CN115726660A - Vehicle tail gate control method and system and vehicle - Google Patents
Vehicle tail gate control method and system and vehicle Download PDFInfo
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Abstract
The invention provides a vehicle tail gate control method, a vehicle tail gate control system and a vehicle, wherein the human body track monitored by a look-around camera is continuously predicted and judged, and a vehicle machine system predicts the human body movement track through a preset movement track according to a basic model, so that the control of the tail gate is realized, false triggering is avoided, no operation is needed, and the control of the tail gate can be realized through any specific action; training and calibrating the basic model of the vehicle owner moving track data through the cloud system, continuously optimizing the basic model, and distributing to the vehicle end through the OTA mode, thereby intelligently controlling the opening and closing of the tail gate, enabling the tail gate to be more intelligent in control, realizing the intelligent follow-up of the tail gate, and improving the experience of a user.
Description
Technical Field
The invention relates to a vehicle door control system, in particular to a vehicle tail door control system.
Background
With the increasing degree of intelligence of vehicles, the automatic opening and closing of the tailgate becomes a necessary functional design for more and more vehicles. The prior art has the design of opening the tail gate by detecting the human face and the eyes through a camera as limiting conditions, but the cost is higher in consideration of the installation position of the camera of the existing car machine, the opening mode is more complicated, and misjudgment is easy to realize. The technology is also characterized in that the opening of the tail gate is realized by limiting the motion and the positioning of a human body and detecting and identifying the specific motion and the specific position, and the technology can only realize the identification of the specific motion at the back of the tail gate and cannot realize the random opening of the tail gate. The method is characterized in that the key is calculated based on field intensity information sent by the position of the key, when a person enters a departure area with the key and stays for a period of time to open the tailgate, the tailgate leaves the departure area and is automatically closed, but the technology has a greater risk of false triggering in the specific implementation process.
Disclosure of Invention
The invention aims to provide a vehicle tail gate control method and a vehicle tail gate control system, which abandon the traditional complex tail gate opening and closing mode, overcome the problems of false triggering, slow identification, identification from the rear and the like brought by the prior art, enable the vehicle tail gate to truly read the intention of a person, and can be opened and closed in time when needed, thereby realizing the free interaction between the tail gate and the person.
The technical scheme of the invention is as follows:
the invention provides a vehicle electric tail gate control method, which comprises the following steps:
step 1, responding to a signal that a vehicle owner enters a sensing area, activating a vehicle system, and starting a vehicle-mounted all-round-looking camera to continuously monitor and capture a human body movement track.
And 2, predicting and judging the human body movement track by the vehicle-mounted machine system, and transmitting a tail gate opening signal to the vehicle body controller when the tail gate is judged to be opened.
And 3, the automobile body controller receives the tail gate opening signal, transmits the signal to the tail gate switch and controls the opening of the tail gate.
And 4, continuously monitoring the movement track of the human body by the vehicle-mounted all-around camera, predicting and judging when the vehicle-mounted system identifies the change of the movement track of the human body, and transmitting a closing signal of the tail gate to the vehicle body controller when the vehicle-mounted system judges that the movement track of the human body is changed.
And 5, the automobile body controller receives the closing signal of the tail gate, transmits the signal to the tail gate switch and controls the closing of the tail gate.
And 6, after the tail gate is closed, the look-around camera finishes continuously monitoring the movement track of the human body, and the car machine system uploads the video to the cloud system.
And 7, performing model training and calibration on data such as track points of a car owner carrying a heavy object and a car owner being used to open and close a tail door in the video process by the cloud system, and distributing the data to the car machine system in an OTA (over the air) mode.
Specifically, in step 1, the signal indicating that the vehicle owner enters the sensing area is a signal indicating that the vehicle owner carries a key, or an object which can be sensed by the vehicle, such as a mobile phone, a bracelet, or glasses, bound to the vehicle-mounted device system, enters the sensing range of the vehicle.
