CN111197446A - Method and device for opening trunk, storage medium and vehicle - Google Patents
Method and device for opening trunk, storage medium and vehicle Download PDFInfo
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- CN111197446A CN111197446A CN201811385380.XA CN201811385380A CN111197446A CN 111197446 A CN111197446 A CN 111197446A CN 201811385380 A CN201811385380 A CN 201811385380A CN 111197446 A CN111197446 A CN 111197446A
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000005484 gravity Effects 0.000 claims abstract description 142
- 230000008859 change Effects 0.000 claims abstract description 35
- 230000008569 process Effects 0.000 claims abstract description 26
- 230000002159 abnormal effect Effects 0.000 claims description 44
- 238000004590 computer program Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 210000004197 pelvis Anatomy 0.000 description 6
- 210000003414 extremity Anatomy 0.000 description 5
- 230000006698 induction Effects 0.000 description 5
- 238000003825 pressing Methods 0.000 description 3
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/548—Trunk lids
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Abstract
The disclosure relates to a method, a device, a storage medium and a vehicle for opening a trunk, wherein when the vehicle is in a parking state, whether a target terminal exists in a preset area of the vehicle is determined, and the target terminal comprises a terminal which is in a binding relationship with the vehicle in advance; when the target terminal is determined to exist, acquiring the change information of the gravity center position of a target user carrying the target terminal in the moving process; determining whether to open a trunk of the vehicle according to the change information of the position of the center of gravity; and when the trunk is determined to be opened, opening the trunk.
Description
Technical Field
The disclosure relates to the field of vehicle control, in particular to a method and a device for opening a trunk, a storage medium and a vehicle.
Background
When a user wants to open the trunk of the vehicle, the trunk can be opened by triggering the opening button, or after the user enters a preset area of the trunk, the trunk is opened by sensing related actions (such as leg lifting, foot kicking and the like) of a specific part of the user by the vehicle, but when the user carries a large article, the trunk is inconvenient to open manually, and the specified sensing actions are inconvenient to do.
Disclosure of Invention
In order to solve the existing problems, the present disclosure provides a method and an apparatus for opening a trunk, a storage medium, and a vehicle.
According to a first aspect of embodiments of the present disclosure, there is provided a method of opening a trunk, the method including: when a vehicle is in a parking state, determining whether a target terminal exists in a preset area of the vehicle, wherein the target terminal comprises a terminal which is in a binding relationship with the vehicle in advance; when the target terminal is determined to exist, acquiring the change information of the gravity center position of a target user carrying the target terminal in the moving process; determining whether the target user is in a loaded state according to the gravity center position change information; opening a trunk of the vehicle upon determining that the target user is in the loaded state.
Optionally, the information about the change of the position of the center of gravity includes a center of gravity motion trajectory, and the acquiring information about the change of the position of the center of gravity of the target user carrying the target terminal during the moving process includes: collecting the moving image of the target user according to a preset period; determining the position of the center of gravity of the target user in each moving image acquired within a preset time period; and generating the gravity center motion trail according to the gravity center position.
Optionally, the gravity center motion trajectory includes a gravity center motion trajectory when the target user moves in a plurality of movement cycles within a preset time period, and each movement cycle includes a time sum of one single-foot supporting phase and an adjacent one double-foot supporting phase of the target user in a moving process; the determining whether the target user is in a loaded state according to the gravity center position change information includes: determining first movement time required by the gravity center from the lowest position to the highest position when the target user moves in each movement period according to the gravity center movement track; determining whether the target user is in an abnormal walking state according to the first moving time; determining whether the target user is in a weight bearing state according to the moving image when it is determined that the target user is in the abnormal walking state.
Optionally, before the determining whether the target user is in the abnormal walking state according to the first moving time, the method further includes: determining a second movement time required by the gravity center from the highest position to the lowest position when the target user moves in each movement period according to the gravity center movement track; the determining whether the target user is in an abnormal walking state according to the first moving time includes: calculating the difference value between the first moving time and the second moving time in the current moving period to obtain a first time difference value; determining whether the first time difference value is greater than or equal to a first preset time threshold; when the first time difference value is determined to be larger than or equal to a first preset time threshold value, determining whether the first time difference value in each subsequent movement period is larger than or equal to the first preset time threshold value in a preset number of subsequent movement periods adjacent to the current movement period; and when the first time difference value in each subsequent movement period is determined to be greater than or equal to the first preset time threshold, determining that the target user is in an abnormal walking state.
Optionally, before the determining whether the target user is in the abnormal walking state according to the first moving time, the method further includes: acquiring a preset gravity center motion track, wherein the preset gravity center motion track comprises a gravity center motion track of the target user during normal walking; determining a third moving time of the gravity center from the lowest position to the highest position in a moving period when the target person normally walks according to the preset gravity center moving track; the determining whether the target user is in an abnormal walking state according to the first moving time includes: calculating a difference value between the first moving time and the third moving time in the current moving period to obtain a second time difference value; determining whether the second time difference value is greater than or equal to a second preset time threshold value; when the second time difference value is determined to be larger than or equal to a second preset time threshold value, determining whether the second time difference value in each subsequent moving period is larger than or equal to the second preset time threshold value in a preset number of subsequent moving periods adjacent to the current moving period; and when the second time difference value in each subsequent movement period is determined to be greater than or equal to the second preset time threshold, determining that the target user is in an abnormal walking state.
