WO2020103266A1 - In-vehicle living body reminder method and apparatus - Google Patents

In-vehicle living body reminder method and apparatus

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Publication number
WO2020103266A1
WO2020103266A1 PCT/CN2018/122673 CN2018122673W WO2020103266A1 WO 2020103266 A1 WO2020103266 A1 WO 2020103266A1 CN 2018122673 W CN2018122673 W CN 2018122673W WO 2020103266 A1 WO2020103266 A1 WO 2020103266A1
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WIPO (PCT)
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vehicle
signal
living
wave signal
detection
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PCT/CN2018/122673
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French (fr)
Chinese (zh)
Inventor
陈智
陈志勇
苏伟
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中科传启(苏州)科技有限公司
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Priority to CN201811409246 priority Critical
Priority to CN201811409246.9 priority
Application filed by 中科传启(苏州)科技有限公司 filed Critical 中科传启(苏州)科技有限公司
Publication of WO2020103266A1 publication Critical patent/WO2020103266A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60HARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
    • B60H1/00Heating, cooling or ventilating [HVAC] devices
    • B60H1/00642Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
    • B60H1/00735Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models
    • B60H1/00742Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models by detection of the vehicle occupants' presence; by detection of conditions relating to the body of occupants, e.g. using radiant heat detectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60HARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
    • B60H1/00Heating, cooling or ventilating [HVAC] devices
    • B60H1/00642Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
    • B60H1/00735Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models
    • B60H1/008Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models the input being air quality
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512Passenger detection systems
    • B60R21/0153Passenger detection systems using field detection presence sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512Passenger detection systems
    • B60R21/0153Passenger detection systems using field detection presence sensors
    • B60R21/01534Passenger detection systems using field detection presence sensors using electromagneticwaves, e.g. infrared

Abstract

Provided is an in-vehicle living body reminder method, comprising: when it is detected that a vehicle is in a stopped state and a vehicle door is in a closed state, detecting whether there is a living body in the vehicle (S11); when there is a living body in the vehicle, sending reminder information to a preset person (S12); and when a control instruction fed back from the preset person based on the reminder information is received, controlling a vehicle component to execute a corresponding action (S13). The in-vehicle living body reminder method improves the safety of the in-vehicle living body. An in-vehicle living body reminder apparatus and a vehicle data recorder are further provided.

Description

车内生命体提醒方法及装置Method and device for reminding living body in car 技术领域Technical field
本发明涉及生命体检测技术领域,具体涉及车内生命体提醒方法及装置。The invention relates to the technical field of life body detection, in particular to a method and a device for reminding life bodies in a vehicle.
背景技术Background technique
最近几年,经常发生儿童遗留车内,发现不及时导致孩子死亡。由于车内环境封闭,空气不流通,尤其是在夏天的时候,根据温室效应原理,车内温度短时间内能达到60度以上,容易导致车内儿童的安全造成威胁。同时,就算车内温度不高,随着时间的推移车内空气质量会逐渐下降,最终导致氧气含量不足,也有发生窒息的危险。In recent years, it has often happened in children ’s cars that were left behind, and it was found that the children died in time. Because the environment inside the car is closed and the air does not circulate, especially in summer, according to the principle of the greenhouse effect, the temperature in the car can reach more than 60 degrees in a short period of time, which can easily cause threats to the safety of children in the car. At the same time, even if the temperature in the car is not high, the air quality in the car will gradually decline over time, which eventually leads to insufficient oxygen content and the risk of suffocation.
发明内容Summary of the invention
有鉴于此,本发明实施例提供了一种车内生命体提醒方法及装置,以解决现有车辆内生命体的安全问题。In view of this, the embodiments of the present invention provide a method and a device for reminding life objects in a vehicle to solve the safety problem of life bodies in the existing vehicle.
根据第一方面,本发明实施例提供了一种车内生命体提醒方法,包括:According to a first aspect, an embodiment of the present invention provides a method for reminding a living body in a vehicle, including:
在检测到车辆处于停止状态且车门处于关闭状态时,检测所述车辆内是否存在生命体;When it is detected that the vehicle is in a stopped state and the door is in a closed state, detecting whether there is a living body in the vehicle;
当所述车辆内存在生命体时,向预设人员发送提醒信息;When there is a living body in the vehicle, send reminder information to the preset personnel;
在接收到所述预设人员基于所述提醒信息反馈的控制指令时,控制车辆部件执行相应的动作。When receiving a control instruction fed back by the preset person based on the reminder information, the vehicle component is controlled to perform a corresponding action.
本发明实施例提供的车内生命体提醒方法,在检测出车辆内存在生命体时,向预设人员发送提醒信息,再接收到反馈的控制指令时,控制车辆部件执行相应的动作;即,通过给预设人员发送提醒信息,以提醒预设人员车辆内存在生命体,保证车辆部件能够按照预设人员的控制指令执行相应的动作,提高了车内生命体的安全。The method for reminding a living body in a vehicle provided by an embodiment of the present invention, when detecting the existence of a living body in a vehicle, sends a reminder message to a preset person, and then receives a feedback control command to control the vehicle parts to perform corresponding actions; By sending a reminder message to the preset person to remind the preset person that there are living bodies in the vehicle, to ensure that the vehicle components can perform corresponding actions according to the preset person's control instructions, and improve the safety of the living body in the vehicle.
结合第一方面,在第一方面第一实施方式中,所述向预设人员发送提醒信息的步骤之前,还包括:With reference to the first aspect, in the first implementation manner of the first aspect, before the step of sending reminder information to a preset person, the method further includes:
当所述车辆存在生命体时,检测所述车辆内的环境数据;When there is a living body in the vehicle, detecting environmental data in the vehicle;
其中,所述提醒信息还包括所述环境数据。Wherein, the reminder information also includes the environmental data.
