CN111204196B - Vehicle door unlocking method and device and vehicle - Google Patents
Vehicle door unlocking method and device and vehicle Download PDFInfo
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- CN111204196B CN111204196B CN201811386625.0A CN201811386625A CN111204196B CN 111204196 B CN111204196 B CN 111204196B CN 201811386625 A CN201811386625 A CN 201811386625A CN 111204196 B CN111204196 B CN 111204196B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J5/00—Doors
- B60J5/04—Doors arranged at the vehicle sides
- B60J5/047—Doors arranged at the vehicle sides characterised by the opening or closing movement
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00563—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns
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Abstract
The disclosure relates to a method and a device for unlocking a vehicle door and a vehicle, wherein when the vehicle is in a parking state, whether a target user exists in a preset area of the vehicle is determined, and the target user comprises a user moving to a target vehicle door of the vehicle; when the target user is determined to exist, acquiring the change information of the gravity center position of the target user in the moving process; determining whether the target user is a riding user or not according to the change information of the gravity center position; and unlocking the target vehicle door when the target user is determined to be the riding user.
Description
Technical Field
The disclosure relates to the field of vehicle control, in particular to a method and a device for unlocking a vehicle door and a vehicle.
Background
When a vehicle waits for passengers in a parking state, a driver usually unlocks a vehicle door when finding that a target passenger approaches the vehicle, but the situation is more obvious because the driver cannot observe surrounding pedestrians for a long time or cannot timely identify whether the target passenger approaches the vehicle due to the limitation of sight, particularly when a window glass is dark, the driver may still not find when the target passenger approaches, at the moment, the vehicle door is still in a locked state, the target passenger cannot directly open the vehicle door, and needs to knock the vehicle window or shout to attract the attention of the driver, so that the vehicle door is unlocked again, and the riding experience of the passenger is easily reduced.
Disclosure of Invention
In order to solve the existing problems, the present disclosure provides a method and an apparatus for unlocking a vehicle door, and a vehicle.
According to a first aspect of embodiments of the present disclosure, there is provided a method of unlocking a vehicle door, the method comprising: when a vehicle is in a parking state, determining whether target users exist in a preset area of the vehicle, wherein the target users comprise users moving to a target door of the vehicle; when the target user is determined to exist, acquiring the change information of the gravity center position of the target user in the moving process; determining whether the target user is a riding user or not according to the change information of the gravity center position; and unlocking the target vehicle door when the target user is determined to be the riding user.
Optionally, the determining whether the target user exists in the preset area of the vehicle includes: acquiring the moving direction of the mobile user in the preset area at preset time intervals; determining an included angle between the moving direction and a normal direction of a vertical plane where the target vehicle door is located; acquiring a preset angle threshold; and determining whether the included angle is smaller than or equal to the preset angle threshold value within a first preset time period, and determining that the target user exists in a preset area of the vehicle when the included angle is smaller than or equal to the preset angle threshold value.
Optionally, the information on the change of the position of the center of gravity includes a center of gravity motion trajectory, and the acquiring information on the change of the position of the center of gravity of the target user during the movement 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 second preset time period; and generating the gravity center motion trail according to the gravity center position.
Optionally, the center of gravity motion trajectory comprises the center of gravity motion trajectory of the target user when moving in a plurality of movement cycles within the second preset time period, and one movement cycle comprises the sum of time of one single-foot supporting phase and the adjacent one double-foot supporting phase of the target user during the movement; the determining whether the target user is a riding user according to the gravity center position change information comprises: 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 first movement time decreases during movement of the target user; and when the first moving time is determined to be reduced, determining that the target user is the riding user.
Optionally, the determining whether the first moving time is reduced during the movement of the target user includes: calculating the difference value between the first moving time corresponding to the current moving period and the first moving time corresponding to the next 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 the first preset time threshold value, determining whether the first time difference value in every two adjacent subsequent movement periods is smaller than 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 two adjacent subsequent movement periods is smaller than the first preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
Optionally, before the determining whether the first moving time is reduced during the moving of the target user, 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 first movement time decreases during movement of the target user comprises: calculating the difference value between the second moving time and the first moving time in the current moving period to obtain a second time difference value; calculating a difference value between the second time difference value corresponding to the next movement period adjacent to the current movement period and the second time difference value corresponding to the current movement period to obtain a third time difference value; determining whether the third time difference is greater than or equal to a second preset time threshold; when the third time difference is determined to be greater than or equal to the second preset time threshold, determining whether the third time difference in every two adjacent subsequent movement periods is smaller than the second preset time threshold in a preset number of subsequent movement periods adjacent to the current movement period; and when the third time difference value in each two adjacent subsequent movement periods is smaller than the second preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
Optionally, the unlocking the target vehicle door when the target user is determined to be the riding user comprises: acquiring facial features and a first position of the riding user, and displaying the facial features and the first position; and receiving an unlocking instruction triggered by a user in the vehicle according to the displayed facial features and the first position, and unlocking the target vehicle door according to the unlocking instruction.