2. Specifically, in step 2, the car machine system includes a preset probabilistic movement track based on the basic model for the human movement track captured by the panoramic camera, the basic model includes a setting area, the setting area is set by combining a vehicle sensing area and a human sensible area, when a user approaches the vehicle sensing area in the early stage, the camera continuously monitors the user movement track and a track point of a tail gate opened by the user through a key, the track is used as the probabilistic movement track, when the number of the probabilistic movement track exceeds a certain value, the basic model completes the collection of the initial probabilistic movement track, and in the later stage, the prediction and the judgment of the user movement track are performed through the combination time and/or the spatial dimension of the joint rate of the user movement track and the probabilistic movement track.
When the joint rate of the moving track of the user and the probabilistic moving track is judged to be greater than A, the vehicle is judged to be opened, or a vehicle owner has a habit of opening the tail gate in a certain time period or a certain place, even if the vehicle does not move according to the moving track of the basic model, the moving track is subjected to probability weighting, when the probability of opening the tail gate is judged to be greater than B, the vehicle is judged to be opened, wherein A and B are set values, and the probability weighting mode is also set by a manufacturer according to actual experience.
And step 4, specifically, the look-around camera continuously monitors the human body movement track, the car machine system predicts the human body movement track through a preset movement track according to the basic model, and continuously predicts and judges the human body track monitored by the look-around camera. When the car machine system recognizes that the human body moving track is far away from the car, the car machine system conducts probabilistic prediction on the human body moving track, when the probability of the far away is larger than or equal to C, the car machine system judges that the tail gate is closed, or when the moving track of the car owner cannot be sensed, the car machine system also judges that the tail gate is closed, and C is also a set value.
Specifically, in step 7, the cloud system performs model training and calibration on data, the data model deployed by the cloud performs cleaning, fusion and tag calculation on the video uploaded by the vehicle system through a data processing tool, and performs model training and calibration on data such as track points of a car owner holding a heavy object, a car owner being used to open and close a tail gate, and time of the car owner being used to open and close the tail gate in the video process.
The present invention also provides, in another aspect, a vehicle tailgate control system, the system comprising:
vehicle-mounted all-round camera: the human body movement track monitoring device is used for monitoring the human body movement track.
The car machine system: the system is used for predicting and judging the human body movement track acquired by the look-around camera based on a basic model, judging whether to open or close the tail gate and sending a corresponding control signal to the vehicle body controller; and after the tail gate is closed, the collected human body movement track data is uploaded to a cloud system.
Cloud system: the system is used for calibrating and learning the human body movement track acquired by the car machine system, realizing OTA of the car machine system through the cloud, and completing forging of thousands of people and thousands of faces of the tail gate opening system.
A vehicle body controller: and the system is responsible for receiving the signals of the car machine system and transmitting the signals to the tail gate switch.
Tail gate switch: and executing the opening and closing actions of the tail gate.
The invention also provides a vehicle, which is provided with the vehicle-mounted all-around camera, the vehicle-mounted machine system, the vehicle body controller and the tail gate switch of the vehicle tail gate control system and is used for executing the vehicle tail gate control method.
By adopting the technical scheme, the invention has the following advantages:
1. the invention realizes the control of the tail gate by predicting the human body movement track through the vehicle-mounted panoramic camera, can not be triggered by mistake by continuously optimizing the basic model, does not need any operation, can realize the control of the tail gate by any specific action, and can solve the problems in the background.
2. Training and calibrating a basic model of vehicle owner movement track data through a cloud system, distributing the basic model to a vehicle end through an OTA (over the air) mode, predicting a human body movement track through a preset movement track according to the basic model through a vehicle machine system, continuously predicting and judging the human body track monitored by a look-around camera, intelligently controlling the opening and closing of a tail gate, enabling the tail gate to be more intelligently controlled, being capable of realizing intelligent following of the tail gate and improving the experience of a user.
3. Based on recognition forms such as cell-phone/bracelet/glasses, accomplish the exclusive discernment of car owner identity, can realize that many passengers' customization is experienced, can accomplish thousand people thousand faces, the later stage also can regard as OTA optional package simultaneously, realizes creating income.