本发明实施例提供的车内生命体提醒方法,在检测出车辆内存在生命体时,检测车辆内的环境数据,将环境数据一并发送给预设人员,便于预设人员在发送控制指令时能够参照该环境数据,提高了后续反馈的控制指令的准确性,进而提高了车内生命体的安全。The method for reminding a living body in a vehicle provided by an embodiment of the present invention detects the environmental data in the vehicle when detecting the existence of a living body in the vehicle, and sends the environmental data to the preset person at the same time, which is convenient for the preset person when sending control instructions Being able to refer to the environmental data improves the accuracy of the subsequent feedback control commands, and thus improves the safety of life bodies in the car.
结合第一方面第一实施方式,在第一方面第二实施方式中,还包括:With reference to the first embodiment of the first aspect, the second embodiment of the first aspect further includes:
在没有接收到所述预设人员基于所述提醒信息反馈的控制指令时,判断所述环境数据是否超过预设值;When no control instruction fed back by the preset personnel based on the reminder information is received, determine whether the environmental data exceeds a preset value;
当所述环境数据超过预设值时,控制车辆部件执行预设动作。When the environmental data exceeds a preset value, the vehicle component is controlled to perform a preset action.
本发明实施例提供的车内生命体提醒方法,在没有接受到预设人员反馈的控制指令且车辆内环境数据超过预设值时,车辆部件会自动执行预设动作。该方法能够避免预设人员长时间没有注意到提醒信息,且环境数据超过预设值时,自动执行预设动作,具有较高的可靠性,同时又可以兼顾车内生命体的安全性。In the method for reminding a life body in a vehicle provided by an embodiment of the present invention, when a control command fed back by a preset person is not received and the environment data in the vehicle exceeds a preset value, the vehicle component automatically performs a preset action. This method can prevent the preset person from noticing the reminder information for a long time, and automatically execute the preset action when the environmental data exceeds the preset value, which has high reliability, and at the same time can take into account the safety of the living body in the car.
结合第一方面、第一方面第一实施方式或第一方面第二实施方式,在第一方面第三实施方式中,所述检测所述车辆内是否存在生命体,包括:With reference to the first aspect, the first embodiment of the first aspect, or the second embodiment of the first aspect, in the third embodiment of the first aspect, the detecting whether a living body exists in the vehicle includes:
向所述车辆内发射第一检测波信号;Transmitting a first detection wave signal into the vehicle;
接收反射回的第一反射波信号;Receive the first reflected wave signal reflected back;
基于所述第一检测波信号对所述第一反射波信号进行信号处理以得到第一目标信号;Signal-processing the first reflected wave signal based on the first detection wave signal to obtain a first target signal;
根据所述第一目标信号检测所述车辆内是否存在生命体。Detecting whether there is a living body in the vehicle according to the first target signal.
本发明实施例提供的车内生命体提醒方法,其中,若在车辆内存在生命体时,生命体的生命体征(例如,脉搏,心跳或呼吸等等)是体内部器官的运动,所以,目标反射波信号相对于检测波信号会产生多普勒频移,检测波信号的相位会发生改变,从而生命体的生命体征对第一检测波信号进行调制,在反射回的第一反射波信号中会携带有生命体的生命体征信号,再利用第一检测波信号对第一反射波信号进行信号处理,所得到的第一目标信号中包括有生命体征信号通过第一目标信号即可检测出车辆内是否存在生命体。该方法利用生命体征信号对第一检测波信号的调制即可检测出是否存在生命体,只要是车辆内存在生命体都能够通过该方法检测出,而不受生命体在车辆内的具体位置或运动状态的限制,极大地提高了生命体检测的准确性。The method for reminding a living body in a vehicle provided by an embodiment of the present invention, wherein, if there is a living body in the vehicle, the vital signs of the living body (for example, pulse, heartbeat, or breathing, etc.) are movements of internal organs of the body, The reflected wave signal will have a Doppler frequency shift relative to the detected wave signal, and the phase of the detected wave signal will change, so that the vital signs of the living body modulate the first detected wave signal. In the reflected first reflected wave signal It will carry the vital signs of the living body, and then use the first detection wave signal to process the first reflected wave signal. The obtained first target signal includes the vital sign signal. The vehicle can be detected by the first target signal Is there a living body inside. This method uses the modulation of the vital sign signal to the first detection wave signal to detect whether there is a living body, as long as there is a living body in the vehicle can be detected by this method, and is not affected by the specific location of the living body in the vehicle or The limitation of movement state greatly improves the accuracy of life detection.
结合第一方面第三实施方式,在第一方面第四实施方式中,所述基于所述第一检测波信号对所述第一反射波信号进行信号处理以得到第一目标信号包括:With reference to the third embodiment of the first aspect, in the fourth embodiment of the first aspect, the signal processing of the first reflected wave signal based on the first detection wave signal to obtain a first target signal includes:
将所述第一检测波信号与所述第一反射波信号相乘以得到第一乘积信号;Multiplying the first detection wave signal and the first reflected wave signal to obtain a first product signal;
对所述第一乘积信号进行低通滤波以得到所述第一目标信号。Low-pass filtering the first product signal to obtain the first target signal.
本发明实施例提供的车内生命体提醒方法,由于生命体与发射第一检测波信号的装置之间可能具有一定的距离,且由于生命特征距离会随时间变化,所接收的第一反射波信号延时 会变化,且第一反射波信号的相位在被生命体征信号的周期运动所调制,因此,将第一反射波信号乘上第一检测波信号,这个相位调制就能够被解调,从而能够得到第一目标信号,以便于后续利用该第一目标信号进行生命体的检测。In the method for reminding a living body in a vehicle provided by an embodiment of the present invention, since the living body may have a certain distance from the device that emits the first detection wave signal, and because the life characteristic distance may change with time, the first reflected wave received The signal delay will change, and the phase of the first reflected wave signal is modulated by the periodic motion of the vital signs signal. Therefore, by multiplying the first reflected wave signal by the first detection wave signal, this phase modulation can be demodulated. Therefore, the first target signal can be obtained so as to facilitate the subsequent detection of the living body by using the first target signal.