Optionally, the unlocking the target vehicle door when the target user is determined to be the riding user comprises: acquiring the moving speed and the second position of the riding user; and when the moving speed is less than or equal to a preset speed threshold value and the distance between the second position and the target vehicle door is less than or equal to a preset distance threshold value, unlocking the target vehicle door.
According to a second aspect of an embodiment of the present disclosure, a device for unlocking a vehicle door is provided, the device comprising: the vehicle control device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining whether target users exist in a preset area of a vehicle when the vehicle is in a parking state, and the target users comprise users moving to a target door of the vehicle; the acquisition module is used for acquiring the change information of the gravity center position of the target user in the moving process when the target user is determined to exist; the second determining module is used for determining whether the target user is a riding user according to the gravity center position change information; and the unlocking module is used for unlocking the target vehicle door when the target user is determined to be the riding user.
Optionally, the first determining module is configured to obtain a moving direction of the mobile user in the preset area at preset time intervals; determining an included angle between the moving direction and a normal direction of a vertical plane where the target vehicle door is located; acquiring a preset angle threshold; and determining whether the included angle is smaller than or equal to the preset angle threshold value within a first preset time period, and determining that the target user exists in a preset area of the vehicle when the included angle is smaller than or equal to the preset angle threshold value.
Optionally, the change information of the position of the center of gravity includes a center of gravity motion trajectory, and the obtaining module is configured to collect a 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 second preset time period; and generating the gravity center motion trail according to the gravity center position.
Optionally, the center of gravity motion trajectory comprises the center of gravity motion trajectory of the target user when moving in a plurality of movement cycles within the second preset time period, and one movement cycle comprises the sum of time of one single-foot supporting phase and the adjacent one double-foot supporting phase of the target user during the movement; 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 first movement time decreases during movement of the target user; and when the first moving time is determined to be reduced, determining that the target user is the riding user.
Optionally, the second determining module is configured to calculate a difference between the first moving time corresponding to the current moving period and the first moving time corresponding to the next 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; when the first time difference value is determined to be larger than or equal to the first preset time threshold value, determining whether the first time difference value in every two adjacent subsequent movement periods is smaller than 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 two adjacent subsequent movement periods is smaller than the first preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
Optionally, the apparatus further comprises: the movement time acquisition 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 second moving time and the first moving time in the current moving period to obtain a second time difference; calculating a difference value between the second time difference value corresponding to the next movement period adjacent to the current movement period and the second time difference value corresponding to the current movement period to obtain a third time difference value; determining whether the third time difference is greater than or equal to a second preset time threshold; when the third time difference is determined to be greater than or equal to the second preset time threshold, determining whether the third time difference in every two adjacent subsequent movement periods is smaller than the second preset time threshold in a preset number of subsequent movement periods adjacent to the current movement period; and when the third time difference value in each two adjacent subsequent movement periods is smaller than the second preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
Optionally, the unlocking module is configured to obtain a facial feature and a first position of the riding user, and display the facial feature and the first position; and receiving an unlocking instruction triggered by a user in the vehicle according to the displayed facial features and the first position, and unlocking the target vehicle door according to the unlocking instruction.
Optionally, the unlocking module is configured to acquire a moving speed and a second position of the riding user; and when the moving speed is less than or equal to a preset speed threshold value and the distance between the second position and the target vehicle door is less than or equal to a preset distance threshold value, unlocking the target vehicle door.
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 door unlocking device according to the second aspect of the present disclosure.
According to the technical scheme, when the vehicle is in a parking state, whether a target user exists in a preset area of the vehicle is determined, and the target user comprises a user moving to a target vehicle door of the vehicle; when the target user is determined to exist, acquiring the change information of the gravity center position of the target user in the moving process; determining whether the target user is a riding user or not according to the change information of the gravity center position; and when the target user is determined to be the riding user, the target vehicle door is unlocked, so that whether the riding user exists in a preset area of the vehicle or not can be automatically detected when the vehicle is in a parking state, and the vehicle door is unlocked in time when the riding user is determined to exist, so that the riding user can directly open the vehicle door for riding, and the riding experience of the user is 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 for unlocking a vehicle door in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating yet another method of unlocking a vehicle door in accordance with an exemplary embodiment;
FIG. 3 is a schematic view of a user moving toward a target vehicle door, according to an exemplary embodiment;
FIG. 4 is a schematic illustration of a center of gravity motion profile according to an exemplary embodiment;
FIG. 5 is a block diagram illustrating a first door unlocking device according to an exemplary embodiment;
fig. 6 is a block diagram illustrating a second door unlocking device 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 present disclosure provides a method, an apparatus and a vehicle for unlocking a vehicle door, when the vehicle is in a parking state, by determining whether a target user exists in a preset area of the vehicle, the target user includes a user moving to a target vehicle door of the vehicle; when the target user is determined to exist, acquiring the change information of the gravity center position of the target user in the moving process; determining whether the target user is a riding user according to the change information of the gravity center position; when the target user is determined to be the riding user, the target vehicle door is unlocked, so that whether the riding user exists in a preset area of the vehicle or not can be automatically detected when the vehicle is in a parking state, and the vehicle door is unlocked in time when the riding user is determined to exist, so that the riding user can directly open the vehicle door for riding, and riding experience of the user is improved.
Specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
FIG. 1 is a flow chart illustrating a method for unlocking a vehicle door, as shown in FIG. 1, according to an exemplary embodiment, including the steps of:
s101, when a vehicle is in a parking state, whether target users exist in a preset area of the vehicle is determined, and the target users comprise users moving to a target door of the vehicle.
The vehicle may include a vehicle in a power-on state, and when it is determined whether the vehicle is in a parking state, it may be determined that the vehicle is in the parking state by determining whether an engine stall signal is received or not, and when it is determined that the engine stall signal is received; when the engine flameout signal is determined not to be received, further judging whether the vehicle speed value of the vehicle in a preset time interval is smaller than or equal to a preset vehicle speed threshold value, when the vehicle speed value is determined to be smaller than or equal to the preset vehicle speed threshold value, determining that the vehicle is in a parking state, and when the vehicle speed value is determined to be larger than the preset vehicle speed threshold value, determining that the vehicle is in a non-parking state; in addition, it may be determined whether a parking system (e.g., an electronic manual brake system or an automatic parking system) of the vehicle is activated when it is determined that the engine stall signal is not received, and it is determined that the vehicle is in a stopped state when it is determined that the parking system is activated.
The preset area refers to a specific area outside the target vehicle door, the specific area may be a fan-shaped area which is directed to the vehicle outside along the target vehicle door and takes a first preset distance as a radius, the specific area may also be a rectangular area which is directed to the vehicle outside along the target vehicle door and takes a second preset distance as a length and takes the horizontal width of the target vehicle door as a width, the shape and the form of the preset area are not limited in the present disclosure, and in an actual application scene, the preset area may be set according to different requirements.
In this step, the moving direction of the moving person in the preset area may be obtained at preset time intervals; determining an included angle between the moving direction and a normal direction of a vertical plane where the target vehicle door is located; acquiring a preset angle threshold; and determining whether the included angle is smaller than or equal to the preset angle threshold value within a first preset time period, and determining that the target user exists in a preset area of the vehicle when the included angle is smaller than or equal to the preset angle threshold value.
In a possible implementation manner, whether the target user exists in the preset area of the vehicle may be determined through a vehicle radar sensor and a related determination processing module, where the radar sensor may be disposed at a target door, an outside rear-view mirror, a periphery of the vehicle, and the like, and the disclosure is not limited thereto.
S102, when the target user is determined to exist, the gravity center position change information of the target user in the moving process is obtained.
Wherein, the gravity center position change information may include a gravity center motion trajectory.
In this step, the moving image of the target user may be collected according to a preset period; determining the position of the center of gravity of the target user in each moving image acquired within a second preset time period; the center-of-gravity motion trajectory is generated according to the center-of-gravity position, wherein 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 second 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 single-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 represent different center-of-gravity positions corresponding to different movement moments when the target user moves within the second preset time period.
In the present embodiment, the position of the target pixel indicating the center of the pelvis in each of the moving images of the target user moving within the second predetermined time period may be set as the center of gravity position of the target user, in consideration of the fact that the center of gravity position 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 is moving may correspond to the movement of the center of gravity.
And S103, determining whether the target user is a riding user according to the gravity center position change information.
In this step, it may be determined whether the target user is the riding user according to the gravity center motion trajectory, and specifically, it may be determined, according to the gravity center motion trajectory, a first moving time required for the gravity center to move from the lowest position to the highest position when the target user moves in each moving period; determining whether the first movement time decreases during the movement of the target user; and when the first moving time is determined to be reduced, determining the target user as the riding user.
In determining whether the first movement time decreases during the movement of the target user, this may be achieved by either:
calculating the difference value between the first moving time corresponding to the current moving period and the first moving time corresponding to the next 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 value; when the first time difference value is determined to be greater than or equal to the first preset time threshold value, determining whether the first time difference value in every two adjacent subsequent moving periods is smaller than 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 two adjacent subsequent movement periods is determined to be smaller than the first preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
Determining a second moving time required by the gravity center from the highest position to the lowest position when the target user moves in each moving period according to the gravity center motion track, and calculating a difference value between the second moving time and the first moving time in the current moving period to obtain a second time difference value; calculating a difference value between the second time difference value corresponding to a next moving period adjacent to the current moving period and the second time difference value corresponding to the current moving period to obtain a third time difference value; determining whether the third time difference is greater than or equal to a second preset time threshold; when the third time difference is determined to be greater than or equal to the second preset time threshold, determining whether the third time difference in each two adjacent subsequent moving periods is smaller than the second preset time threshold in a preset number of subsequent moving periods adjacent to the current moving period; and when the third time difference value in each two adjacent subsequent movement periods is smaller than the second preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
And S104, unlocking the target vehicle door when the target user is determined to be the riding user.