Optionally, the determining whether the target user is in a weighted state according to the moving image comprises: obtaining a partial image of a weight-bearing item carried by the target user on the moving image; determining a volume of the weight-bearing item from the partial image; determining whether the volume of the weight-bearing item is greater than or equal to a preset volume threshold; determining that the target user is in the weight-bearing state when the volume of the weight-bearing item is greater than or equal to the preset volume threshold; determining that the target user is in a non-weight bearing state when the volume of the weight-bearing item is less than the preset volume threshold.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for opening a trunk, the apparatus including: the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining whether a target terminal exists in a preset area of a vehicle when the vehicle is in a parking state, and the target terminal comprises a terminal which is in a binding relationship with the vehicle in advance; the first acquisition module is used for acquiring the change information of the gravity center position of a target user carrying the target terminal in the moving process when the target terminal is determined to exist; the second determination module is used for determining whether the target user is in a load state according to the gravity center position change information; a trunk opening module for opening a trunk of the vehicle upon determining that the target user is in the loaded state.
Optionally, the barycentric location change information includes a barycentric motion trajectory, and the first obtaining module includes: the acquisition submodule is used for acquiring the moving image of the target user according to a preset period; a first determining submodule configured to determine a position of a center of gravity of the target user in each of the moving images acquired within a preset time period; and the generation submodule is used for generating the gravity center motion trail according to the gravity center position.
Optionally, the gravity center motion trajectory includes a gravity center motion trajectory when the target user moves in a plurality of movement cycles within a preset time period, and each movement cycle includes a time sum of one single-foot supporting phase and an adjacent one double-foot supporting phase of the target user in a moving process;
the second determining module is used for determining a first moving time required by the gravity center from the lowest position to the highest position when the target user moves in each moving period according to the gravity center motion track; determining whether the target user is in an abnormal walking state according to the first moving time; determining whether the target user is in a weight bearing state according to the moving image when it is determined that the target user is in the abnormal walking state.
Optionally, the apparatus further comprises: the first movement time determining module is used for determining second movement time required by the gravity center from the highest position to the lowest position when the target user moves in each movement period according to the gravity center movement track; the second determining module is configured to calculate a difference between the first moving time and the second moving time in the current moving period to obtain a first time difference; determining whether the first time difference value is greater than or equal to a first preset time threshold; when the first time difference value is determined to be larger than or equal to a first preset time threshold value, determining whether the first time difference value in each subsequent movement period is larger than or equal to the first preset time threshold value in a preset number of subsequent movement periods adjacent to the current movement period; and when the first time difference value in each subsequent movement period is determined to be greater than or equal to the first preset time threshold, determining that the target user is in an abnormal walking state.
Optionally, the apparatus further comprises: the second movement time determination module is used for acquiring a preset gravity center movement track, wherein the preset gravity center movement track comprises a gravity center movement track of the target user during normal walking, and determining third movement time of the target person during normal walking, wherein the gravity center moves from the lowest position to the highest position in a movement period;
the second determining module is configured to calculate a difference between the first moving time and the third moving time in the current moving period to obtain a second time difference; determining whether the second time difference value is greater than or equal to a second preset time threshold value; when the second time difference value is determined to be larger than or equal to a second preset time threshold value, determining whether the second time difference value in each subsequent moving period is larger than or equal to the second preset time threshold value in a preset number of subsequent moving periods adjacent to the current moving period; and when the second time difference value in each subsequent movement period is determined to be greater than or equal to the second preset time threshold, determining that the target user is in an abnormal walking state.
Optionally, the second determining module is configured to obtain a partial image of a weight-bearing item carried by the target user on the moving image; determining a volume of the weight-bearing item from the partial image; determining whether the volume of the weight-bearing item is greater than or equal to a preset volume threshold; determining that the target user is in the weight-bearing state when the volume of the weight-bearing item is greater than or equal to the preset volume threshold; determining that the target user is in a non-weight bearing state when the volume of the weight-bearing item is less than the preset volume threshold.
According to a third aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect of the present disclosure.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a vehicle including the apparatus for opening a trunk according to the second aspect of the present disclosure.