4. The invention can be realized based on the existing vehicle-mounted all-round-looking camera in the aspect of hardware without increasing any extra cost, and is easy to realize by modifying the existing vehicle.
Drawings
FIG. 1: a schematic view of a vehicle tailgate control system of the present invention;
FIG. 2: the invention discloses a human body movement track prediction schematic diagram;
FIG. 3: the invention relates to a flow chart of a vehicle tail gate control.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
The invention aims to provide a control scheme for understanding the tail gate of the vehicle at will, which abandons the traditional complex opening and closing mode of the tail gate, overcomes the problems of false triggering, slow identification, identification from the rear and the like caused by the prior background technology, enables the tail gate of the vehicle to truly read the intention of a person, can open and close the tail gate in time when needed, and realizes the free interaction between the tail gate and the person.
Example 1:
referring to fig. 1, the present embodiment is a system for implementing a tail gate control of a vehicle, where the system predicts a moving trajectory of a human body through a vehicle-mounted looking-around camera to implement a free-driving opening of the tail gate, and specifically includes the following steps:
vehicle-mounted all-round camera: the automobile panoramic camera is positioned at the front part, the side surface and the rear part of the automobile, is based on the existing vehicle-mounted panoramic camera and is used for capturing and continuously monitoring the moving track of a human body.
The vehicle machine system: the vehicle-mounted all-around camera is used for uploading the human body movement track acquired by the vehicle-mounted all-around camera to the cloud and performing local processing, and predicting and deciding the human body movement track.
A cloud system: the vehicle-mounted terminal is in charge of calibrating and learning the human body movement track acquired by the vehicle-mounted terminal system, and finishes the manufacture of thousands of people and thousands of faces of the tail gate opening system by realizing the OTA of the vehicle-mounted terminal system through the cloud.
A vehicle body controller: and the system is responsible for receiving signals of the car machine system and transmitting the signals to the tail gate switch.
A tail gate switch: and the tail gate is responsible for receiving signals transmitted by the vehicle body controller to control the opening and closing of the tail gate.
Example 2:
the present embodiment describes in detail the specific steps of the vehicle tail gate control method based on camera deep learning by using the above control system:
1. when an owner carries a key/mobile phone/bracelet/glasses bound with the car machine system and other objects which can be sensed by the car enter a car sensing range area, for example, 10m, the car starts to activate the car machine system after receiving a sensing signal, and simultaneously, the vehicle-mounted all-around camera is started to continuously monitor and capture the moving track of a human body.
2. Referring to fig. 3, the car machine system is configured to view a human body movement trajectory captured by a vehicle-mounted look-around camera, based on a corresponding base model, where the base model includes a setting area, where the setting area is set by combining a vehicle sensing range area and a human body sensing range area, in an early stage, where a user approaches the vehicle sensing range, continuously monitor a user movement trajectory through the camera and open a tailgate through a key, and use the trajectory as a probabilistic movement trajectory, when the number of the probabilistic movement trajectories exceeds a certain value, the initial probabilistic movement trajectory is collected, and in a later stage, the base model predicts and determines the movement trajectory of the user by combining time and space dimensions, for example, the user has a habit of opening the tailgate at a certain time/place, and performs comprehensive evaluation on whether the tailgate needs to be opened by combining a joint rate of the current user movement trajectory and the probabilistic movement trajectory.
When the human body movement track moves in the route area set by the basic model, the vehicle-mounted machine system judges and predicts the human body movement track, and the bonding rate of the user movement track and the previous probabilistic movement track is greater than A, for example, A can be set to 90%, and the vehicle-mounted machine system judges that the tail gate needs to be opened at the moment. Or, the vehicle system performs the probability weighting on the movement trajectory at this time in combination with whether the vehicle owner has a habit of opening the tailgate at a certain time period or a certain place, for example, the vehicle owner has a habit of opening the tailgate at a certain time period or a certain place, even if the vehicle owner does not move according to the movement trajectory of the basic model at this time, when it is evaluated that the probability that the user needs to open the tailgate exceeds B, for example, B is set to 80%, the vehicle system also determines that the tailgate needs to be opened at this time.