结合第一方面第四实施方式,在第一方面第五实施方式中,所述根据所述第一目标信号检测所述车辆内是否存在生命体,包括:With reference to the fourth embodiment of the first aspect, in the fifth embodiment of the first aspect, the detecting whether there is a living body in the vehicle according to the first target signal includes:
对所述第一目标信号进行功率谱分析,以得到所述第一反射波信号的能量;Performing power spectrum analysis on the first target signal to obtain the energy of the first reflected wave signal;
当所述能量小于第一阈值时,确定所述车辆内不存在所述生命体。When the energy is less than the first threshold, it is determined that the living body does not exist in the vehicle.
结合第一方面第四实施方式或第一方面第五实施方式,在第一方面第六实施方式中,所述根据所述第一目标信号检测所述车辆内是否存在生命体,包括:With reference to the fourth embodiment of the first aspect or the fifth embodiment of the first aspect, in the sixth embodiment of the first aspect, the detecting whether a living body exists in the vehicle according to the first target signal includes:
通过反正切解调提取所述第一目标信号中频率随时间的变化量,以得到频率信号;Extracting the variation of frequency with time in the first target signal by arc tangent demodulation to obtain a frequency signal;
对所述频率信号进行数据处理,以得到生命体征信号;Performing data processing on the frequency signal to obtain vital signs signals;
当所述生命体征信号的频率大于第二阈值时,确定所述车辆内存在所述生命体。When the frequency of the vital sign signal is greater than the second threshold, it is determined that the vital body exists within the vehicle.
本发明实施例提供的车内生命体提醒方法,通过反正切解调即可从第一目标信号中提取出频率信号,进而可以恢复出生命体征信号,因此利用生命体征信号的频率即可检测出生命体是否存在。The in-vehicle vitality reminding method provided by the embodiment of the present invention can extract the frequency signal from the first target signal by arc tangent demodulation, and then can recover the vital sign signal, so the frequency of the vital sign signal can be used to detect Whether the living body exists.
结合第一方面、第一方面第一实施方式或第一方面第二实施方式,在第一方面第七实施方式中,所述检测所述车辆内是否存在生命体,包括:With reference to the first aspect, the first embodiment of the first aspect, or the second embodiment of the first aspect, in the seventh embodiment of the first aspect, the detecting whether a living body exists in the vehicle includes:
向所述车辆内发射至少一个第二检测波信号;Transmitting at least one second detection wave signal into the vehicle;
接收反射回的多个第二反射波信号;Receiving multiple second reflected wave signals reflected back;
基于所述第二检测波信号对各个所述第二反射波信号进行信号处理,以得到第二目标信号;Performing signal processing on each of the second reflected wave signals based on the second detection wave signal to obtain a second target signal;
对所有所述第二目标信号进行目标方位估计,以得到空间方位信息;Perform target orientation estimation on all the second target signals to obtain spatial orientation information;
基于所述空间方位信息检测所述车辆内是否存在所述生命体。It is detected whether the living body exists in the vehicle based on the spatial orientation information.
本发明实施例提供的车内生命体提醒方法,其中,若在车辆内存在生命体时,生命体的生命体征(例如,脉搏,心跳或呼吸等等)会对第二检测波信号进行调制,在反射回的第二反射波信号中会携带有生命体的生命体征信号,再利用第二检测波信号对第二反射波信号进行信号处理以及目标方位估计,所得到的空间方位信息中包括有生命体征信号,通过该空间方位信息即可检测出车辆内是否存在生命体;利用生命体征信号对第二检测波信号的调制即可检测出是否存在生命体,只要是车辆内存在生命体都能够通过该方法检测出,而不受生命 体在车辆内的具体位置或运动状态的限制,极大地提高了生命体检测的准确性。The method for reminding a living body in a vehicle provided by an embodiment of the present invention, wherein, if there is a living body in the vehicle, the vital signs of the living body (for example, pulse, heartbeat, or breathing, etc.) modulate the second detection wave signal, The reflected second reflected wave signal carries the vital signs of the living body, and then uses the second detected wave signal to perform signal processing and target orientation estimation on the second reflected wave signal. The obtained spatial orientation information includes: Vital sign signals can be used to detect whether there is a living body in the vehicle through the spatial orientation information; using the vital sign signal to modulate the second detection wave signal can detect whether there is a living body, as long as there is a living body in the vehicle It is detected by this method without being restricted by the specific position or movement state of the living body in the vehicle, which greatly improves the accuracy of the living body detection.
结合第一方面第七实施方式,在第一方面第八实施方式中,所述基于所述第二检测波信号,对各个所述第二反射波信号进行信号处理,以得到第二目标信号,包括:With reference to the seventh embodiment of the first aspect, in the eighth embodiment of the first aspect, the second reflected wave signal is signal-processed based on the second detection wave signal to obtain a second target signal, include:
将所述第二检测波信号与所述第二反射波信号相乘以得到第二乘积信号;Multiplying the second detection wave signal and the second reflected wave signal to obtain a second product signal;
对所述第二乘积信号进行低通滤波以得到所述第二目标信号。Low-pass filtering the second product signal to obtain the second target signal.
本发明实施例提供的车内生命体提醒方法,由于生命体与发射第二检测波信号的装置之间可能具有一定的距离,所接收的第二反射波信号会有延时,且第二反射波信号的相位在被生命体征信号的周期运动所调制。因此,将第二反射波信号乘上第二检测波信号,这个相位调制就能够被解调,从而得到第二目标信号,以便于后续利用该第二目标信号进行生命体的检测。In the method for reminding a living body in a vehicle provided by an embodiment of the present invention, since there may be a certain distance between the living body and the device that emits the second detection wave signal, the received second reflected wave signal will be delayed, and the second reflection The phase of the wave signal is modulated by the periodic motion of the vital sign signal. Therefore, by multiplying the second reflected wave signal by the second detection wave signal, this phase modulation can be demodulated to obtain a second target signal, so as to facilitate subsequent detection of a living body using the second target signal.
