CN116215441A - Vehicle cabin door opening method and device, electronic equipment and storage medium - Google Patents
Vehicle cabin door opening method and device, electronic equipment and storage medium Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/2036—Means to switch the anti-theft system on or off by using the door logic and door and engine unlock means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/2054—Means to switch the anti-theft system on or off by foot gestures
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- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/25—Means to switch the anti-theft system on or off using biometry
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The embodiment of the invention provides a vehicle cabin door opening method, a vehicle cabin door opening device, electronic equipment and a storage medium, wherein the method comprises the following steps: when the user outside the vehicle is detected to be in the preset distance range, acquiring motion information, historical intent prediction information and a user image acquired by the off-vehicle image acquisition equipment of the user; performing image recognition on the user image to obtain an image recognition result comprising gesture information of the user; predicting the user intention according to the motion information, the historical intention prediction information and the gesture information; a vehicle door opening command is generated when the user intends to open the vehicle door, such that the vehicle opens the vehicle door in response to the command. According to the method and the device for unlocking the vehicle cabin doors, the user intention is predicted by acquiring the motion information, the historical intention prediction information and the posture information of the user, so that unlocking and opening of any cabin door of the vehicle can be performed based on the user intention, accurate control of different vehicle cabin doors is realized, and the problems of high use cost, poor convenience and the like when the opening of different vehicle cabin doors is accurately controlled are avoided.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle door opening method, a vehicle door opening device, an electronic device, and a computer readable storage medium.
Background
With the progress of technology and the development of society, the intelligent development of automobiles is rapid, and the intelligent function of vehicles is receiving more and more attention. When a user approaches or leaves a vehicle and needs to open a vehicle door for getting on the vehicle, identity authentication and connection establishment can be generally carried out through near-field Bluetooth communication equipment such as a mobile phone Bluetooth and a Bluetooth key carried by the user, and a vehicle unlocking device is automatically triggered, so that automatic opening and closing of a vehicle cabin door are realized. However, this way can only open or close all the vehicle doors at the same time, and it is difficult to control the different vehicle doors accurately; on the other hand, when the user carries the intelligent key equipped with the vehicle outside the vehicle or carries the mobile phone key connected with the Bluetooth, if the user has a slight action close to or far away from the vehicle in the Bluetooth communication range, for example, the user gets off in a public charging pile area to prepare for charging, gets off and takes a smoke rest at the vehicle side and the like, and the user takes a rest in a small range beside the vehicle, the misoperation of the vehicle unlocking system is easily caused, even the problem that the vehicle unlocking system repeatedly and automatically unlocks occurs, and the user experience is reduced.
In the existing mode of controlling a certain vehicle cabin door, face recognition equipment can be arranged on a door column of a vehicle, and a main driving door is automatically unlocked and opened after authentication and verification of the identity of a user, however, the mode can only be used for unlocking and opening the main driving door, and is difficult to be used for unlocking and opening any other cabin door of the vehicle at the same time. In addition, can also set up projection arrangement on the vehicle trunk, through trampling to projection arrangement and throw the icon on ground, open the vehicle tail-gate automatically, however, this mode can only be used for the door that projection arrangement corresponds, is difficult to be used for the unblock of other arbitrary hatch doors of vehicle simultaneously equally and opens to lead to user experience relatively poor.
Disclosure of Invention
In view of the above, embodiments of the present invention have been made to provide a vehicle door opening method, a vehicle door opening device, an electronic apparatus, and a computer-readable storage medium that overcome or at least partially solve the above problems.
In order to solve the above problems, an embodiment of the present invention discloses a method for opening a door of a vehicle, the vehicle including an off-vehicle image acquisition device, the method comprising:
When a user outside the vehicle is detected to be in a preset distance range, acquiring motion information of the user, historical intent prediction information of the user and a user image acquired by the off-vehicle image acquisition device;
performing image recognition on the user image to obtain an image recognition result, wherein the image recognition result comprises gesture information of the user;
predicting a user intention according to the motion information, the historical intention prediction information and the gesture information;
when the user intends to open the vehicle door, a vehicle door opening command is generated to cause the vehicle to open the vehicle door in response to the vehicle door opening command.
Optionally, the image recognition result further includes object information associated with the user, and predicting the user intention according to the motion information, the historical intention prediction information and the gesture information includes:
predicting a user intent based on the motion information, the historical intent prediction information, the gesture information, and the object information associated with the user.
Optionally, the vehicle further includes an off-board sensor, and the acquiring the motion information of the user includes:
Acquiring distance information, speed information and azimuth information of the user detected by the off-board sensor;
and predicting a user track according to the distance information, the speed information and the azimuth information, and taking the user track as the motion information of the user.
Optionally, before the motion information of the user, the historical intent prediction information of the user and the user image acquired by the off-board image acquisition device are acquired, the method further includes:
authenticating the user identity of the user;
and when the user identity authentication is passed, executing the steps of acquiring the motion information of the user, the historical intent prediction information of the user and the user image acquired by the off-board image acquisition equipment.
