle, wherein at least one of the one or more control actions is determined solely based on the determined relative movement of the controller device.

2. The system of claim 1 , wherein the control system of the vehicle comprises a comfort control system.

3. The system of claim 2 ,
wherein the one or more processors are further configured to determine a view to be displayed in the display based on the determined relative movement of the head-mounted device.

4. The system of claim 1 , wherein the additional inertial measurement device is included in a separate device separate from the controller device, wherein the separate device is configured to be coupled with the vehicle by the user.

5. The system of claim 1 , wherein the additional inertial measurement device is included in a multi-purpose portable electronic device carried by the user.

6. The system of claim 1 , wherein the additional inertial measurement device is a built-in component of the vehicle.

7. The system of claim 1 , wherein the one or more processors are further configured to receive tracking data for determining a position of the controller device,
wherein the relative movement of the controller device relative to a reference frame of the movement of the vehicle is further determined based on the tracking data.

8. The system of claim 7 , wherein the tracking data comprises one or more distances between the controller device and a fixed reference point within the vehicle.

9. The system of claim 1 , wherein the additional inertial measurement device is configured to measure movement of the vehicle at a frequency equal to or greater than a frequency at which the inertial measurement device measures movement of the controller device as the controller device moves with the user's head and with the vehicle in which the user is riding.

10. A controller device, comprising:
an inertial measurement device configured to measure movement of the controller device:
as the controller device moves with a user's head to which the controller device is coupled as the user indicates a desired control action in relation to a vehicle control of a vehicle in which the user is riding; and
as the user's head moves with the vehicle in which the user is riding,

wherein the controller device is included in a head-mounted display, and wherein
a display is coupled to the head-mounted device; and one or more processors configured to:
receive inertial measurements from the inertial measurement device;
receive inertial measurements from an additional inertial measurement device configured to measure movement of the vehicle in which the user is riding, wherein the additional inertial measurement device is configured to move with the vehicle in which the user is riding without moving with the user's head to which the controller device is coupled;
determine relative movement information for the controller device relative to a reference frame of the movement of the vehicle, wherein the relative movement information for the controller device is determined based on differences between the inertial measurements received from the inertial measurement device and the inertial measurements received from the additional inertial measurement device; and
provide the relative movement information to a control system of the vehicle for use in determining one or more control actions to be taken by the control system of the vehicle, wherein at least one of the one or more control actions is determined solely based on the relative movement information.

11. The controller device of claim 10 , wherein:
the controller device is a controller for a comfort control system of the vehicle, an entertainment system of the vehicle, or another control system of the vehicle.

12. The controller device of claim 10 , wherein:
the head-mounted device is configured to move with the user's head in a direction in which the user is looking; and
the one or more processors are further configured to:
determine a view to be displayed in the display based on the determined relative movement of the head-mounted device; and
include, in a portion of the view to be displayed in the display, an image that corresponds with the movement of the vehicle, wherein the image that corresponds with the movement of the vehicle is determined based, at least in part, on the received inertial measurements from the additional measurement device.

13. The controller device of claim 12 , wherein the image that corresponds with the movement of the vehicle comprises a view of an environment through which the vehicle is travelling.

14. The controller device of claim 12 , wherein the image that corresponds with the movement of the vehicle appears to the user to move at a speed proportional to the speed of the vehicle.

15. A method, comprising:
receiving inertial measurements from an inertial measurement device coupled with a user's head as the user indicates a desired control action in relation to a vehicle control of a vehicle in which the user is riding, wherein the inertial measurement device is configured to measure movement of the user's head as the user's head moves with the vehicle in which the user is riding, wherein the inertial measurement device is included in a head-mounted device, and wherein a display is coupled to the head-mounted device;
receiving inertial measurements from an additional inertial measurement device configured to measure movement of the vehicle in which the user is riding, wherein the additional inertial measurement device is configured to move with the vehicle in which the user is riding without moving with the user's head to which the inertial measurement device is coupled;
determining a relative movement of the user's head relative to a reference frame of the movement of the vehicle, wherein the relative movement of the user's head is determined based on differences between the inertial measurements received from the inertial measurement device and the inertial measurements received from the addit

Assignees

• Apple Inc

Inventors

• Rothkopf Fletcher R

Classifications

• G02B27/017

  Head mounted · CPC title

• G06F3/012 Primary

  Head tracking input arrangements · CPC title

• G06F3/011

  Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00) · CPC title

• G06F3/0346

  with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors · CPC title

• G02B27/0179

  Display position adjusting means not related to the information to be displayed · CPC title