Through the technical scheme, when the vehicle is in a parking state, whether a target terminal exists in a preset area of the vehicle is determined, and the target terminal comprises a terminal which is in a binding relationship with the vehicle in advance; when the target terminal is determined to exist, acquiring the change information of the gravity center position of a target user carrying the target terminal in the moving process; determining whether to open a trunk of the vehicle according to the change information of the position of the center of gravity; when the trunk is certainly opened, the trunk is opened, so that the trunk can be automatically opened according to the change information of the gravity center position of the target user in the moving process when the vehicle is in a parking state, the user does not need to open the trunk in a manual pressing mode, the user does not need to open the trunk through limb action induction after the user is close to the trunk, the intelligent level of opening the trunk is improved, and the user experience of the user in using the vehicle is also improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of opening a trunk in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating yet another method of opening a trunk in accordance with an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating a motion profile of a center of gravity according to an exemplary embodiment;
FIG. 4 is a block diagram illustrating a first means for opening a trunk in accordance with an exemplary embodiment;
FIG. 5 is a block diagram illustrating a second means for opening a trunk in accordance with an exemplary embodiment;
FIG. 6 is a block diagram illustrating a third apparatus for opening a trunk in accordance with an exemplary embodiment;
fig. 7 is a block diagram illustrating a fourth apparatus for opening a trunk according to an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
The disclosure provides a method, a device, a storage medium and a vehicle for opening a trunk, wherein when the vehicle is in a parking state, whether a target terminal exists in a preset area of the vehicle is determined, and the target terminal comprises a terminal which is in a binding relationship with the vehicle in advance; when the target terminal is determined to exist, acquiring the change information of the gravity center position of a target user carrying the target terminal in the moving process; determining whether to open a trunk of the vehicle according to the change information of the position of the center of gravity; when the trunk is certainly opened, the trunk is opened, so that the trunk can be automatically opened according to the change information of the gravity center position of the target user in the moving process when the vehicle is in a parking state, the user does not need to open the trunk in a manual pressing mode, the user does not need to open the trunk through limb action induction after the user is close to the trunk, the intelligent level of opening the trunk is improved, and the user experience of the user in using the vehicle is also improved.
Specific embodiments of the present disclosure will be described in detail with reference to specific examples.
FIG. 1 is a flow chart illustrating a method of opening a trunk, as shown in FIG. 1, according to an exemplary embodiment, the method comprising the steps of:
in step 101, when a vehicle is in a parking state, it is determined whether a target terminal exists in a preset area of the vehicle, where the target terminal includes a terminal that has a binding relationship with the vehicle in advance.
In a possible implementation manner, a user can pre-establish a binding between the target terminal and the vehicle through a terminal application program, and after the binding is established, the target terminal can be associated with a keyless entry system of the vehicle, a wireless radio frequency system is built in the target terminal, the vehicle is in a parking state, when the target user carries the target terminal to enter the preset area, the wireless radio frequency system of the target terminal is communicated with the vehicle, the vehicle verifies identity identification information sent by the target terminal, and after the verification is passed, the target terminal is determined to exist in the preset area.
When judging whether the vehicle is in a parking state, firstly judging whether the vehicle is in a power-off state, when the vehicle is in the power-off state, determining that the vehicle is in the parking state, when the vehicle is in the power-on state, judging whether an engine flameout signal is received, when determining that the engine flameout signal is received, determining that the vehicle is in the parking state, when determining that the engine flameout signal is not received, further judging whether a vehicle speed value of the vehicle in a preset time interval is less than or equal to a preset vehicle speed threshold value, when determining that the vehicle speed value is less than or equal to the preset vehicle speed threshold value, determining that the vehicle is in the parking state, in addition, when determining that the engine flameout signal is not received, also determining whether a vehicle parking system (such as an electronic hand brake system or an automatic parking system) is started, when determining that the parking system is started, it is determined that the vehicle is in a parked state.
The preset area is a specific area outside a vehicle trunk, the specific area can be a sector area which uses a first preset distance as a radius and uses a second preset distance as a length and can point to the rear of the vehicle along the vertical side of the trunk, and the horizontal width of the trunk is a wide rectangular area.
In step 102, when the target terminal is determined to exist, the change information of the gravity center position of the target user carrying the target terminal in the moving process is obtained.
The center-of-gravity position change information may include a center-of-gravity motion trajectory, where the center-of-gravity motion trajectory may include a center-of-gravity motion trajectory when the target user moves in a plurality of movement cycles within a preset time period, one movement cycle includes a time sum of a single-foot supporting phase (i.e., a time when a human body contacts the ground and bears gravity) of the target user during a movement process and an adjacent single-foot supporting phase (i.e., a time when a human body contacts the ground and bears gravity) of the target user during a walking process, and the center-of-gravity motion trajectory may indicate different center-of-gravity positions corresponding to different movement times when the target user moves within the preset time period.
In this step, the moving image of the target user may be collected according to a preset period; determining the gravity center position of the target user in each moving image acquired within a preset time period; and generating the gravity center motion trail according to the gravity center position.
Specifically, the moving images of the target user may be acquired by the image acquisition device according to the preset cycle, and in addition, considering that the position of the center of gravity of the human body is on the center line of the pelvis when the human body is walking, the movement of the pelvis may be equivalent to the movement of the center of gravity when the human body is moving, and therefore, in this step, when the position of the center of gravity of the target user in each of the moving images acquired within the preset time period is determined, the position of the target pixel representing the center of the pelvis in each of the moving images may be taken as the position of the center of gravity of the target user; when the center of gravity motion trajectory is generated according to the center of gravity position, the position coordinates of the center of gravity position determined in each moving image may be connected in the same coordinate system, so as to generate the actual center of gravity motion trajectory of the target user, but the actual center of gravity motion trajectory is obtained by plotting point connecting lines according to a plurality of discrete center of gravity position points of the target user within the preset time period, and has a certain error.