Optionally, the authenticating the user for user identity includes:
acquiring a face image of a user, a Bluetooth connection condition of a mobile phone of the user and a Bluetooth key connection condition, which are acquired by the off-board image acquisition equipment;
and authenticating the user identity of the user based on at least one of the Bluetooth connection condition of the mobile phone, the Bluetooth key connection condition and the face image of the user.
Optionally, the authenticating the user for the user identity based on at least one of the bluetooth connection condition of the mobile phone, the bluetooth key connection condition and the face image of the user includes:
Based on the Bluetooth connection condition of the mobile phone, carrying out first authentication on the user to be authenticated;
based on the Bluetooth key connection condition, carrying out second authentication on the user to be authenticated;
and when the first authentication passes and/or the second authentication passes, carrying out third authentication on the user based on the face image of the user.
Optionally, the predicting the user intention according to the motion information, the historical intent prediction information, the gesture information and the object information associated with the user includes:
and inputting the motion information, the historical intent prediction information, the gesture information and the object information associated with the user into an intent prediction model for processing to obtain the user intent.
The embodiment of the invention also discloses a vehicle cabin door opening device, wherein the vehicle comprises an external image acquisition device, and the device comprises:
the acquisition module is used for acquiring the motion information of the user, the historical intent prediction information of the user and the user image acquired by the off-board image acquisition device when the user outside the vehicle is detected to be within the preset distance range;
The identification module is used for carrying out image identification on the user image to obtain an image identification result, wherein the image identification result comprises gesture information of the user;
the prediction module is used for predicting the user intention according to the motion information, the historical intention prediction information and the gesture information;
and the opening module is used for generating a vehicle door opening command when the user intends to open the vehicle door, so that the vehicle can open the vehicle door in response to the vehicle door opening command.
Optionally, the image recognition result further includes object information associated with the user, and the prediction module includes:
and the intention prediction sub-module is used for predicting the intention of the user according to the motion information, the historical intention prediction information, the gesture information and the object information associated with the user.
Optionally, the vehicle further includes an off-board sensor, and the acquisition module includes:
the detection information acquisition sub-module is used for acquiring distance information, speed information and azimuth information of the user detected by the off-board sensor;
and the user track prediction sub-module is used for predicting a user track according to the distance information, the speed information and the azimuth information, and taking the user track as the motion information of the user.
Optionally, before the acquiring module, the method further includes:
the identity authentication module is used for carrying out user identity authentication on the user;
and the authentication passing module is used for executing the steps of acquiring the motion information of the user, the historical intention prediction information of the user and the user image acquired by the off-board image acquisition equipment when the user identity authentication passes.
Optionally, the identity authentication module includes:
the authentication information acquisition sub-module is used for acquiring the face image of the user, the Bluetooth connection condition of the mobile phone of the user and the Bluetooth key connection condition acquired by the off-board image acquisition equipment;
and the user identity authentication sub-module is used for carrying out user identity authentication on the user based on at least one of the Bluetooth connection condition, the Bluetooth key connection condition and the user face image of the mobile phone.
Optionally, the user identity authentication submodule includes:
the first authentication unit is used for carrying out first authentication on the user to be authenticated based on the Bluetooth connection condition of the mobile phone;
the second authentication unit is used for carrying out second authentication on the user to be authenticated based on the Bluetooth key connection condition;
And the third authentication unit is used for carrying out third authentication on the user based on the face image of the user when the first authentication passes and/or the second authentication passes.
Optionally, the intention prediction submodule includes:
and the prediction model processing unit is used for inputting the motion information, the historical intent prediction information, the gesture information and the object information related to the user into an intent prediction model for processing to obtain the user intent.
The embodiment of the invention also discloses an electronic device, which comprises: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor, implements the steps of the vehicle door opening method as described above.
The embodiment of the invention also discloses a computer readable storage medium, which is characterized in that the computer readable storage medium stores a computer program, and the computer program realizes the steps of the vehicle cabin door opening method when being executed by a processor.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, when a user outside a vehicle is detected to be in a preset distance range, firstly, motion information, historical intention prediction information and a user image acquired by an off-vehicle image acquisition device of the user are acquired, image recognition is carried out on the user image to obtain an image recognition result comprising gesture information of the user, and then the intention of the user is predicted according to the motion information, the historical intention prediction information and the gesture information; when the user intends to open the vehicle door, a vehicle door opening command is generated to cause the vehicle to open the vehicle door in response to the vehicle door opening command. According to the embodiment of the invention, the user intention is predicted based on the motion information, the historical intention prediction information and the posture information of the user by acquiring the information of the user outside the vehicle, so that the unlocking and opening of any vehicle cabin door can be performed based on the user intention, the accurate control of different vehicle cabin doors is realized, and the problems of high use cost, poor convenience and the like when the different vehicle cabin doors are accurately controlled to be opened are avoided.