When the tail gate needs to be opened according to the prediction, the car machine system transmits a tail gate opening signal to the car body controller.
3. The vehicle body controller receives a signal transmitted by the vehicle machine system to open the tail gate, transmits the signal to the tail gate switch, and controls the opening of the tail gate.
4. With further reference to fig. 3, after the tailgate is opened, the vehicle-mounted panoramic camera continuously monitors the movement track of the human body. The vehicle-mounted system continuously predicts and judges the human body movement track monitored by the vehicle-mounted all-around camera through the preset movement track according to the basic model. When the vehicle-mounted system recognizes that the human body moving track is far away from the vehicle, the vehicle-mounted system conducts probabilistic prediction on the human body moving track, and when the probability of the far away exceeds a C value, for example, the C value is set to be larger than 90%, it is judged that the tail gate needs to be closed. Or when the moving track of the car owner cannot be sensed, the car machine system also judges that the tail door needs to be closed, and then the car machine system transmits a tail door closing signal to the car body controller.
5. The vehicle body controller receives a tail gate closing signal transmitted by the vehicle machine system, transmits the signal to the tail gate switch and controls the closing of the tail gate.
6. Referring to fig. 3, after the tail gate is closed, the vehicle-mounted looking-around camera ends continuous monitoring of the moving track of the human body, and the vehicle-mounted system uploads the monitored moving track data of the human body to the cloud. The data model deployed by the cloud end cleans, fuses and calculates the label of the video uploaded by the car machine system through a data processing tool, extracts the data in the video into data useful for the model, for example, the data such as the track points of a car owner who is used to open and close a tail gate in the video process, the track points of the car owner who is used to open and close the tail gate, the time of the car owner who is used to open and close the tail gate, and the like are subjected to model training and calibration, and the data for opening and closing the tail gate of thousands of people is obtained through continuous training and iteration of the video uploaded by the car machine system of a user on the model. And the basic model of the vehicle-mounted machine system is remotely calibrated by being distributed to the vehicle-mounted machine system in an OTA mode, so that the basic model is continuously optimized, the habit of a vehicle owner is better met, and the tail gate is opened at will.
Therefore, the control system based on the existing vehicle-mounted equipment predicts the movement track of the human body through the vehicle-mounted all-around camera, and the vehicle-mounted machine system predicts the movement track of the human body through the preset movement track according to the basic model to realize the control of the tail gate, so that the control of the tail gate can be realized without false triggering and any operation and any specific action; train and mark the basic model of car owner removal orbit data through high in the clouds system, through constantly study and the optimization to car owner's action custom, perfect action orbit prediction model, constantly optimize basic model to distributing to the car end through OTA's form, thereby opening and closing of intelligent ground control tail gate, let the tail gate control more intelligent, can realize the intelligence of tail gate and follow one's mind, can realize that the tail gate opens the thousand people face of mode, promote user's experience and feel.
Claims (9)
1. A vehicle tailgate control method, characterized by comprising the steps of:
step 1, responding to a signal that a vehicle owner enters an induction area, activating a vehicle system, and starting a vehicle-mounted all-round-looking camera to continuously monitor and capture a human body movement track;
step 2, the car machine system predicts and judges the human body movement track, and transmits a tail gate opening signal to the car body controller when the tail gate is judged to be opened;
step 3, the automobile body controller receives a tail gate opening signal, transmits the signal to a tail gate switch and controls the opening of the tail gate;
step 4, continuously monitoring the moving track of the human body by the vehicle-mounted all-around camera, predicting and judging when the vehicle-mounted system monitors that the human body has a moving away trend, and transmitting a closing signal of the tail gate to the vehicle body controller when the vehicle-mounted system judges that the tail gate is closed;
step 5, the vehicle body controller receives a tail gate closing signal, transmits the signal to a tail gate switch and controls the closing of the tail gate;
step 6, after the tail gate is closed, continuously monitoring the movement track of the human body by the looking-around camera, and uploading the video to the cloud system by the vehicle-mounted system;
and 7, performing model training and calibration on data such as track points and the like of a car owner holding heavy objects and a car owner used to open and close a tail door in the video process by the cloud system, and distributing the data to the car machine system in an OTA (over the air) mode.