In step 103, it is determined whether to open the trunk of the vehicle based on the center of gravity position change information.
In this step, it may be determined whether the target user is in a loaded state according to the gravity center motion trajectory; determining to open a trunk of the vehicle upon determining that the target user is in the loaded state.
When determining whether the target user is in a weight bearing state according to the gravity center motion trajectory, determining a first movement time required by the gravity center from the lowest position to the highest position when the target user moves in each movement period according to the gravity center motion trajectory, determining whether the target user is in an abnormal walking state according to the first movement time, and determining whether the target user is in the weight bearing state according to the moving image when determining that the target user is in the abnormal walking state.
Considering that in an actual scenario, when a human body is walking normally, the time of the two-foot supporting phase and the time of the one-foot supporting phase are approximately the same in each moving cycle, but when the target user is carrying a large article to the trunk of the vehicle, the target user needs more two-foot supporting time to raise the center of gravity from the lowest position to the highest position due to being in a loaded state, the duration time of the two-foot supporting phase of the target user is longer, that is, the moving time of the center of gravity from the lowest position to the highest position is longer, and the target user is in an abnormal walking state, therefore, in a possible implementation manner, the second moving time of the center of gravity from the lowest position to the highest position when the target user moves in each moving cycle can be determined according to the motion trajectory of the center of gravity, and the difference between the first moving time and the second moving time in the current moving cycle is calculated, obtaining a first time difference value, determining whether the first time difference value is greater than or equal to a first preset time threshold value, determining whether the first time difference value is greater than or equal to the first preset time threshold value in a preset number of subsequent moving periods adjacent to the current moving period when the first time difference value is greater than or equal to the first preset time threshold value, and determining that the target user is in an abnormal walking state when the first time difference value in each subsequent moving period is greater than or equal to the first preset time threshold value.
In addition, since the process of moving the target user toward the trunk of the vehicle is a continuous process, in another possible embodiment, a preset center-of-gravity motion trajectory including the center-of-gravity motion trajectory of the target user during normal walking may be obtained, a third moving time during which the center of gravity of the target person moves from the lowest position to the highest position during a moving period during normal walking may be determined according to the preset center-of-gravity motion trajectory, a difference between the first moving time and the third moving time during the current moving period may be calculated to obtain a second time difference, whether the second time difference is greater than or equal to a second preset time threshold may be determined, and when the second time difference is determined to be greater than or equal to the second preset time threshold, in a preset number of subsequent moving periods adjacent to the current moving period, and determining whether the second time difference value in each subsequent moving period is greater than or equal to a second preset time threshold, and determining that the target user is in a walking abnormal state when the second time difference value in each subsequent moving period is greater than or equal to the second preset time threshold.
It should be noted that, considering that the abnormal walking state may include a weight-bearing state, a walking state when the walking speed is reduced, a walking obstacle state, and the like, after it is determined that the target user is in the abnormal walking state, it cannot be directly determined that the target user is always in the weight-bearing state, and therefore, it is further necessary to determine whether the target user is actually in the weight-bearing state according to a moving image of the target user, wherein the moving image may be acquired by a 360-degree panoramic image acquisition device, and when it is determined that the target user is in the weight-bearing state according to the moving image, a local image of a weight-bearing article carried by the target user may be acquired on the moving image; determining a volume of the weight-bearing item from the local image; determining whether the volume of the weight-bearing item is greater than or equal to a preset volume threshold; determining that the target user is in the weight-bearing state when the volume of the weight-bearing article is greater than or equal to the preset volume threshold; and when the volume of the weight-bearing article is smaller than the preset volume threshold value, determining that the target user is in a non-weight-bearing state.
In step 104, upon determining to open the trunk, the trunk is opened.
By adopting the method, when the vehicle is in a parking state, the trunk can be automatically opened according to the change information of the gravity center position of the target user in the moving process, the user does not need to manually press the trunk again, and the user does not need to approach the trunk and open the trunk through the limb action induction, so that the intelligent level of opening the trunk is improved, and the vehicle using experience of the user is also improved.
FIG. 2 is a flow chart illustrating yet another method of opening a trunk, as shown in FIG. 2, according to an exemplary embodiment, the method comprising the steps of:
in step 201, when a vehicle is in a parking state, it is determined whether a target terminal exists in a preset area of the vehicle, where the target terminal includes a terminal that has a binding relationship with the vehicle in advance.
In a possible implementation manner, a user can pre-establish a binding between the target terminal and the vehicle through a terminal application program, and after the binding is established, the target terminal can be associated with a keyless entry system of the vehicle, a wireless radio frequency system is built in the target terminal, the vehicle is in a parking state, when the target user carries the target terminal to enter the preset area, the wireless radio frequency system of the target terminal is communicated with the vehicle, the vehicle verifies identity identification information sent by the target terminal, and after the verification is passed, the target terminal is determined to exist in the preset area.