结合第一方面第八实施方式,在第一方面第九实施方式中,所述对所有所述第二目标信号进行目标方位估计,以得到空间方位信息,包括:With reference to the eighth implementation manner of the first aspect, in the ninth implementation manner of the first aspect, the target orientation estimation is performed on all the second target signals to obtain spatial orientation information, including:
计算接收各个所述第二反射波信号与接收第一个所述第二反射波信号之间的时间差;Calculating a time difference between receiving each of the second reflected wave signals and receiving the first of the second reflected wave signals;
基于所述时间差以及所述第二目标信号进行波束合成,以得到所述空间方位信息。Beam synthesis is performed based on the time difference and the second target signal to obtain the spatial orientation information.
本发明实施例提供的车内生命体提醒方法,由于生命体与接收第二反射波信号的装置之间可能具有一定的距离,所接收的第二反射波信号会有延时,且到装置内的各个换能器的距离不同,因此在进行波束合成时利用计算出的各个第二反射波信号与第一个第二发射波信号之间的时间差,能够保证波束合成的准确性,为后续生命体的检测提供了基础。In the method for reminding a living body in a vehicle provided by an embodiment of the present invention, since there may be a certain distance between the living body and the device that receives the second reflected wave signal, the received second reflected wave signal may be delayed and enter the device The distances of the various transducers are different, so the time difference between each second reflected wave signal and the first second transmitted wave signal calculated during beam synthesis can be used to ensure the accuracy of beam synthesis for subsequent life The detection of the body provides the basis.
结合第一方面第九实施方式,在第一方面第十实施方式中,所述基于所述空间方位信息检测所述生命体,包括:With reference to the ninth implementation manner of the first aspect, in the tenth implementation manner of the first aspect, the detecting the living body based on the spatial orientation information includes:
当所述波束的输出功率小于第三阈值时,确定所述车辆内不存在所述生命体。When the output power of the beam is less than the third threshold, it is determined that the living body does not exist in the vehicle.
根据第二方面,本发明实施例还提供了一种车内生命体提醒装置,包括:According to a second aspect, an embodiment of the present invention also provides a device for reminding a living body in a vehicle, including:
生命体检测装置、存储器和处理器,所述存储器、所述处理器与所述生命体检测装置互相通信连接;A living body detection device, a memory, and a processor, and the memory, the processor, and the living body detection device are communicatively connected to each other;
所述生命体检测装置用于在检测到车辆处于停止状态且车门处于关闭状态时,检测所述车辆内是否存在生命体;The living body detection device is used to detect whether there is a living body in the vehicle when it is detected that the vehicle is in a stopped state and the door is closed.
所述处理器用于当所述车辆内存在生命体时,向预设人员发送提醒信息;在接收到所述预设人员基于所述提醒信息反馈的控制指令时,控制车辆部件执行相应的动作。The processor is used to send reminder information to a preset person when there is a living body in the vehicle; when receiving a control command fed back by the preset person based on the reminder information, control the vehicle component to perform a corresponding action.
本发明实施例提供的车内生命体提醒装置,在检测出车辆内存在生命体时,向预设人员 发送提醒信息,再接收到反馈的控制指令时,控制车辆部件执行相应的动作;即,通过给预设人员发送提醒信息,以提醒预设人员车辆内存在生命体,保证车辆部件能够按照预设人员的控制指令执行相应的动作,提高了车内生命体的安全。The in-vehicle life body reminding device provided by the embodiment of the present invention, when a life body is detected in the vehicle, sends a reminder message to a preset person, and then receives a feedback control command to control the vehicle parts to perform corresponding actions; that is, By sending a reminder message to the preset person to remind the preset person that there are living bodies in the vehicle, to ensure that the vehicle components can perform corresponding actions according to the preset person's control instructions, and improve the safety of the living body in the vehicle.
结合第二方面,在第二方面第一实施方式中,还包括:With reference to the second aspect, in the first implementation manner of the second aspect, the method further includes:
环境检测装置,用于当所述车辆存在生命体时,检测所述车辆内的环境数据。The environment detection device is used for detecting environment data in the vehicle when there is a living body in the vehicle.
结合第二方面或第二方面第一实施方式,在第二方面第二实施方式中,所述处理器在没有接收到所述预设人员基于所述提醒信息反馈的控制指令时,判断所述环境数据是否超过预设值;With reference to the second aspect or the first implementation manner of the second aspect, in the second implementation manner of the second aspect, the processor determines that the control instruction fed back by the preset person based on the reminder information is not received Whether the environmental data exceeds the preset value;
当所述环境数据超过预设值时,控制车辆部件执行预设动作。When the environmental data exceeds a preset value, the vehicle component is controlled to perform a preset action.
结合第二方面、或第二方面第一实施方式或第二方面第二实施方式,在第二方面第三实施方式中,所述生命体检测装置还包括:With reference to the second aspect, or the first embodiment of the second aspect, or the second embodiment of the second aspect, in a third embodiment of the second aspect, the living body detection device further includes:
第一发射装置,向所述车辆内发射第一检测波信号;A first transmitting device that transmits a first detection wave signal into the vehicle;
第一接收装置,接收反射回的第一反射波信号;The first receiving device receives the first reflected wave signal reflected back;
其中,所述处理器还用于基于所述第一检测波信号对所述第一反射波信号进行信号处理以得到第一目标信号;根据所述第一目标信号检测所述车辆内是否存在生命体。Wherein, the processor is further configured to perform signal processing on the first reflected wave signal based on the first detection wave signal to obtain a first target signal; detect whether life exists in the vehicle according to the first target signal body.