Drawings
Fig. 1 is a schematic view of a face recognition camera provided on a door post;
FIG. 2 is a schematic view of a projection device projecting icons on the ground;
fig. 3 is a flowchart of steps of a method for opening a door of a vehicle according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating steps of another method for opening a door of a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a vehicle door opening based on user intent provided by an embodiment of the present invention;
fig. 6 is a flowchart of a method for opening a door of a vehicle according to an embodiment of the present invention;
fig. 7 is a block diagram of a vehicle door opening device according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
On the intelligent automobile, the user identity authentication can be performed by adopting near-field Bluetooth communication equipment, face recognition equipment and the like, so that the vehicle cabin door is automatically unlocked or opened, or the vehicle cabin door is unlocked or opened by shielding the icon projected by the projection device. Three common opening modes of the cabin door of the intelligent automobile are described below.
In the active door opening mode combining with Face ID (Identity document, identity number) identity recognition, face information of a user can be recorded in advance to serve as a basis for recognition and unlocking. Referring to fig. 1, a schematic diagram of a Face recognition camera arranged on a door post is shown, the Face recognition camera can be arranged on the door post of a vehicle, and after the Face ID is used for identifying, authenticating and checking the identity of a vehicle owner, the main driving door can be automatically unlocked and opened.
In the car door active opening mode based on the connection of the near field wireless communication system, near field Bluetooth communication equipment such as a Bluetooth key can be used for connecting a vehicle-mounted Bluetooth communication module, so that the identity authentication and connection of a car owner are carried out, when the car owner is continuously connected within a certain range, a user approaches to or leaves the car, and at the moment, the unlocking device of the car is automatically triggered. A radar sensor may be installed in a central area of the lower portion of the rear bumper of the vehicle, and may automatically open or close the vehicle back door when a "kicking" action of the user is recognized.
In the vehicle door active opening mode based on the non-inductive interaction triggering of the projection device, after a user approaches the vehicle with near-field Bluetooth communication equipment such as a Bluetooth key, the vehicle can automatically enter an unlocking state. Referring to fig. 2, a schematic view of a projection device projecting an icon on the ground is shown, and an LED (light-emitting diode) projection device on a trunk may project a "trunk" icon on the ground while a vehicle automatically enters an unlocked state. When the user needs to open the tail gate, any foot can be trampled on the icon of the projection area, so that the tail gate opening instruction is triggered when the icon is identified to be in a shielding state.
However, all the above three methods have shortcomings, and referring to table 1, the above three common methods for opening doors of intelligent automobiles have shortcomings.
TABLE 1
As can be seen from table 1, the conventional vehicle door opening method has the following six problems:
1. the comprehensive success rate is low: the existing vehicle cabin door opening scheme depends on a single authentication mode of a vehicle intelligent key/a mobile phone Bluetooth key, in the authentication mode, the connection stability of the Bluetooth key is easily affected by the daily key storage environment of a user, and the Bluetooth key also has the problem of poor power supply durability; the Bluetooth key of the mobile phone connected with the Bluetooth of the personal mobile device of the user is subject to the setting of system authorities by different mobile phone operating systems, and various problems such as background killing and authority limiting are easy to occur, so that the connection success rate is influenced.
2. The use cost is high: besides the original Bluetooth key of the original factory, the Face ID identification/mobile phone Bluetooth key requires the user to perform at least 1-2 times of information input and operation, multiple times of input operation are required for multiple authorized users of the same vehicle, and the user perception cost is high. The automatic triggering type door opening and closing functions such as the automatic foot-kicking tail door, the foot-kicking side sliding door and the like have strict requirements on foot-kicking actions and angles of users, and unskilled users can succeed only by carrying out the foot-kicking actions for a plurality of times.
3. The convenience is poor: the degree of dependence on the inherent devices is high, and a user may need to carry multiple fixed devices; the user cannot realize 'no-sense interaction' when using the function, and the perception cost is high.
4. The application scenario is limited: except for carrying a key/mobile phone APP remote control, all cabin door control of four doors and two covers of a vehicle cannot be provided; part of whistle functions have the problem of poor scene generalization.
5. Maintenance economy/high cost: excessive reliance on accessory equipment and other additional sensors can be costly to maintain.
6. Experience upgrade space is low: besides the traditional unlocking and remote door opening and closing control, no other potential experience upgrading space exists.
In sum, the existing vehicle cabin door opening mode has the problems of low success rate, high use cost, poor convenience and the like, is difficult to unlock and open any other cabin door of the vehicle at the same time, and cannot accurately control different vehicle cabin doors, so that the user experience is poor.