When judging whether the vehicle is in a parking state, firstly judging whether the vehicle is in a power-off state, when the vehicle is in the power-off state, determining that the vehicle is in the parking state, when the vehicle is in the power-on state, judging whether an engine flameout signal is received, when determining that the engine flameout signal is received, determining that the vehicle is in the parking state, when determining that the engine flameout signal is not received, further judging whether a vehicle speed value of the vehicle in a preset time interval is less than or equal to a preset vehicle speed threshold value, when determining that the vehicle speed value is less than or equal to the preset vehicle speed threshold value, determining that the vehicle is in the parking state, in addition, when determining that the engine flameout signal is not received, also determining whether a vehicle parking system (such as an electronic hand brake system or an automatic parking system) is started, when determining that the parking system is started, it is determined that the vehicle is in a parked state.
The preset area is a specific area outside a vehicle trunk, the specific area can be a sector area which uses a first preset distance as a radius and uses a second preset distance as a length and can point to the rear of the vehicle along the vertical side of the trunk, and the horizontal width of the trunk is a wide rectangular area.
Executing step 202 to step 207 when it is determined that the target terminal exists in the preset area;
when it is determined that the target terminal does not exist in the preset area, step 209 is performed.
In step 202, a moving image of a target user carrying the target terminal is collected according to a preset period.
In this step, the moving image may be acquired by an image acquisition device.
In step 203, the position of the center of gravity of the target user in each of the moving images acquired within a preset time period is determined.
In the present step, the position of the target pixel representing the center of the pelvis in each of the moving images when the target user moves within the preset time period may be set as the position of the center of gravity of the target user, in consideration of the fact that the position of the center of gravity of the human body is on the center line of the pelvis when the human body is walking and the movement of the pelvis when the human body moves may correspond to the movement of the center of gravity.
In step 204, a center of gravity motion trajectory is generated based on the center of gravity position.
The center-of-gravity motion trajectory may include a center-of-gravity motion trajectory when the target user moves in a plurality of movement cycles within the preset time period, one movement cycle includes a sum of time of one single-foot supporting phase (i.e., time of one single foot contacting the ground and bearing gravity when the human body is walking) and time of an adjacent one double-foot supporting phase (i.e., time of one double foot contacting the ground and bearing gravity when the human body is walking) of the target user in a movement process, and the center-of-gravity motion trajectory may indicate different center-of-gravity positions corresponding to different movement moments when the target user moves within the preset time period.
In this step, the position coordinates of the center of gravity position determined in each moving image may be connected in the same coordinate system, so as to generate the actual center of gravity motion trajectory of the target user, but the actual center of gravity motion trajectory is obtained by only plotting points and connecting lines according to a plurality of discrete center of gravity position points of the target user within the preset time period, and has a certain error.
In step 205, a first moving time required for the center of gravity to move from the lowest position to the highest position in each moving period of the target user is determined according to the motion trajectory of the center of gravity.
For example, fig. 3 is a schematic diagram of the gravity center motion trajectory, as shown in fig. 3, a time point a to a time point C in an abscissa correspond to one moving period of the gravity center motion trajectory, where the time point a corresponds to a highest point of the gravity center motion trajectory, the time point B corresponds to a lowest point of the gravity center motion trajectory, the time point C corresponds to a highest point of the gravity center motion trajectory, and the time points a to B correspond to a time of a one-foot supporting phase of the target user in one moving period during the moving process, and the time points B to C correspond to a time of a two-foot supporting phase of the target user in one moving period during the moving process, in the gravity center motion trajectory shown in fig. 3, the time points B to C corresponding to the two-foot supporting phases may be determined as the first moving time point in one moving period corresponding to the time points a to C, which is just described as an example, the present disclosure is not limited thereto.
In step 206, it is determined whether the target user is in a walking abnormal state according to the first moving time.
In this step, considering that in an actual scene, when a human body is walking normally, the time of the two-foot supporting phase and the time of the one-foot supporting phase are approximately the same in each moving period, but when the target user is carrying a large article to the trunk of the vehicle, the target user needs more two-foot supporting time to raise the center of gravity from the lowest position to the highest position due to being in a load state, the duration of the two-foot supporting phase of the target user becomes longer, that is, the moving time of the center of gravity from the lowest position to the highest position becomes longer, the target user is in an abnormal walking state, therefore, in one possible implementation manner, the second moving time needed by the center of gravity from the highest position to the lowest position when the target user moves in each moving period can be determined according to the motion trajectory of the center of gravity, and the difference between the first moving time and the second moving time in the current moving period can be calculated, obtaining a first time difference value, determining whether the first time difference value is greater than or equal to a first preset time threshold value, determining whether the first time difference value is greater than or equal to the first preset time threshold value in a preset number of subsequent moving periods adjacent to the current moving period when the first time difference value is greater than or equal to the first preset time threshold value, and determining that the target user is in an abnormal walking state when the first time difference value in each subsequent moving period is greater than or equal to the first preset time threshold value.