结合第二方面、或第二方面第一实施方式或第二方面第二实施方式,在第二方面第四实施方式中,所述生命体检测装置还包括:With reference to the second aspect, or the first embodiment of the second aspect, or the second embodiment of the second aspect, in a fourth embodiment of the second aspect, the living body detection device further includes:
第二发射装置,向所述车辆内发射至少一个第二检测波信号;A second transmitting device that transmits at least one second detection wave signal into the vehicle;
第二接收装置,接收反射回的多个第二反射波信号;The second receiving device receives multiple second reflected wave signals reflected back;
其中,所述处理器还用于基于所述第二检测波信号对各个所述第二反射波信号进行信号处理,以得到第二目标信号;对所有所述第二目标信号进行目标方位估计,以得到空间方位信息;基于所述空间方位信息检测所述车辆内是否存在生命体。Wherein, the processor is further configured to perform signal processing on each of the second reflected wave signals based on the second detection wave signal to obtain a second target signal; and perform target orientation estimation on all the second target signals, To obtain spatial orientation information; based on the spatial orientation information, detect whether there is a living body in the vehicle.
根据第三方面,本发明实施例还提供了一种行车记录仪,包括上述第二方面,或第二方面任一实施方式中的车内生命体提醒装置。According to a third aspect, an embodiment of the present invention further provides a driving recorder, including the above-mentioned second aspect, or the in-vehicle life body reminding device in any embodiment of the second aspect.
附图说明BRIEF DESCRIPTION
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案,下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施方式,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the specific embodiments or the description of the prior art. Obviously, the attached The drawings are some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative labor, other drawings can be obtained based on these drawings.
图1是根据本发明实施例的车内生命体提醒方法的流程图;1 is a flowchart of a method for reminding a living body in a vehicle according to an embodiment of the present invention;
图2是根据本发明实施例的车内生命体提醒方法的流程图;2 is a flowchart of a method for reminding a living body in a vehicle according to an embodiment of the present invention;
图3是根据本发明实施例的生命体的检测方法的流程图;3 is a flowchart of a method for detecting a living body according to an embodiment of the present invention;
图4是根据本发明实施例的生命体的检测方法的流程图;4 is a flowchart of a method for detecting a living body according to an embodiment of the present invention;
图5是根据本发明实施例的生命体的检测方法的流程图;5 is a flowchart of a method for detecting a living body according to an embodiment of the present invention;
图6是根据本发明实施例的频率信号的时域图;6 is a time-domain diagram of a frequency signal according to an embodiment of the invention;
图7是根据本发明实施例的生命体征信号的频域图;7 is a frequency domain diagram of vital signs signals according to an embodiment of the present invention;
图8是根据本发明实施例的生命体的检测方法的流程图;8 is a flowchart of a method for detecting a living body according to an embodiment of the present invention;
图9是根据本发明实施例的生命体的检测方法的流程图;9 is a flowchart of a method for detecting a living body according to an embodiment of the present invention;
图10是根据本发明实施例的生命体的检测方法的流程图;10 is a flowchart of a method for detecting a living body according to an embodiment of the present invention;
图11是根据本发明实施例的无生命体时的目标方位估计结果的示意图;11 is a schematic diagram of a target orientation estimation result when there is no living body according to an embodiment of the present invention;
图12是根据本发明实施例的有生命体时的目标方位估计结果的示意图;12 is a schematic diagram of a target orientation estimation result when there is a living body according to an embodiment of the present invention;
图13是根据本发明实施例的车内生命体提醒装置的结构框图;13 is a structural block diagram of a life body reminding device in a vehicle according to an embodiment of the present invention;
图14是根据本发明实施例的生命体检测装置的结构框图;14 is a structural block diagram of a living body detection device according to an embodiment of the present invention;
图15是根据本发明实施例的生命体检测装置的结构框图。15 is a structural block diagram of a living body detection device according to an embodiment of the present invention.
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present invention.
在本发明的描述中,需要说明的是,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms “first” and “second” are used for description purposes only, and cannot be understood as indicating or implying relative importance.
根据本发明实施例,提供了一种车内生命体提醒方法实施例,需要说明的是,虽然在流程图中示出了逻辑顺序,但是在某些情况下,可以以不同于此处的顺序执行所示出或描述的步骤。According to an embodiment of the present invention, an embodiment of a method for reminding a living body in a vehicle is provided. It should be noted that although the logical sequence is shown in the flowchart, in some cases, the sequence may be different from the sequence here Perform the steps shown or described.
在本实施例中提供了一种车内生命体提醒方法,可用于车内生命体提醒装置中,图1是根据本发明实施例的车内生命体提醒装置的流程图,如图1所示,该流程包括如下步骤:In this embodiment, a method for reminding a life object in a vehicle is provided, which can be used in a life reminding device in a vehicle. FIG. 1 is a flowchart of a life reminding device in a vehicle according to an embodiment of the present invention, as shown in FIG. 1 , The process includes the following steps:
S11,在检测到车辆处于停止状态且车门处于关闭状态时,检测车辆内是否存在生命体。S11, when it is detected that the vehicle is in a stopped state and the door is in a closed state, it is detected whether a living body exists in the vehicle.
处理器可以检测车辆是否熄火确定车辆是否处于停止状态,此外检测车门车窗处于关闭 状态时,检测车辆内是否存在生命体。其中,可以采用设置在汽车座椅下的压力传感器进行生命体的检测,也可以采用红外传感器进行生命体的检测,或者采用雷达传感器检测,或采用超声波进行生命体的检测等等。不论采用何种方式,只需保证其能够检测出生命体即可。The processor can detect whether the vehicle is stalled to determine whether the vehicle is in a stopped state. In addition, when the doors and windows are closed, it can detect whether there is a living body in the vehicle. Among them, the pressure sensor provided under the car seat can be used to detect the living body, the infrared sensor can also be used to detect the living body, or the radar sensor can be used to detect, or the ultrasound can be used to detect the living body, etc. No matter which method is adopted, it only needs to ensure that it can detect the living body.