When detecting that a user outside a vehicle is within a preset distance range, firstly acquiring motion information, historical intent prediction information and a user image acquired by an off-vehicle image acquisition device of the user, carrying out image recognition on the user image to obtain an image recognition result comprising gesture information of the user, and predicting the intent of the user according to the motion information, the historical intent prediction information and the gesture information; when the user intends to open the vehicle door, a vehicle door opening command is generated to cause the vehicle to open the vehicle door in response to the vehicle door opening command. According to the embodiment of the invention, the user intention is predicted based on the motion information, the historical intention prediction information and the posture information of the user by acquiring the information of the user outside the vehicle, so that the unlocking and opening of any vehicle cabin door can be performed based on the user intention, the accurate control of different vehicle cabin doors is realized, the problems of high use cost, poor convenience and the like when the different vehicle cabin doors are accurately controlled to be opened are avoided, and the problem that the misoperation of a vehicle unlocking and locking system is easily caused when the user slightly approaches or moves away from the vehicle nearby is also avoided.
Referring to fig. 3, a step flowchart of a method for opening a door of a vehicle according to an embodiment of the present invention is shown, where the vehicle includes an off-board image acquisition device, and the method specifically may include the following steps:
The vehicle cabin door opening method can be applied to a vehicle server, and when a user approaches a vehicle to get on or get off the vehicle, the vehicle server can acquire information such as motion information and historical intention prediction information of the user, so as to predict the intention of the user, and the vehicle cabin door is opened based on the intention of the user.
A user outside the vehicle may refer to a user who is approaching the vehicle to get on the vehicle, or may refer to a user who is away from the vehicle after getting off the vehicle. The preset distance range may refer to a preset distance range between the user and the vehicle, and may be, for example, 50 meters.
The movement information of the user may refer to information that the user moves outside the vehicle with respect to the vehicle. The historical intent prediction information of the user may be obtained from a preset user database that may be used to store historical intent prediction information previously used to predict the intent of the user. The off-vehicle image capturing device may refer to a device for capturing an off-vehicle image, the user image may refer to an image containing a user, and the off-vehicle image capturing device may be an off-vehicle camera that may capture a video image containing the user for a user located outside the vehicle, for example.
In the embodiment of the invention, when the vehicle is in a parking state, the vehicle server can automatically detect whether the user outside the vehicle is in a preset distance range, and when the user is detected to be in the preset distance range, the vehicle server can acquire the motion information of the user, the historical intent prediction information of the user, the user image and other information, so that the user intent is predicted based on the information.
In the embodiment of the invention, when the vehicle is in a parking state and a user outside the vehicle is detected to be in a preset distance range, the sensing of the image acquisition equipment outside the vehicle or other available sensors can be directly started, the vehicle automatic driving calculation unit is adopted to predict the intention of the user and control the cabin door of the vehicle, other sensors are not required to be additionally arranged, and the user is not required to perform other complicated function settings, so that the problem of high use cost is avoided.
Specifically, after the user image acquired by the off-vehicle image acquisition device is acquired, the user image can be input into a pre-trained image recognition model for processing, so as to obtain an image recognition result output by the image recognition model. The image recognition result may include gesture information of the user, among other things. The gesture information of the user may refer to information such as a motion gesture, a body gesture, and the like of the user, and the gesture information may be: walking posture + back shadow.
In the embodiment of the invention, after the motion information, the historical intent prediction information and the gesture information of the user are obtained, the user intent can be predicted based on the motion information, the historical intent prediction information and the gesture information, so that the vehicle cabin door is opened based on the predicted user intent.
The vehicle door may include at least one of a primary cockpit door, a secondary cockpit door, a primary cockpit side rear row door, a secondary cockpit side rear row door, windows, an engine hood, and a trunk lid. For example, when it is predicted that the user intends to open the main cockpit door, a main cockpit door opening command may be automatically generated to open the main cockpit door; when it is predicted that the user intends to open the trunk lid, a trunk lid opening instruction may be automatically generated to open the trunk lid.
In the embodiment of the invention, when a user outside a vehicle is detected to be in a preset distance range, firstly, motion information, historical intention prediction information and a user image acquired by an off-vehicle image acquisition device of the user are acquired, image recognition is carried out on the user image to obtain an image recognition result comprising gesture information of the user, and then the intention of the user is predicted according to the motion information, the historical intention prediction information and the gesture information; when the user intends to open the vehicle door, a vehicle door opening command is generated to cause the vehicle to open the vehicle door in response to the vehicle door opening command. According to the embodiment of the invention, the user intention is predicted based on the motion information, the historical intention prediction information and the posture information of the user by acquiring the information of the user outside the vehicle, so that the unlocking and opening of any vehicle cabin door can be performed based on the user intention, the accurate control of different vehicle cabin doors is realized, the problems of high use cost, poor convenience and the like when the different vehicle cabin doors are accurately controlled to be opened are avoided, and the problem that the misoperation of a vehicle unlocking and locking system is easily caused when the user slightly approaches or moves away from the vehicle nearby is also avoided.