In this step, the method can be implemented in any one of the following two ways:
the method comprises the steps that firstly, facial features and a first position of a riding user can be obtained, and the facial features and the first position are displayed; and receiving an unlocking instruction triggered by the user in the vehicle according to the displayed facial features and the first position, and unlocking the target vehicle door according to the unlocking instruction.
Acquiring the moving speed and the second position of the riding user; and when the moving speed is less than or equal to a preset speed threshold value and the distance between the second position and the target vehicle door is less than or equal to a preset distance threshold value, unlocking the target vehicle door.
By adopting the method, when the vehicle is in a parking state, whether the vehicle taking user exists in the preset area of the vehicle can be automatically detected, and the vehicle door is unlocked in time when the vehicle taking user is determined to exist, so that the vehicle taking user can directly open the vehicle door for taking the vehicle, and the vehicle taking experience of the user is improved.
FIG. 2 is a flow chart illustrating a method of unlocking a vehicle door, as shown in FIG. 2, according to an exemplary embodiment, including the steps of:
s201, when the vehicle is in a parking state, the moving direction of the mobile user in a preset area of the vehicle is obtained at preset time intervals.
The vehicle may include a vehicle in a power-on state, and when it is determined whether the vehicle is in a parking state, it may be determined that the vehicle is in the parking state by determining whether an engine stall signal is received or not, and when it is determined that the engine stall signal is received; when the engine flameout signal is determined not to be received, further judging whether the vehicle speed value of the vehicle in a preset time interval is smaller than or equal to a preset vehicle speed threshold value, when the vehicle speed value is determined to be smaller than or equal to the preset vehicle speed threshold value, determining that the vehicle is in a parking state, and when the vehicle speed value is determined to be larger than the preset vehicle speed threshold value, determining that the vehicle is in a non-parking state; in addition, it may be determined whether a parking system (e.g., an electronic manual brake system or an automatic parking system) of the vehicle is activated when it is determined that the engine stall signal is not received, and it is determined that the vehicle is in a stopped state when it is determined that the parking system is activated.
The preset area refers to a specific area outside the target vehicle door, the specific area may be a fan-shaped area which is directed to the vehicle outside along the target vehicle door and takes a first preset distance as a radius, the specific area may also be a rectangular area which is directed to the vehicle outside along the target vehicle door and takes a second preset distance as a length and takes the horizontal width of the target vehicle door as a width, the shape and the form of the preset area are not limited in the present disclosure, and in an actual application scene, the preset area may be set according to different requirements.
In this step, the moving image of the mobile user may be acquired by the image acquisition device according to a preset period, and then the moving direction is determined by the moving image according to a preset image processing algorithm, or the moving direction is acquired by the vehicle radar device.
S202, determining an included angle between the moving direction and the normal direction of a vertical plane where the target vehicle door is located.
For example, fig. 3 is a schematic view of a scene in which a user moves toward a target vehicle door, as shown in fig. 3, the normal direction of a vertical plane in which the target vehicle door is located is
The moving direction of the user at a certain moment is
Alpha is the included angle.
S203, acquiring a preset angle threshold.
For example, when the preset area is a sector area with a central angle of θ, the preset angle threshold may be θ/2, and when the preset area is a rectangular area outward along the target vehicle door, the preset angle threshold may be set to be a maximum angle deviating from an axis perpendicular to a vertical plane where the target vehicle door is located.
S204, determining whether the included angle is smaller than or equal to the preset angle threshold value within the first preset time period.
In a possible implementation manner, when it is determined that an included angle between a moving direction of a mobile user in the preset area and a normal direction of a vertical plane where the target vehicle door is located in the first preset time period is always smaller than or equal to the preset angle threshold, it may be determined that the mobile user is moving towards the target vehicle door, and at this time, it may be determined that the mobile user is a target user, where the target user may include a user moving towards the target vehicle door of the vehicle.
Illustratively, the target vehicle door is a left rear door of a left-handed vehicle, and the predetermined area is along the target vehicle doorA sector area with the distance R from the target door to the outside of the vehicle, and the normal direction of the vertical plane where the target door is positioned is
The preset angle threshold is θ/2, and the first preset time period is 5 seconds for explanation, where θ is a central angle of the sector area, and when the moving direction of the mobile user a is acquired every 0.5 seconds, 10 moving directions of the mobile user a are acquired 10 times within 5 seconds
And the 10 moving directions
Respectively in the normal direction
The included angles α are all smaller than the preset angle threshold θ/2, at this time, it may be determined that the mobile user a is moving towards the target vehicle door, and further, it may be determined that the mobile user is the target user.
When it is determined that the included angle is smaller than or equal to the preset angle threshold within the first preset time period, performing steps 205 to 211;
when it is determined that the included angle is greater than the predetermined angle threshold within the first predetermined time period, step 212 is executed.