Illustratively, continuing to describe the gravity center motion trajectory shown in FIG. 3, a moving period A-from the time A to the time C is taken>C, during the movement of the target user, the moving time of the gravity center from the lowest position to the highest position is T1 (namely, the first moving time), the duration of the gravity center from the highest position to the lowest position is T2 (namely, the second moving time), when T1 and T2 are determinedT2 satisfies the formula T1-T2≥Th1(wherein T ish1I.e. the first predetermined time threshold), it may be determined that the target user is in the movement period a->C is in a walking abnormal state when moving, and in order to determine whether the target user is in the walking abnormal state all the time in the process of walking towards the trunk of the vehicle, the abnormal state can be continuously obtained in the moving period A->Whether T1 and T2 in each subsequent movement period of a preset number of adjacent subsequent movement periods after C satisfy the formula T1-T2≥Th1Determining that both T1 and T2 in each subsequent movement period satisfy the formula T1-T2≥Th1In this case, it may be determined that the target user is in an abnormal walking state when moving toward the trunk of the vehicle, and the above example is only an example, and the present disclosure does not limit this.
In another possible embodiment, a preset barycentric motion trajectory may be obtained, where the preset barycentric motion trajectory includes a barycentric motion trajectory of the target user during normal walking, a third moving time for moving the barycenter from the lowest position to the highest position within one moving period of the target person during normal walking is determined according to the preset barycentric motion trajectory, a difference between the first moving time and the third moving time within a current moving period is calculated to obtain a second time difference, it is determined whether the second time difference is greater than or equal to a second preset time threshold, and when it is determined that the second time difference is greater than or equal to the second preset time threshold, it is determined whether the second time difference is greater than or equal to the second preset time threshold in a preset number of subsequent moving periods adjacent to the current moving period in each of the subsequent moving periods, and when the second time difference value in each subsequent moving period is determined to be larger than or equal to the second preset time threshold, determining that the target user is in a walking abnormal state.
For example, assuming that the center-of-gravity motion trajectory shown in fig. 3 is the center-of-gravity motion trajectory of the target user when moving toward the trunk of the vehicle, a third moving time during which the center of gravity moves from the lowest position to the highest position in one moving cycle during normal walking of the target user is obtainedT3, in the gravity center motion trace shown in FIG. 3, a moving period A-from the time A to the time C can be taken>C is the current moving period at A->In the current movement cycle corresponding to C, the first movement time is the time from the time B to the time C corresponding to the two-feet supporting phase, which can be recorded as T4, and it is determined that T3 and T4 satisfy the formula T4-T3≥Th2(wherein T ish2Representing the second preset time threshold), it may be determined that the moving time of the center of gravity from the lowest position to the highest position in the current moving process of the target user is longer than that in the normal walking state, and T4 in a preset number of consecutive subsequent moving periods all satisfy the formula T when it is determined that T4 in the preset number of consecutive subsequent moving periods all satisfy the formula T4-T3≥Th2In this case, it may be determined that the first moving time corresponding to each of the consecutive moving periods is longer than the third moving time T3 in the normal walking state, and further, it may be determined that the target user is in the abnormal walking state when moving toward the trunk of the vehicle.
When it is determined that the target user is in the abnormal walking state according to the change information of the position of the center of gravity, step 207 is executed;
when it is determined from the center of gravity position change information that the target user is not in the walking abnormal state, step 209 is executed.
In step 207, it is determined whether the target user is in a weight bearing state according to the moving image.
In this step, considering that the abnormal walking state may include a weight-bearing state, a walking state when the walking speed is reduced, a walking obstacle state, and the like, after it is determined that the target user is in the abnormal walking state, it cannot be directly determined that the target user is always in the weight-bearing state, and therefore, it is further necessary to determine whether the target user is actually in the weight-bearing state according to a moving image of the target user, wherein the moving image may be acquired by a 360-degree panoramic image acquisition device, and when it is determined that the target user is in the weight-bearing state according to the moving image, a local image of a weight-bearing article carried by the target user may be acquired on the moving image; determining a volume of the weight-bearing item from the local image; determining whether the volume of the weight-bearing item is greater than or equal to a preset volume threshold; determining that the target user is in the weight-bearing state when the volume of the weight-bearing article is greater than or equal to the preset volume threshold; and when the volume of the weight-bearing article is smaller than the preset volume threshold value, determining that the target user is in a non-weight-bearing state.
Wherein the preset volume threshold may be set as a critical volume value of an article that can be put into the trunk, and the preset volume threshold may be specifically set according to different vehicle types, for example, for a common car type vehicle, the preset volume threshold may be set as 1/3 of a cuboid volume with the seating area of the seat in the vehicle as the bottom and the height of the seat back as the height, or 1/4 of the volume of the trunk, so that when the volume of the heavy-duty article is greater than or equal to the preset volume threshold, the heavy-duty article may be determined to be an article with a larger volume, and in a general case, the first choice of the user is to put the heavy-duty article into the trunk, at this time, the trunk is determined to be opened, and when the volume of the heavy-duty article is less than the preset volume threshold, the target user may select to put the target article into the seat in the vehicle, or carried around, in which case the trunk of the vehicle may be optionally not opened, which is, of course, only one possible embodiment and is not limited by the present disclosure.