Referring to fig. 4, a flowchart illustrating steps of another method for opening a door of a vehicle according to an embodiment of the present invention, where the vehicle includes an off-board image capturing device, the method may specifically include the steps of:
In the embodiment of the invention, when the user is in the preset distance range, user identity authentication can be firstly carried out on the user, and when the identity authentication is passed, the motion information and the historical intention prediction information of the authenticated user are acquired, and the user intention is predicted by acquiring the image of the authenticated user, so that the permission of opening the vehicle cabin door of a non-vehicle user is avoided.
In one example, if the user and the plurality of non-vehicle users are both within the preset distance range, the vehicle server may acquire authentication information of each user within the preset distance range, respectively perform user identity authentication on each user, and when the identity authentication of the user a passes, only acquire motion information and historical intent prediction information of the user a for the user a and acquire images of the user a, and not acquire information of other users (i.e., non-vehicle users) that do not pass the authentication.
In an alternative embodiment, the step 401 may comprise the following sub-steps S11-S12:
And S11, acquiring a face image of the user, a Bluetooth connection condition of a mobile phone of the user and a Bluetooth key connection condition, which are acquired by the off-board image acquisition equipment.
And step S12, carrying out user identity authentication on the user based on at least one of the Bluetooth connection condition of the mobile phone, the Bluetooth key connection condition and the face image of the user.
The vehicle server can acquire the face image, the Bluetooth connection condition of the mobile phone and the Bluetooth key connection condition of the user to be authenticated, which are acquired by the off-vehicle image acquisition equipment, and perform user identity authentication on the user to be authenticated. When the identity authentication is required to be carried out on a plurality of users, the face image, the Bluetooth connection condition of the mobile phone and the Bluetooth key connection condition of each user to be authenticated can be obtained to carry out the user identity authentication.
According to the embodiment of the invention, through the peripheral vision visual perception of the vehicle exterior image acquisition equipment, face images can be acquired to carry out face recognition and authentication, and gesture information of a user can be acquired to be used for intention prediction so as to open a vehicle cabin door, so that the information acquired by the vehicle exterior image acquisition equipment is used as a redundant backup, and the problems of low authentication success rate caused by different makeup and decoration of the user, unstable Bluetooth connection, poor projection environment and poor projection plane material quality are avoided.
It should be noted that, the user identity authentication for the user based on the mobile phone bluetooth connection condition, the bluetooth key connection condition and the user face image is only an example of the present invention, and in practical application, the user identity authentication may also be used based on user identity information such as physical bone joint physiological characteristics of the user, clothing wearing characteristics of the user, etc., so that the user identity authentication may be performed without relying on fixed bluetooth keys, bluetooth devices of the mobile phone, etc., and the problem of poor convenience of the original authentication mode is avoided.
In an alternative embodiment, the substep S12 may comprise the following substeps S121-S123:
and step S121, carrying out first authentication on the user to be authenticated based on the Bluetooth connection condition of the mobile phone.
Specifically, if the mobile phone Bluetooth of the user to be authenticated is not connected with the vehicle-mounted Bluetooth communication module, the first identity authentication of the user is not passed; if the mobile phone Bluetooth of the user to be authenticated is connected with the vehicle-mounted Bluetooth communication module, the first identity authentication of the user is passed.
And a sub-step S122, based on the Bluetooth key connection condition, performing second authentication on the user to be authenticated.
Specifically, if the Bluetooth key of the user to be authenticated is not connected with the vehicle Bluetooth communication module, the second identity authentication of the user is not passed; if the Bluetooth key of the user to be authenticated is connected with the vehicle-mounted Bluetooth communication module, the second identity authentication of the user is passed.
Sub-step S123, when the first authentication passes and/or the second authentication passes, performing a third authentication on the user based on the face image of the user.
When the mobile phone Bluetooth of the user to be authenticated is connected with the vehicle-mounted Bluetooth communication module, or the Bluetooth key of the user to be authenticated is connected with the vehicle-mounted Bluetooth communication module, or both the mobile phone Bluetooth of the user to be authenticated and the Bluetooth key are connected with the vehicle-mounted Bluetooth communication module, namely, at least one of the mobile phone Bluetooth and the Bluetooth key is adopted to finish authentication, face images of the user to be authenticated are acquired to carry out face recognition, and the user to be authenticated is authenticated for the third time.
And step 402, when the user identity authentication is passed, executing the step of acquiring the motion information of the user, the historical intent prediction information of the user and the user image acquired by the off-board image acquisition equipment.
When the identity authentication of the user to be authenticated passes, the user can be granted the authority of opening the vehicle cabin door, and then the steps of acquiring the motion information, the historical intention prediction information and the user image acquired by the off-board image acquisition equipment are executed. And when the identity authentication of the user to be authenticated is not passed, the user is not granted with the authority to open the vehicle cabin door.
In the embodiment of the invention, the user identity is authenticated by a plurality of authentication modes, which is beneficial to avoiding granting the authority of opening the vehicle cabin door to the non-vehicle user.