2. The vehicle tail gate control method according to claim 1, wherein in the step 1, the signal that the vehicle owner enters the sensing area is a signal that the vehicle owner carries a key/a mobile phone/a bracelet/glasses bound to the vehicle system and other vehicle-sensible items enter the vehicle sensing range.
3. The vehicle tailgate control method according to claim 1, wherein in step 2, the vehicle-mounted machine system predicts and judges a human body movement trajectory captured by the looking-around camera based on a basic model, the basic model includes a set area, the set area is comprehensively set by combining a vehicle sensing range area and a human body sensible area, when a user approaches the vehicle sensing range in the early stage, the camera continuously monitors the user movement trajectory and a trajectory point of the tailgate opened by the user through a key, the trajectory is taken as a probabilistic movement trajectory, when the number of the probabilistic movement trajectories exceeds a certain value, the basic model completes collection of initial probabilistic movement trajectories, and when the user movement trajectory and the probabilistic movement trajectory are combined with time and/or space dimensions, the prediction and judgment of the user movement trajectory are performed in the later stage.
4. The vehicle tailgate control method according to claim 3, wherein the predicting and judging in step 2 based on the basic model is specifically: and when the bonding rate is greater than A, judging that the tail gate is opened, or judging that the tail gate is opened when the bonding rate is greater than A, or judging that the tail gate is opened when the bonding rate is greater than B, wherein the moving track is subjected to probability weighting even if the tail gate is not moved according to the moving track of the basic model.
5. The vehicle tailgate control method according to claim 1, wherein in step 4, the look-around camera continuously monitors a human body movement trajectory, the in-vehicle system predicts the human body movement trajectory through a preset movement trajectory according to a basic model, and continuously predicts and judges the human body trajectory monitored by the look-around camera.
6. The vehicle tail gate control method according to claim 5, wherein the step 4 vehicle system predicts the human body movement track through a preset movement track according to a basic model specifically comprises the following steps: when the car machine system recognizes that the human body moving track is far away from the car, the car machine system conducts probabilistic prediction on the human body moving track, when the probability of the far away is larger than or equal to C, the car machine system judges that the tail gate is closed, or when the moving track of the car owner cannot be sensed, the car machine system also judges that the tail gate is closed, and C is a set value.
7. The vehicle tail gate control method according to claim 1, wherein in the step 7, the cloud system performs model training and calibration on data, the data model deployed by the cloud performs cleaning, fusion and tag calculation on the video uploaded by the vehicle system through a data processing tool, and performs model training and calibration on data such as track points where a vehicle owner holds a heavy object and is accustomed to opening and closing the tail gate, and time where the vehicle owner is accustomed to opening and closing the tail gate in the video process.
8. A vehicle tailgate control system, characterized in that the system comprises:
vehicle-mounted all-round camera: the system is used for monitoring the moving track of the human body;
the vehicle machine system: the system is used for predicting and judging the human body movement track acquired by the look-around camera based on a basic model, judging whether to open or close the tail gate and sending a corresponding control signal to the vehicle body controller; after the tail gate is closed, the collected human body movement track data are uploaded to a cloud end system;
a cloud system: the system is used for calibrating and learning the human body movement track acquired by the car machine system, realizing OTA of the car machine system through the cloud, and completing construction of the tail door opening system for thousands of people and thousands of faces;
a vehicle body controller: the system is responsible for receiving signals of the car machine system and transmitting the signals to the tail gate switch;
a tail gate switch: executing the opening and closing actions of the tail gate;
the system is configured to perform the method of claims 1-7.
9. A vehicle equipped with the on-board look-around camera of the vehicle tailgate control system according to claim 8, a vehicle body system, a vehicle body controller, and a tailgate switch, for executing the vehicle tailgate control method according to any one of claims 1 to 7.
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