Upon determining from the moving image that the target user is in a weighted state, performing step 208;
upon determining from the moving image that the target user is not in a weighted state, performing step 209;
in step 208, the trunk of the vehicle is opened.
In step 209, the locked state of the vehicle trunk is maintained.
By adopting the method, when the vehicle is in a parking state, the trunk can be automatically opened according to the change information of the gravity center position of the target user in the moving process, the user does not need to manually press the trunk again, and the user does not need to approach the trunk and open the trunk through the limb action induction, so that the intelligent level of opening the trunk is improved, and the vehicle using experience of the user is also improved.
Fig. 4 is a block diagram illustrating an apparatus for opening a trunk, according to an exemplary embodiment, as shown in fig. 4, the apparatus including:
a first determining module 401, configured to determine whether a target terminal exists in a preset area of a vehicle when the vehicle is in a parking state, where the target terminal includes a terminal that establishes a binding relationship with the vehicle in advance;
a first obtaining module 402, configured to obtain, when it is determined that the target terminal exists, information about a change in a center of gravity position of a target user carrying the target terminal in a moving process;
a second determining module 403, configured to determine whether the target user is in a loaded state according to the change information of the center of gravity position;
a trunk opening module 404 for opening a trunk of the vehicle upon determining that the target user is in the weight-bearing state.
Alternatively, as shown in fig. 5, the barycentric location change information includes a barycentric motion trajectory, and the first obtaining module 402 includes:
the acquisition sub-module 4021 is configured to acquire a moving image of the target user according to a preset period;
a first determining sub-module 4022, configured to determine a barycentric position of the target user in each of the moving images acquired within a preset time period;
the generating sub-module 4023 is configured to generate the center of gravity motion trajectory according to the center of gravity position.
Optionally, the gravity center motion trajectory includes a gravity center motion trajectory when the target user moves in a plurality of movement cycles within a preset time period, and each movement cycle includes a time sum of one single-foot supporting phase and an adjacent one double-foot supporting phase of the target user in a moving process;
the second determining module 403 is configured to determine, according to the motion trajectory of the center of gravity, a first moving time required for the center of gravity to move from the lowest position to the highest position when the target user moves in each moving period; determining whether the target user is in an abnormal walking state according to the first moving time; when it is determined that the target user is in the walking abnormal state, it is determined whether the target user is in a weight bearing state according to the moving image.
Optionally, as shown in fig. 6, the apparatus further includes: a first moving time determining module 405, configured to determine, according to the motion trajectory of the center of gravity, a second moving time required for the center of gravity to move from the highest position to the lowest position in each moving period of the target user;
the second determining module 403 is configured to calculate a difference between the first moving time and the second moving time in the current moving period, so as to obtain a first time difference; determining whether the first time difference value is greater than or equal to a first preset time threshold value; when the first time difference value is determined to be greater than or equal to a first preset time threshold value, determining whether the first time difference value in each subsequent moving period is greater than or equal to the first preset time threshold value in a preset number of subsequent moving periods adjacent to the current moving period; and when the first time difference value in each subsequent moving period is determined to be greater than or equal to the first preset time threshold, determining that the target user is in a walking abnormal state.
Optionally, as shown in fig. 7, the apparatus further includes: a second movement time determination module 406, configured to obtain a preset barycentric motion trajectory, where the preset barycentric motion trajectory includes a barycentric motion trajectory of the target user during normal walking, and determine, according to the preset barycentric motion trajectory, a third movement time during which the barycentric moves from the lowest position to the highest position within one movement period of the target person during normal walking;
the second determining module 403 is configured to calculate a difference between the first moving time and the third moving time in the current moving period, so as to obtain a second time difference; determining whether the second time difference is greater than or equal to a second preset time threshold; when the second time difference is determined to be greater than or equal to a second preset time threshold, determining whether the second time difference is greater than or equal to the second preset time threshold in each of a preset number of subsequent moving periods adjacent to the current moving period; and when the second time difference value in each subsequent moving period is determined to be larger than or equal to the second preset time threshold, determining that the target user is in a walking abnormal state.
Optionally, the second determining module 403 is configured to obtain a partial image of the weight-bearing item carried by the target user on the moving image; determining a volume of the weight-bearing item from the local image; determining whether the volume of the weight-bearing item is greater than or equal to a preset volume threshold; determining that the target user is in the weight-bearing state when the volume of the weight-bearing article is greater than or equal to the preset volume threshold; and when the volume of the weight-bearing article is smaller than the preset volume threshold value, determining that the target user is in a non-weight-bearing state.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
By adopting the device, when the vehicle is in a parking state, the trunk can be automatically opened according to the change information of the gravity center position of the target user in the moving process, the user is not required to open the trunk in a manual pressing mode, the user is not required to be close to the trunk and open the trunk through limb action induction, the intelligent level of opening the trunk is improved, and the user's vehicle using experience is also improved.
The present disclosure also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above-described method of opening a trunk.