Referring to fig. 5, a schematic diagram of opening a door of a vehicle based on user intention is provided in an embodiment of the present invention. In one example, if a user needs to move the cargo box to the trunk of the vehicle and carry a cell phone on his/her body that has been matched with the vehicle; when the distance between the user and the vehicle is detected to be smaller than 50 meters, the mobile phone carried by the user is connected with the vehicle Bluetooth communication module in a Bluetooth mode to finish authentication, at the moment, the whole vehicle can be started, and the user intention is predicted through posture information (walking posture + double-hand holding box) acquired by the vehicle exterior camera and the vehicle exterior sensor, movement information (walking at a constant speed of 1km/h, predicting the rear tail of the vehicle of a user track destination), object information (user + box) and other information related to the user, so that when the distance between the user and the vehicle is detected to be smaller than 5 meters, the vehicle trunk cover is automatically opened in advance, and the user can place the goods box. In another example, if the user gets off the vehicle to get away from the vehicle, and the vehicle key is left in the vehicle, the mobile phone is not connected with the vehicle-mounted bluetooth communication module, the user intention is predicted by the posture information (walking posture + back shadow + carrying the handbag) obtained by the vehicle-mounted camera and the vehicle-mounted sensor, the motion information (walking at a constant speed of 1km/h, predicting that the distance between the user track and the vehicle is greater than 50 m in 30 s), the object information (user + handbag) and other information related to the user, so that the window stripping force of the user side is automatically reduced before the distance between the user and the vehicle is detected to be greater than 5m, and the voice information "key is forgotten in the vehicle" is played.
In an alternative embodiment, the vehicle further comprises an off-board sensor, said step 403 may comprise the following sub-steps S21-S22:
and a substep S21, wherein distance information, speed information and azimuth information of the user detected by the off-board sensor are acquired.
And a substep S22, predicting a user track according to the distance information, the speed information and the azimuth information, and taking the user track as the motion information of the user.
The outside sensor may refer to a sensor for detecting outside information, and may be, for example, a laser radar sensor, an ultrasonic sensor, or the like. The distance information may refer to information of a distance between the user and the vehicle, and for example, the distance information may be: the user is 40 meters from the vehicle. The speed information may refer to information of a moving speed of the user, for example, the speed information may be: the user moves at a constant speed of 1 km/h. The orientation information may refer to the orientation of the user relative to the vehicle, e.g., the direction in which the user is located in the rear case of the vehicle. The vehicle server can predict the track of the user according to the distance information, the speed information and the azimuth information detected by the outside vehicle sensor, and obtain the motion information of the user.
In the embodiment of the invention, the target vehicle cabin door which needs to be opened by the user and the vehicle cabin door which needs to be opened by the user are obtained by predicting the user track, so that the actual intention of the user is met.
It should be noted that, the above prediction of the user track according to the distance information, the speed information and the azimuth information is merely an example of the present invention, and in practical application, the user track may be predicted by acquiring motion information of more users through an off-board sensor, and the more the acquired motion information, the more accurate the user track prediction, which is not limited herein.
In the embodiment of the invention, the image of the user can be identified to obtain the gesture information of the user, so that the user intention is predicted based on the gesture information.
In an alternative embodiment, the image recognition result may further include object information associated with the user, and the step 404 may include: predicting a user intent based on the motion information, the historical intent prediction information, the gesture information, and the object information associated with the user.
The object information associated with the user may refer to object information associated with a user action. By way of example, a user can hold the case close to the vehicle and carry the bag away from the vehicle, the image acquisition device acquires the user image and can acquire the object image, and the vehicle server can acquire the object information after performing image recognition through the user image: box, object information: and (5) packaging.
It should be noted that, the above prediction of the user intention based on the motion information, the historical intention prediction information, the gesture information, and the object information associated with the user is merely an example of the present invention, and in practical applications, more information that can be used for performing the prediction of the user intention may be obtained to predict the user intention, and the more information that is used for performing the prediction of the user intention, the more the accuracy of the prediction of the user intention, the present invention is not limited thereto. For example, when the size of the object is large, the user needs to open the trunk lid to put the object in the trunk, and the object size data acquired by the off-vehicle sensor can be acquired, and the object size data is used for predicting the intention of the user.
In an alternative embodiment, the predicting the user intention according to the motion information, the historical intent prediction information, the gesture information, and the object information associated with the user may include: and inputting the motion information, the historical intent prediction information, the gesture information and the object information associated with the user into an intent prediction model for processing to obtain the user intent.
In the embodiment of the invention, the acquired motion information, historical intent prediction information, gesture information, information related to the user and the like for user intent prediction can be input into an intent prediction model for processing, so that the user intent predicted by the intent prediction model can be obtained.
In step 406, when the user intends to open the vehicle door, a vehicle door opening command is generated to cause the vehicle to open the vehicle door in response to the vehicle door opening command.