And S205, determining that target users exist in the preset area, wherein the target users comprise users moving to a target door of the vehicle.
And S206, acquiring the moving image of the target user according to a preset period.
In this step, the moving image may be acquired by an image acquisition device.
And S207, determining the gravity center position of the target user in each moving image acquired in a second preset time period.
In the present step, the position of the target pixel indicating the center of the pelvis in each of the moving images when the target user moves within the second 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.
And S208, generating a gravity center motion track according to the gravity center 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 second preset time period, one movement cycle includes a time sum of one single-foot supporting phase and an adjacent single-foot supporting phase of the target user during movement, a ordinate of the center-of-gravity motion trajectory may be the center-of-gravity position, and an abscissa of the center-of-gravity motion trajectory may include movement moments corresponding to the center-of-gravity position one to one.
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 a dotted line from a plurality of discrete center of gravity position points of the target user within the second preset time period, and has a certain error.
And S209, 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 movement track.
In the moving process of the human body, the two-foot support phase and the single-foot support phase are performed alternately, and when the heel of the swing foot of the single-foot support phase falls to the ground, the gravity center of the human body is located at the lowest point of the gravity center motion track, then the single-foot support phase is changed into the two-foot support phase, during the two-foot support phase, the gravity center of the human body is gradually raised through the two-foot support, and when the two-foot support phase is finished, the gravity center of the human body is raised to the highest point of the gravity center motion track.
For example, fig. 4 is a schematic diagram of the fitted center-of-gravity motion trajectory, as shown in fig. 4, a time point a to a time point C in an abscissa correspond to a moving period of the center-of-gravity motion trajectory, where the time point a corresponds to a highest point of the center-of-gravity motion trajectory, the time point B corresponds to a lowest point of the center-of-gravity motion trajectory, the time point C corresponds to a highest point of the center-of-gravity motion trajectory, and the time points a to B correspond to a one-foot supporting duration of a target user in a moving period during moving, and the time points B to C correspond to two-foot supporting durations of the target user in a moving period during moving, in the center-of-gravity motion trajectory shown in fig. 3, the two-foot supporting duration corresponding to the time points B to C may be determined as the first moving time in the moving period corresponding to the time points a to C, which is just described as an example, the present disclosure is not limited thereto.
S210, determining whether the first moving time is reduced in the moving process of the target user.
Considering that in an actual scenario, when the target user is a riding user, and the target user approaches the target vehicle door from far to near, the moving speed of the target user is increased, and the larger the moving speed is, the shorter the time of the two-foot support phase when the target user moves, that is, the shorter the first moving time corresponding to the two-foot support phase is, therefore, in a possible implementation manner, the difference between the first moving time corresponding to the current moving period and the first moving time corresponding to the next moving period may be calculated 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 the first preset time threshold value, determining whether the first time difference value in every two adjacent subsequent moving periods is smaller than 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 two adjacent subsequent movement periods is determined to be smaller than the first preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
For convenience of description, the first preset time threshold is represented by Th1, taking a moving period from time a to time C, the first moving time B- > C from the lowest position to the highest position of the center of gravity of the target user during moving is T0, and the first moving time T1 from the lowest position to the highest position D- > E in another moving period C- > E that follows is T0-T1, when it is determined that the first moving time T0 and the first moving time T1 satisfy T0-T1 Th1, the moving speed of the target user may be determined to be increased at the beginning of time C, and at this time, the point corresponding to time C in the center of gravity moving trajectory may be determined as a moving speed abrupt point during moving of the target user, at this time, to further determine whether the target user may keep moving towards the target vehicle door at the accelerated moving speed after the abrupt point, the first moving time in the 9 adjacent moving periods after the moving period C- - > E may be continuously obtained, and the first time difference value of every two adjacent moving periods in the 9 adjacent moving periods is calculated, and when it is determined that the first time difference values are both smaller than the first preset time threshold Th1, it may be determined that the target user may keep moving towards the target vehicle door at the accelerated moving speed after the abrupt point, for example, the first moving time in the 9 adjacent moving periods after the moving period C- - > E is respectively T2, T3, a.t 10, and when it is determined that the time difference values of T1 and T2, the time difference values of T2 and T3, the., When the time difference between T9 and T10 is less than the first preset time threshold Th1, it may be determined that the target user keeps moving towards the target vehicle door after the abrupt junction, so that it may be determined that the first moving time T0 decreases during the moving process of the target user.