S12,当车辆内存在生命体时,向预设人员发送提醒信息。S12. When there is a living body in the vehicle, send a reminder message to the preset person.
当检测到车辆内存在生命体时,向预设人员发送提醒信息。其中预设人员可以是车主,也可以是与该检测车辆绑定的相关人员等等;此外,发送的提醒信息的目的是用于提醒预设人员当前车辆内存在生命体,而在此对提醒信息的发送形式不做限定(例如,可以是短信、微信、QQ等等),在提醒信息中还可以包括车辆的位置信息等等。When a living body is detected in the vehicle, a reminder message is sent to the preset personnel. The preset person may be the owner of the vehicle, or a person associated with the detected vehicle, etc. In addition, the purpose of the reminder message sent is to remind the preset person that there is a living body in the vehicle, and the reminder is here The sending form of the information is not limited (for example, it can be SMS, WeChat, QQ, etc.), and the location information of the vehicle can also be included in the reminder information.
S13,在接收到预设人员基于提醒信息反馈的控制指令时,控制车辆部件执行相应的动作。S13: When receiving a control command fed back by the preset personnel based on the reminder information, control the vehicle components to perform corresponding actions.
预设人员在接收到提醒信息之后,可以基于提醒信息判断自己是否能够赶回,或需要向车辆发送控制指令等等。在处理器接收到预设人员基于提醒信息反馈的控制指令时,处理器按照控制指令控制车辆部件执行相应的动作。其中,控制指令可以是打开空调、降下车窗等等。After receiving the reminder information, the preset personnel can determine whether they can rush back based on the reminder information, or need to send a control command to the vehicle, and so on. When the processor receives the control instruction fed back by the preset personnel based on the reminder information, the processor controls the vehicle component to perform the corresponding action according to the control instruction. Among them, the control command may be to open the air conditioner, lower the window, and so on.
本实施例提供的车内生命体提醒方法,在检测出车辆内存在生命体时,向预设人员发送提醒信息,再接收到反馈的控制指令时,控制车辆部件执行相应的动作;即,通过给预设人员发送提醒信息,以提醒预设人员车辆内存在生命体,保证车辆部件能够按照预设人员的控制指令执行相应的动作,提高了车内生命体的安全。The method for reminding a living body in a vehicle provided by this embodiment, when a living body is detected in a vehicle, sends a reminder message to a preset person, and then receives a feedback control command to control a vehicle component to perform a corresponding action; that is, by Send reminder information to the preset personnel to remind the preset personnel that there are living bodies in the vehicle, to ensure that the vehicle components can perform corresponding actions according to the preset personnel's control instructions, and improve the safety of the living bodies in the vehicle.
可选地,检测车内是否存在生命体可以是在车辆熄火且车门车窗关闭预设时间(例如,5分钟)之后。若检测到车辆内不存在生命体,则开始下一次检测;若在一定时间(例如,10分钟)内检测到没有生命体,则该车内生命体提醒装置处于睡眠模式,此后可以每隔一个小时进行检测,进行多次(例如,6次)检测后车内生命体提醒装置可以完全停止工作,避免长时间待机所导致的的停车耗电。Alternatively, detecting whether there is a living body in the vehicle may be after the vehicle is turned off and the doors and windows are closed for a preset time (for example, 5 minutes). If it is detected that there is no living body in the vehicle, the next detection is started; if no living body is detected within a certain time (for example, 10 minutes), the life body reminder device in the vehicle is in the sleep mode, and every other thereafter Carry out the test every hour, and after multiple (for example, 6) tests, the life reminder in the vehicle can completely stop working to avoid the parking power consumption caused by long-time standby.
在本实施例中还提供了一种车内生命体提醒方法,可用于车内生命体提醒装置中,图2是根据本发明实施例的车内生命体提醒装置的流程图,如图2所示,该流程包括如下步骤:In this embodiment, a method for reminding a life object in a vehicle is also provided, which can be used in a life reminding device in a vehicle. FIG. 2 is a flowchart of a life reminding device in a vehicle according to an embodiment of the present invention, as shown in FIG. 2 The process includes the following steps:
S21,在检测到车辆处于停止状态且车门处于关闭状态时,检测车辆内是否存在生命体。S21, when it is detected that the vehicle is in a stopped state and the door is in a closed state, it is detected whether a living body exists in the vehicle.
详细请参见图1所示实施例的S11,在此不再赘述。For details, please refer to S11 in the embodiment shown in FIG. 1, which will not be repeated here.
S22,当车辆内存在生命体时,检测车辆内的环境数据。S22, when there is a living body in the vehicle, the environmental data in the vehicle is detected.
其中,车辆内的环境数据可以是车辆内的温度、CO 2浓度、O 2浓度等等;具体需要检测的 环境数据可以根据实际情况进行具体检测。 Among them, the environmental data in the vehicle may be the temperature, CO 2 concentration, O 2 concentration, etc. in the vehicle; the specific environmental data that needs to be detected can be specifically detected according to the actual situation.
S23,向预设人员发送提醒信息。S23. Send reminder information to the preset personnel.
处理器在向预设人员发送的提醒信息中还包括有检测出的环境数据;其余详细请参见图1所示实施例的S12,在此不再赘述。The reminder information sent by the processor to the preset personnel also includes the detected environmental data; for the remaining details, please refer to S12 in the embodiment shown in FIG. 1, which will not be repeated here.
S24,判断是否接收到预设人员基于提醒信息反馈的控制指令。S24. Determine whether a control command fed back by the preset personnel based on the reminder information is received.