Referring to fig. 6, a flowchart of a method for opening a door of a vehicle according to an embodiment of the present invention is shown. Firstly, user identity authentication is carried out, and when the distance between a user to be authenticated and a vehicle is smaller than 50m, the first authentication is carried out according to the connection condition of mobile phone Bluetooth and a vehicle Bluetooth connection module; when the distance between the user to be authenticated and the vehicle is smaller than 20m, performing second authentication according to the connection condition of the Bluetooth key and the vehicle-mounted Bluetooth connection module; and when the first authentication and/or the second authentication pass, carrying out face recognition on the user for the third authentication. When the third authentication is passed, namely the user identity authentication is passed, motion information, historical intention prediction information, gesture information and object information related to a user are obtained to predict the user intention, and based on the user intention, the opening control of a main driving cabin door, a secondary driving cabin door, a rear cabin door on the main driving side, a rear cabin door on the secondary driving side, a vehicle window, an engine cover and a trunk cover is realized, the updating of an OTA algorithm can be controlled, and the active AI (Artificial Intelligence ) human-vehicle interaction which is not limited to vehicle door control, and can be linked with vehicle windows, intelligent cabins and other vehicle control nodes in a vehicle is carried out through the updating of the OTA algorithm.
In the embodiment of the invention, when a user outside a vehicle is detected to be in a preset distance range, firstly, motion information, historical intention prediction information and a user image acquired by an off-vehicle image acquisition device of the user are acquired, image recognition is carried out on the user image to obtain an image recognition result comprising gesture information of the user, and then the intention of the user is predicted according to the motion information, the historical intention prediction information and the gesture information; when the user intends to open the vehicle door, a vehicle door opening command is generated to cause the vehicle to open the vehicle door in response to the vehicle door opening command. According to the embodiment of the invention, the user intention is predicted based on the motion information, the historical intention prediction information and the posture information of the user by acquiring the information of the user outside the vehicle, so that the unlocking and opening of any vehicle cabin door can be performed based on the user intention, the accurate control of different vehicle cabin doors is realized, the problems of high use cost, poor convenience and the like when the different vehicle cabin doors are accurately controlled to be opened are avoided, and the problem that the misoperation of a vehicle unlocking and locking system is easily caused when the user slightly approaches or moves away from the vehicle nearby is also avoided.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 7, a block diagram of a vehicle door opening device according to an embodiment of the present invention is shown, where the vehicle includes an off-board image acquisition device, and may specifically include the following modules:
the acquiring module 701 is configured to acquire motion information of a user located outside a vehicle, historical intent prediction information of the user, and a user image acquired by the off-vehicle image acquiring device when the user is detected to be within a preset distance range.
The identifying module 702 is configured to perform image identification on the user image to obtain an image identification result, where the image identification result includes gesture information of the user.
A prediction module 703, configured to predict a user intention according to the motion information, the historical intent prediction information, and the gesture information.
An opening module 704 for generating a vehicle door opening command to cause the vehicle to open the vehicle door in response to the vehicle door opening command when the user intends to open the vehicle door.
In an alternative embodiment, the image recognition result further includes object information associated with the user, and the prediction module includes:
and the intention prediction sub-module is used for predicting the intention of the user according to the motion information, the historical intention prediction information, the gesture information and the object information associated with the user.
In an alternative embodiment, the vehicle further includes an off-board sensor, and the acquisition module includes:
the detection information acquisition sub-module is used for acquiring distance information, speed information and azimuth information of the user detected by the off-board sensor;
and the user track prediction sub-module is used for predicting a user track according to the distance information, the speed information and the azimuth information, and taking the user track as the motion information of the user.
In an alternative embodiment, before the acquiring module, the method further includes:
the identity authentication module is used for carrying out user identity authentication on the user;
and the authentication passing module is used for executing the steps of acquiring the motion information of the user, the historical intention prediction information of the user and the user image acquired by the off-board image acquisition equipment when the user identity authentication passes.
In an alternative embodiment, the identity authentication module includes:
the authentication information acquisition sub-module is used for acquiring the face image of the user, the Bluetooth connection condition of the mobile phone of the user and the Bluetooth key connection condition acquired by the off-board image acquisition equipment;
and the user identity authentication sub-module is used for carrying out user identity authentication on the user based on at least one of the Bluetooth connection condition, the Bluetooth key connection condition and the user face image of the mobile phone.
In an alternative embodiment, the subscriber identity authentication submodule includes:
the first authentication unit is used for carrying out first authentication on the user to be authenticated based on the Bluetooth connection condition of the mobile phone;
the second authentication unit is used for carrying out second authentication on the user to be authenticated based on the Bluetooth key connection condition;
And the third authentication unit is used for carrying out third authentication on the user based on the face image of the user when the first authentication passes and/or the second authentication passes.
In an alternative embodiment, the intent prediction sub-module includes:
and the prediction model processing unit is used for inputting the motion information, the historical intent prediction information, the gesture information and the object information related to the user into an intent prediction model for processing to obtain the user intent.