In another possible implementation manner, a second moving time required for the center of gravity to move from the highest position to the lowest position when the target user moves in each moving period may be determined according to the motion trajectory of the center of gravity, a difference between the second moving time and the first moving time in the current moving period is calculated to obtain a second time difference, a difference between the second time difference corresponding to a next moving period adjacent to the current moving period and the second time difference corresponding to the current moving period is calculated to obtain a third time difference, whether the third time difference is greater than or equal to a second preset time threshold is determined, when the third time difference is greater than or equal to the second preset time threshold, whether the third time difference is less than the second preset time threshold in each two adjacent subsequent moving periods in a preset number of subsequent moving periods adjacent to the current moving period is determined, and when the third time difference value in each two adjacent subsequent movement periods is smaller than the second preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
For example, continuing with the example of the motion trajectory of the center of gravity shown in fig. 4, the first preset time threshold may be represented as Th2, taking a moving period from time a to time C, the second moving time a- - > B of the center of gravity from the highest position to the lowest position during the moving process of the target user is N0, the first moving time B- - > C of the center of gravity from the lowest position to the highest position is T0, the difference between the second moving time N0 and the first moving time T0 in the current moving period corresponding to time a to time C is calculated to obtain a second time difference N0-T0, and similarly, the second time difference corresponding to the next moving period C- - > E adjacent to the current moving period (a- - > C) may be represented as N1-T1, at this time, the third time difference is N1-T1) - (N0-T0), when the third time difference value (N1-T1) - (N0-T0) is determined to be greater than or equal to the second preset time threshold Th2, it may be determined that the moving speed of the target user starts to increase at time C, at this time, a point in the gravity center motion trajectory corresponding to time C may be determined as a moving speed abrupt change point during the moving process of the target user, in order to further determine whether the target user can keep moving toward the target vehicle door after increasing the moving speed after the abrupt change point, it may be determined whether the third time difference value is less than the second preset time threshold Th2 in every two adjacent subsequent moving cycles, in a preset number of subsequent moving cycles adjacent to the current moving cycle (a- - > C), and when the third time difference value is determined to be less than the second preset time threshold in every two adjacent subsequent moving cycles, it may be determined that the target user moves toward the target vehicle door after the abrupt change point and the moving speed after the abrupt change point is accelerated, so that it may be determined that the first moving time T0 is reduced during the moving process of the target user, which is only an example and is not limited by the present disclosure.
When it is determined that the first moving time is decreased during the moving of the target user, performing step 211;
upon determining that the first movement time decreases during the movement of the target user, step 212 is performed.
And S211, determining that the target user is the riding user, and unlocking a target door of the vehicle.
In this step, the method can be implemented in any one of the following two ways:
the first method is as follows: the method comprises the steps that facial features and a first position of a riding user can be obtained, and the facial features and the first position are displayed; and receiving an unlocking instruction triggered by the user in the vehicle according to the displayed facial features and the first position, and unlocking the target vehicle door according to the unlocking instruction.
In this mode, the facial feature image of the user taking the vehicle can be acquired in real time through the image acquisition device, the first position is acquired through the vehicle-mounted radar device, and then the facial feature image and the first position are sent to a display device (such as a vehicle-mounted display) in the vehicle to display the facial feature and the first position to a user (such as a driver) in the vehicle, so that the user in the vehicle can timely know that the user taking the vehicle is approaching the target vehicle door, the user in the vehicle determines whether to unlock the target vehicle door, and the target vehicle door is unlocked when the unlocking instruction of the target vehicle door triggered by the user in the vehicle is determined to be received.
In addition, after the facial features and the first position are displayed, the user in the automobile can be further prompted in the modes of voice, flashing light and the like, so that the user in the automobile can timely know the relevant information of the user taking the automobile and timely unlock the target automobile door.
The second method comprises the following steps: acquiring the moving speed and the second position of the riding user; and when the moving speed is less than or equal to a preset speed threshold value and the distance between the second position and the target vehicle door is less than or equal to a preset distance threshold value, unlocking the target vehicle door.
In this mode, the moving speed and the second position of the riding user can be collected through a radar device, and in combination with an actual riding scene, when the moving speed of the riding user is smaller than or equal to a preset speed threshold, and the distance between the second position of the riding user and the target vehicle door is smaller than or equal to the preset distance threshold, it can be determined that the riding user has stopped moving in front of the target vehicle door, and further it can be determined that the riding user is about to open the target vehicle door, and at this time, the target vehicle door is automatically unlocked, so that the riding user can conveniently and directly open the target vehicle door to ride.
It should be further noted that, in order to improve the level of intelligence, in another possible implementation manner, the first manner and the second manner may be combined, and specifically, the facial feature and the first position of the riding user may be acquired and displayed; determining whether an unlocking instruction triggered by a user in the vehicle according to the displayed facial features and the first position is received or not, and acquiring the moving speed and the second position of the user in the vehicle when the unlocking instruction is determined not to be received; when the moving speed is smaller than or equal to a preset speed threshold value and the distance between the second position and the target vehicle door is smaller than or equal to a preset distance threshold value, unlocking the target vehicle door, wherein the distance between the first position and the target vehicle door is larger than the distance between the second position and the target vehicle door, so that a user in a vehicle can decide whether to unlock the target vehicle door in advance according to the facial features and the first position of a user in the vehicle, and when the user in the vehicle is determined not to unlock the target vehicle door in advance, the moving speed of the user in the vehicle is smaller than or equal to the preset speed threshold value and the distance between the second position and the target vehicle door is smaller than or equal to the preset distance threshold value, the vehicle automatically unlocks the target vehicle door, the intelligent level of unlocking the vehicle door is improved, and the user experience is further improved.