处理器可以是在向预设人员发送提醒信息之后的一段时间之后,判断是否接收到预设人员基于提醒信息反馈的控制指令,若接收到预设人员基于提醒信息反馈的控制指令时,执行S25;否则,执行S26。The processor may determine whether a control instruction fed back by the preset personnel based on the reminder information is received after a period of time after sending reminder information to the preset personnel, and if a control instruction fed back by the preset personnel based on the reminder information is received, execute S25 ; Otherwise, execute S26.
S25,控制车辆部件执行相应的动作。S25: Control the vehicle components to perform corresponding actions.
详细请参见图1所示实施例的S13,在此不再赘述。For details, please refer to S13 in the embodiment shown in FIG. 1, which will not be repeated here.
S26,判断环境数据是否超过预设值。S26. Determine whether the environmental data exceeds a preset value.
处理器在没有接收到预设人员基于提醒信息反馈的控制指令之后,判断检测出的环境数据超过预设值时,当环境数据超出预设值时,执行S27;否则,表示当前车辆内的环境不会对生命体造成不适,则执行S22,继续进行车辆内环境数据的检测。After the processor does not receive the control command fed back by the preset personnel based on the reminder information, and determines that the detected environmental data exceeds the preset value, when the environmental data exceeds the preset value, execute S27; otherwise, it indicates the current environment in the vehicle If there is no discomfort to the living body, S22 is executed to continue the detection of the environmental data in the vehicle.
S27,控制车辆部件执行预设动作。S27: Control the vehicle component to perform a preset action.
处理器在判断出环境数据超出预设值时,控制车辆部件执行预设动作,例如可以是向报警平台报警、车灯闪烁、喇叭鸣笛、打开车内空调系统等等。具体地执行的预设动作可以根据实际情况进行具体设置,在此不做限制。When the processor determines that the environmental data exceeds the preset value, it controls the vehicle component to perform a preset action, such as an alarm to the alarm platform, flashing of the car lights, honking of the horn, turning on the air conditioning system in the car, and so on. The preset actions performed specifically can be set according to the actual situation, and no limitation is made here.
与图1所示实施例相比,本实施例提供的车内生命体提醒方法,在没有接受到预设人员反馈的控制指令且车辆内环境数据超过预设值时,车辆部件会自动执行预设动作。该方法能够避免预设人员长时间没有注意到提醒信息,且环境数据超过预设值时,自动执行预设动作,具有较高的可靠性,同时又可以兼顾车内生命体的安全性。Compared with the embodiment shown in FIG. 1, the method for reminding the living body in the vehicle provided in this embodiment, when no control command fed back by the preset personnel is received and the environment data in the vehicle exceeds the preset value, the vehicle component will automatically execute the Set action. This method can prevent the preset person from noticing the reminder information for a long time, and automatically execute the preset action when the environmental data exceeds the preset value, which has high reliability, and at the same time can take into account the safety of the living body in the car.
作为本实施例的一种可选实施方式,其中,检测车辆内是否存在生命体可以采用如下方法实现,如图3所示,该方法包括以下步骤:As an optional implementation of this embodiment, detecting whether there is a living body in the vehicle may be implemented as follows, as shown in FIG. 3, the method includes the following steps:
S31,向车辆内发射第一检测波信号。S31. Transmit a first detection wave signal into the vehicle.
车内生命体提醒装置中的第一发射装置向车辆内发射第一检测波信号,该第一检测波信号可以是超声波信号,也可以是其他类型的检测波信号。例如,第一发射装置所发射的第一检测波信号为单频波。The first transmitting device in the life body reminding device in the vehicle transmits a first detection wave signal into the vehicle. The first detection wave signal may be an ultrasonic signal or other types of detection wave signals. For example, the first detection wave signal transmitted by the first transmitting device is a single frequency wave.
S32,接收反射回的第一反射波信号。S32: Receive the first reflected wave signal reflected back.
第一检测波信号在接触生命体或其他物体之后反射回第一接收装置,即第一接收装置接收到反射回的第一反射波信号。其中,第一发射装置与第一接收装置可以是一体的(即,同一个装置既可以发射检测波信号,又可以接受反射回的反射波信号),也可以是分开设置的(即,发射装置与接收装置独立设置,分别实现对应的功能)。The first detection wave signal is reflected back to the first receiving device after contacting a living body or other objects, that is, the first receiving device receives the reflected first reflected wave signal. Among them, the first transmitting device and the first receiving device may be integrated (that is, the same device can transmit the detection wave signal and receive the reflected wave signal reflected back), or it can be separately provided (that is, the transmitting device It is set independently from the receiving device and realizes the corresponding functions respectively).
S33,基于第一检测波信号对第一反射波信号进行信号处理以得到第一目标信号。S33: Perform signal processing on the first reflected wave signal based on the first detection wave signal to obtain a first target signal.
其中,信号处理可以是解调,也可以是希尔伯特变换。解调是从携带消息的已调信号中恢复消息的过程。由于生命体征信号会对第一检测波信号进行调制,从而使得第一反射波信号中携带有生命体征信号,因此对第一检测波信号对第一反射波信号进行解调即可分解出生命体征信号。Among them, the signal processing may be demodulation or Hilbert transform. Demodulation is the process of recovering a message from a modulated signal that carries a message. Since the vital sign signal modulates the first detection wave signal, so that the first reflected wave signal carries the vital sign signal, the vital sign can be decomposed by demodulating the first detection wave signal to the first reflected wave signal signal.
S34,根据第一目标信号检测车辆内是否存在生命体。S34: Detect whether there is a living body in the vehicle according to the first target signal.
处理器在得到第一目标信号之后,可以是提取第一目标信号中生命体征信号的频率,可以是利用生命体征信号的能量,也可以是生命体征信号的幅值进行生命体的检测等等。After the processor obtains the first target signal, it may extract the frequency of the vital sign signal in the first target signal, may use the energy of the vital sign signal, or may use the amplitude of the vital sign signal to detect the vital body, and so on.