In the embodiment of the invention, when a user outside a vehicle is detected to be in a preset distance range, firstly, motion information, historical intention prediction information and a user image acquired by an off-vehicle image acquisition device of the user are acquired, image recognition is carried out on the user image to obtain an image recognition result comprising gesture information of the user, and then the intention of the user is predicted according to the motion information, the historical intention prediction information and the gesture information; when the user intends to open the vehicle door, a vehicle door opening command is generated to cause the vehicle to open the vehicle door in response to the vehicle door opening command. According to the embodiment of the invention, the user intention is predicted based on the motion information, the historical intention prediction information and the posture information of the user by acquiring the information of the user outside the vehicle, so that the unlocking and opening of any vehicle cabin door can be performed based on the user intention, the accurate control of different vehicle cabin doors is realized, the problems of high use cost, poor convenience and the like when the different vehicle cabin doors are accurately controlled to be opened are avoided, and the problem that the misoperation of a vehicle unlocking and locking system is easily caused when the user slightly approaches or moves away from the vehicle nearby is also avoided.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the invention also provides electronic equipment, which comprises:
the vehicle cabin door opening method comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the computer program realizes the processes of the vehicle cabin door opening method embodiment when being executed by the processor, can achieve the same technical effects, and is not repeated here.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the vehicle door opening method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The method, the device, the electronic equipment and the storage medium for opening the vehicle cabin door provided by the invention are described in detail, and specific examples are applied to the description of the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. A vehicle door opening method, wherein the vehicle includes an off-vehicle image acquisition device, the method comprising:
when a user outside the vehicle is detected to be in a preset distance range, acquiring motion information of the user, historical intent prediction information of the user and a user image acquired by the off-vehicle image acquisition device;
performing image recognition on the user image to obtain an image recognition result, wherein the image recognition result comprises gesture information of the user;
predicting a user intention according to the motion information, the historical intention prediction information and the gesture information;
When the user intends to open the vehicle door, a vehicle door opening command is generated to cause the vehicle to open the vehicle door in response to the vehicle door opening command.
2. The method of claim 1, wherein the image recognition result further comprises object information associated with the user, the predicting a user intent based on the motion information, the historical intent prediction information, and the pose information, comprising:
predicting a user intent based on the motion information, the historical intent prediction information, the gesture information, and the object information associated with the user.
3. The method of claim 1, wherein the vehicle further comprises an off-board sensor, the acquiring motion information of the user comprising:
acquiring distance information, speed information and azimuth information of the user detected by the off-board sensor;
and predicting a user track according to the distance information, the speed information and the azimuth information, and taking the user track as the motion information of the user.
4. The method according to claim 1, further comprising, prior to the acquiring the motion information of the user, the historical intent prediction information of the user, and the user image acquired by the off-board image acquisition device:
Authenticating the user identity of the user;
and when the user identity authentication is passed, executing the steps of acquiring the motion information of the user, the historical intent prediction information of the user and the user image acquired by the off-board image acquisition equipment.
5. The method of claim 4, wherein said authenticating the user for the user's identity comprises:
acquiring a face image of a user, a Bluetooth connection condition of a mobile phone of the user and a Bluetooth key connection condition, which are acquired by the off-board image acquisition equipment;
and authenticating the user identity of the user based on at least one of the Bluetooth connection condition of the mobile phone, the Bluetooth key connection condition and the face image of the user.
6. The method of claim 5, wherein authenticating the user based on at least one of the cell phone bluetooth connection, bluetooth key connection, and the user face image comprises:
based on the Bluetooth connection condition of the mobile phone, carrying out first authentication on the user to be authenticated;
based on the Bluetooth key connection condition, carrying out second authentication on the user to be authenticated;
And when the first authentication passes and/or the second authentication passes, carrying out third authentication on the user based on the face image of the user.
7. The method of claim 2, wherein the predicting a user intent based on the motion information, the historical intent prediction information, the gesture information, and the object information associated with the user comprises:
and inputting the motion information, the historical intent prediction information, the gesture information and the object information associated with the user into an intent prediction model for processing to obtain the user intent.
8. A vehicle door opening device, wherein the vehicle includes an off-board image acquisition apparatus, the device comprising:
the acquisition module is used for acquiring the motion information of the user, the historical intent prediction information of the user and the user image acquired by the off-board image acquisition device when the user outside the vehicle is detected to be within the preset distance range;
the identification module is used for carrying out image identification on the user image to obtain an image identification result, wherein the image identification result comprises gesture information of the user;
The prediction module is used for predicting the user intention according to the motion information, the historical intention prediction information and the gesture information;
and the opening module is used for generating a vehicle door opening command when the user intends to open the vehicle door, so that the vehicle can open the vehicle door in response to the vehicle door opening command.
9. An electronic device, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor carries out the steps of the vehicle door opening method according to any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle door opening method according to any of claims 1 to 7.
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