And S212, determining that no passenger exists in the preset area, and keeping the locking state of the target vehicle door.
By adopting the method, when the vehicle is in a parking state, whether the vehicle taking user exists in the preset area of the vehicle can be automatically detected, and the vehicle door is unlocked in time when the vehicle taking user is determined to exist, so that the vehicle taking user can directly open the vehicle door for taking the vehicle, and the vehicle taking experience of the user is improved.
Fig. 5 is a block diagram illustrating an apparatus for unlocking a vehicle door, according to an exemplary embodiment, as shown in fig. 5, the apparatus including:
the first determination module 501 is configured to determine whether a target user exists in a preset area of a vehicle when the vehicle is in a parking state, where the target user includes a user moving to a target door of the vehicle;
an obtaining module 502, configured to obtain, when it is determined that the target user exists, information about a change in a center of gravity of the target user during a moving process;
a second determining module 503, configured to determine whether the target user is a riding user according to the change information of the center of gravity position;
and the unlocking module 504 is used for unlocking the target vehicle door when the target user is determined to be the riding user.
Optionally, the first determining module 501 is configured to obtain a moving direction of the mobile user in the preset area at preset time intervals; determining an included angle between the moving direction and a normal direction of a vertical plane where the target vehicle door is located; acquiring a preset angle threshold; and determining whether the included angle is smaller than or equal to the preset angle threshold value within a first preset time period, and determining that the target user exists in a preset area of the vehicle when the included angle is smaller than or equal to the preset angle threshold value.
Optionally, the barycentric location change information includes a barycentric motion trajectory, and the obtaining module 502 is configured to collect a 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 second preset time period; and generating the gravity center motion trail according to the gravity center position.
Optionally, the center of gravity motion trajectory includes a center of gravity motion trajectory of the target user when moving in a plurality of movement cycles within the second preset time period, and one movement cycle includes a time sum of one single-foot supporting phase and an adjacent one double-foot supporting phase of the target user during the movement process;
the second determining module 503 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 first movement time decreases during the movement of the target user; and when the first moving time is determined to be reduced, determining the target user as the riding user.
Optionally, the second determining module 503 is configured to calculate a difference between the first moving time corresponding to the current moving period and the first moving time corresponding to the next 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 the first preset time threshold value, determining whether the first time difference value in every two adjacent subsequent moving periods is smaller than 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 two adjacent subsequent movement periods is determined to be smaller than the first preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
Optionally, as shown in fig. 6, the apparatus further includes: a moving time obtaining module 505, configured to determine, according to the motion trajectory of the center of gravity, a second moving time required for moving the center of gravity from the highest position to the lowest position in each moving period of the target user;
the second determining module 503 is configured to calculate a difference between the second moving time and the first moving time in the current moving period, so as to obtain a second time difference; calculating a difference value between the second time difference value corresponding to a next moving period adjacent to the current moving period and the second time difference value corresponding to the current moving period to obtain a third time difference value; determining whether the third time difference is greater than or equal to a second preset time threshold; when the third time difference is determined to be greater than or equal to the second preset time threshold, determining whether the third time difference in each two adjacent subsequent moving periods is smaller than the second preset time threshold in a preset number of subsequent moving periods adjacent to the current moving period; and when the third time difference value in each two adjacent subsequent movement periods is smaller than the second preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
Optionally, the unlocking module 504 is configured to obtain a facial feature and a first location of the riding user, and display the facial feature and the first location; and receiving an unlocking instruction triggered by the user in the vehicle according to the displayed facial features and the first position, and unlocking the target vehicle door according to the unlocking instruction.
Optionally, the unlocking module 504 is configured to obtain a moving speed and a second position of the riding user; and when the moving speed is less than or equal to a preset speed threshold value and the distance between the second position and the target vehicle door is less than or equal to a preset distance threshold value, unlocking the target vehicle door.
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, whether a riding user exists in the preset area of the vehicle can be automatically detected, and the vehicle door is unlocked in time when the riding user is determined to exist, so that the riding user can directly open the vehicle door to ride the vehicle, and riding experience of the user is improved.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle door unlocking method described above.
The present disclosure further provides a vehicle including the above door unlocking device.
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 (8)
1. A method of unlocking a vehicle door, the method comprising:
when a vehicle is in a parking state, determining whether target users exist in a preset area of the vehicle, wherein the target users comprise users moving to a target door of the vehicle;
when the target user is determined to exist, acquiring the change information of the gravity center position of the target user in the moving process;
determining whether the target user is a riding user or not according to the change information of the gravity center position;
when the target user is determined to be the riding user, unlocking the target vehicle door;
wherein the information of the change of the position of the center of gravity comprises a center of gravity motion track, and the acquiring of the information of the change of the position of the center of gravity of the target user in the moving process 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 second preset time period; generating the gravity center motion trail according to the gravity center position;
the gravity center motion trajectory comprises the gravity center motion trajectory when the target user moves in a plurality of moving cycles within the second preset time period, and one moving cycle comprises the sum of time of one single-foot supporting phase and the adjacent one double-foot supporting phase in the moving process of the target user; the determining whether the target user is a riding user according to the gravity center position change information comprises:
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 first movement time decreases during movement of the target user;
and when the first moving time is determined to be reduced, determining that the target user is the riding user.