The present disclosure also provides a vehicle including the above device for opening a trunk.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of opening a trunk, the method comprising:
when a vehicle is in a parking state, determining whether a target terminal exists in a preset area of the vehicle, wherein the target terminal comprises a terminal which is in a binding relationship with the vehicle in advance;
when the target terminal is determined to exist, acquiring the change information of the gravity center position of a target user carrying the target terminal in the moving process;
determining whether the target user is in a loaded state according to the gravity center position change information;
opening a trunk of the vehicle upon determining that the target user is in the loaded state.
2. The method according to claim 1, wherein the information on the change of the position of the center of gravity comprises a motion trajectory of the center of gravity, and the obtaining information on the change of the position of the center of gravity of the target user carrying the target terminal during the movement comprises:
collecting the moving image of the target user according to a preset period;
determining the position of the center of gravity of the target user in each moving image acquired within a preset time period;
and generating the gravity center motion trail according to the gravity center position.
3. The method of claim 2, wherein the gravity center motion trajectory comprises a gravity center motion trajectory of the target user when moving in a plurality of movement cycles within a preset time period, each of the movement cycles comprising a time sum of one single-footed support phase and an adjacent one double-footed support phase of the target user during the movement; the determining whether the target user is in a loaded state according to the gravity center position change information includes:
determining first movement time required by the gravity center from the lowest position to the highest position when the target user moves in each movement period according to the gravity center movement track;
determining whether the target user is in an abnormal walking state according to the first moving time;
determining whether the target user is in a weight bearing state according to the moving image when it is determined that the target user is in the abnormal walking state.
4. The method of claim 3, wherein prior to said determining whether said target user is in a walking abnormal state based on said first movement time, said method further comprises:
determining a second movement time required by the gravity center from the highest position to the lowest position when the target user moves in each movement period according to the gravity center movement track;
the determining whether the target user is in an abnormal walking state according to the first moving time includes:
calculating the difference value between the first moving time and the second moving time in the current moving period to obtain a first time difference value;
determining whether the first time difference value is greater than or equal to a first preset time threshold;
when the first time difference value is determined to be larger than or equal to a first preset time threshold value, determining whether the first time difference value in each subsequent movement period is larger than or equal to the first preset time threshold value in a preset number of subsequent movement periods adjacent to the current movement period;
and when the first time difference value in each subsequent movement period is determined to be greater than or equal to the first preset time threshold, determining that the target user is in an abnormal walking state.
5. The method of claim 3, wherein prior to said determining whether the target user is in a walking abnormal state from the first movement time, the method further comprises:
acquiring a preset gravity center motion track, wherein the preset gravity center motion track comprises a gravity center motion track of the target user during normal walking;
determining a third moving time of the gravity center from the lowest position to the highest position in a moving period when the target person normally walks according to the preset gravity center moving track;
the determining whether the target user is in an abnormal walking state according to the first moving time includes:
calculating a difference value between the first moving time and the third moving time in the current moving period to obtain a second time difference value;
determining whether the second time difference value is greater than or equal to a second preset time threshold value;
when the second time difference value is determined to be larger than or equal to a second preset time threshold value, determining whether the second time difference value in each subsequent moving period is larger than or equal to the second preset time threshold value in a preset number of subsequent moving periods adjacent to the current moving period;
and when the second time difference value in each subsequent movement period is determined to be greater than or equal to the second preset time threshold, determining that the target user is in an abnormal walking state.
6. The method of any of claims 3 to 5, wherein said determining whether the target user is in a weighted state from the moving image comprises:
obtaining a partial image of a weight-bearing item carried by the target user on the moving image;
determining a volume of the weight-bearing item from the partial image;
determining whether the volume of the weight-bearing item is greater than or equal to a preset volume threshold;
determining that the target user is in the weight-bearing state when the volume of the weight-bearing item is greater than or equal to the preset volume threshold;
determining that the target user is in a non-weight bearing state when the volume of the weight-bearing item is less than the preset volume threshold.
7. An apparatus for opening a trunk, the apparatus comprising:
the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining whether a target terminal exists in a preset area of a vehicle when the vehicle is in a parking state, and the target terminal comprises a terminal which is in a binding relationship with the vehicle in advance;
the first acquisition module is used for acquiring the change information of the gravity center position of a target user carrying the target terminal in the moving process when the target terminal is determined to exist;
the second determination module is used for determining whether the target user is in a load state according to the gravity center position change information;
a trunk opening module for opening a trunk of the vehicle upon determining that the target user is in the loaded state.
8. The apparatus of claim 7, wherein the gravity center position change information includes a gravity center motion trajectory, and the first obtaining module includes:
the acquisition submodule is used for acquiring the moving image of the target user according to a preset period;
a first determining submodule configured to determine a position of a center of gravity of the target user in each of the moving images acquired within a preset time period;
and the generation submodule is used for generating the gravity center motion trail according to the gravity center position.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
10. A vehicle characterized by comprising the apparatus for opening a trunk according to claim 7 or 8.
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| CN201811385380.XA CN111197446A (en) | 2018-11-20 | 2018-11-20 | Method and device for opening trunk, storage medium and vehicle |
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