2. The method of claim 1, wherein the determining whether a target user is present within a preset area of the vehicle comprises:
acquiring the moving direction of the mobile user in the preset area at preset time intervals;
determining an included angle between the moving direction and a normal direction of a vertical plane where the target vehicle door is located;
acquiring a preset angle threshold;
and determining whether the included angle is smaller than or equal to the preset angle threshold value within a first preset time period, and determining that the target user exists in a preset area of the vehicle when the included angle is smaller than or equal to the preset angle threshold value.
3. The method of claim 1, wherein the determining whether the first movement time decreases during the movement of the target user comprises:
calculating the difference value between the first moving time corresponding to the current moving period and the first moving time corresponding to the next 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 the first preset time threshold value, determining whether the first time difference value in every two adjacent subsequent movement periods is smaller than 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 two adjacent subsequent movement periods is smaller than the first preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
4. The method of claim 1, wherein prior to said determining whether said first movement time has decreased during movement of said target user, 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 first movement time decreases during movement of the target user comprises:
calculating the difference value between the second moving time and the first moving time in the current moving period to obtain a second time difference value;
calculating a difference value between the second time difference value corresponding to the next movement period adjacent to the current movement period and the second time difference value corresponding to the current movement period to obtain a third time difference value;
determining whether the third time difference is greater than or equal to a second preset time threshold;
when the third time difference is determined to be greater than or equal to the second preset time threshold, determining whether the third time difference in every two adjacent subsequent movement periods is smaller than the second preset time threshold in a preset number of subsequent movement periods adjacent to the current movement period;
and when the third time difference value in each two adjacent subsequent movement periods is smaller than the second preset time threshold, determining that the first movement time is reduced in the movement process of the target user.
5. The method of any of claims 1 to 4, wherein unlocking the target vehicle door upon determining that the target user is the riding user comprises:
acquiring facial features and a first position of the riding user, and displaying the facial features and the first position;
and receiving an unlocking instruction triggered by a user in the vehicle according to the displayed facial features and the first position, and unlocking the target vehicle door according to the unlocking instruction.
6. The method of any of claims 1 to 4, wherein unlocking the target vehicle door upon determining that the target user is the riding user comprises:
acquiring the moving speed and the second position of the riding user;
and when the moving speed is less than or equal to a preset speed threshold value and the distance between the second position and the target vehicle door is less than or equal to a preset distance threshold value, unlocking the target vehicle door.
7. A vehicle door unlocking apparatus, characterized in that the apparatus comprises:
the vehicle control device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining whether target users exist in a preset area of a vehicle when the vehicle is in a parking state, and the target users comprise users moving to a target door of the vehicle;
the acquisition module is used for acquiring the change information of the gravity center position of the target user in the moving process when the target user is determined to exist;
the second determining module is used for determining whether the target user is a riding user according to the gravity center position change information;
the unlocking module is used for unlocking the target vehicle door when the target user is determined to be the riding user;
the system comprises a center of gravity position change information acquisition module, a center of gravity position change information acquisition module and a center of gravity position change information acquisition module, wherein the center of gravity position change information comprises a center of gravity motion track; determining the position of the center of gravity of the target user in each moving image acquired within a second preset time period; generating the gravity center motion trail according to the gravity center position;
the gravity center motion trajectory comprises the gravity center motion trajectory when the target user moves in a plurality of moving cycles within the second preset time period, and one moving cycle comprises the sum of time of one single-foot supporting phase and the adjacent one double-foot supporting phase in the moving process of the target user; 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 first movement time decreases during movement of the target user; and when the first moving time is determined to be reduced, determining that the target user is the riding user.
8. A vehicle characterized by comprising the door unlocking device according to claim 7.
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| CN116605176B (en) * | 2023-07-20 | 2023-11-07 | 江西欧迈斯微电子有限公司 | Unlocking and locking control method and device and vehicle |
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| CN101558996A (en) * | 2009-05-15 | 2009-10-21 | 天津大学 | Gait recognition method based on orthogonal projection three-dimensional reconstruction of human motion structure |
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| CN101558996A (en) * | 2009-05-15 | 2009-10-21 | 天津大学 | Gait recognition method based on orthogonal projection three-dimensional reconstruction of human motion structure |
| CN105966357A (en) * | 2016-05-10 | 2016-09-28 | 北京新能源汽车股份有限公司 | Vehicle control method and device and vehicle |
| CN108269342A (en) * | 2018-03-29 | 2018-07-10 | 成都惠网远航科技有限公司 | Automobile door control automatic induction method |
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