其中,若在车辆内中存在生命体时,生命体的生命体征(例如,脉搏,心跳或呼吸等等)是体内部器官的运动,所以,目标反射波信号相对于检测波信号会产生多普勒频移,检测波信号的相位会发生改变,从而生命体的生命体征对检测波信号进行调制,在反射回的反射波信号中会携带有生命体的生命体征信号,再利用检测波信号对反射波信号进行信号处理,所得到的目标信号中包括有生命体征信号通过目标信号即可检测出车辆内是否存在生命体。该生命体的检测方法利用生命体征信号对检测波信号的调制即可检测出是否存在生命体,只要是车辆内中存在生命体都能够通过该方法检测出,而不受生命体在车辆内中的具体位置或运动状态的限制,极大地提高了检测的准确性。Among them, if there is a living body in the vehicle, the vital signs of the living body (for example, pulse, heartbeat, or breathing, etc.) are the movements of the internal organs of the body, so the target reflected wave signal will generate a multiple of the detected wave signal. If the frequency is shifted, the phase of the detection wave signal will change, so that the vital signs of the living body modulate the detection wave signal, and the reflected wave signal reflected will carry the vital sign signal of the living body, and then use the detection wave signal to The reflected wave signal is subjected to signal processing, and the obtained target signal includes vital signs. The target signal can be used to detect whether there is a vital body in the vehicle. The detection method of the living body uses the modulation of the vital sign signal to the detection wave signal to detect whether there is a living body, as long as there is a living body in the vehicle can be detected by the method, without being living body in the vehicle The limitation of the specific position or movement state greatly improves the accuracy of detection.
作为本实施例的另一种可选实施方式,检测车辆内是否存在生命体可以采用如下方法实现,如图4所示,该方法包括如下步骤:As another optional implementation manner of this embodiment, detecting whether a living body exists in the vehicle may be implemented as follows, as shown in FIG. 4, the method includes the following steps:
S41,向车辆内发射第一检测波信号。S41. Transmit a first detection wave signal into the vehicle.
其中,第一发射装置向车辆内发射的第一检测波信号为单频波,可以采用如下公式表示:The first detection wave signal transmitted into the vehicle by the first transmitting device is a single frequency wave, which can be expressed by the following formula:
T(t)=cos(2p f ct)     (1) T (t) = cos (2p f c t) (1)
其中,f c为第一检测波信号的频率。 Where f c is the frequency of the first detection wave signal.
其余详细请参见图3所示实施例的S31,在此不再赘述。For other details, please refer to S31 in the embodiment shown in FIG. 3, which will not be repeated here.
S42,接收反射回的第一反射波信号。S42: Receive the first reflected wave signal reflected back.
其中,可以采用x(t)表示生命体的生命体征信号(心跳、呼吸等导致的胸腔位移)。第一 发射装置与生命体之间的间距为d 0,那么第一检测波信号从第一发射装置发射,被生命体征信号调制后反射回第一接收装置,一次发射到接收信号波经过的距离采用如下公式表示: Among them, x (t) can be used to represent the vital signs of the living body (displacement of the chest cavity caused by heartbeat, breathing, etc.). The distance between the first transmitting device and the living body is d 0 , then the first detection wave signal is transmitted from the first transmitting device, modulated by the vital sign signal, and then reflected back to the first receiving device, once transmitted to the distance received by the received signal wave Use the following formula:
2d(t)=2d 0+2x(t)              (2) 2d (t) = 2d 0 + 2x (t) (2)
第一反射波信号R(t)可以采用如下公式表示:The first reflected wave signal R (t) can be expressed by the following formula:
Figure PCTCN2018122673-appb-000001
Figure PCTCN2018122673-appb-000001
其中,c为所述第一检测波信号的传播速度。Where c is the propagation speed of the first detection wave signal.
将公式(2)代入公式(3)并展开,得到Substitute formula (2) into formula (3) and expand to obtain
Figure PCTCN2018122673-appb-000002
Figure PCTCN2018122673-appb-000002
其中,l为所述第一检测波信号的波长。Where l is the wavelength of the first detection wave signal.
此外,由于生命体征信号的周期T□d 0/c,因此假定
Figure PCTCN2018122673-appb-000003
中的
Figure PCTCN2018122673-appb-000004
可忽略。因此,第一反射波信号可以表示为:
In addition, since the period of the vital sign signal T □ d 0 / c, it is assumed
Figure PCTCN2018122673-appb-000003
middle
Figure PCTCN2018122673-appb-000004
Ignorable. Therefore, the first reflected wave signal can be expressed as:
Figure PCTCN2018122673-appb-000005
Figure PCTCN2018122673-appb-000005
S43,基于第一检测波信号对第一反射波信号进行信号处理以得到第一目标信号。S43: Perform signal processing on the first reflected wave signal based on the first detection wave signal to obtain a first target signal.
从式(5)中可以看出第一反射波信号与第一检测波信号非常相似。由于生命体与第一发射装置之间可能具有一定的距离,所接收的第一反射波信号会有延时,且第一反射波信号的相位在被生命体征信号的周期运动所调制。因此,在第一反射波信号的基础上利用第一检测波信号进行信号处理(本实施例中采用解调方法),这个相位调制就可以被解调。具体地,包括以下步骤:It can be seen from equation (5) that the first reflected wave signal is very similar to the first detected wave signal. Since there may be a certain distance between the living body and the first transmitting device, the received first reflected wave signal will be delayed, and the phase of the first reflected wave signal is modulated by the periodic motion of the vital sign signal. Therefore, by using the first detection wave signal for signal processing on the basis of the first reflected wave signal (the demodulation method is used in this embodiment), this phase modulation can be demodulated. Specifically, it includes the following steps:
S431,将第一检测波信号与第一反射波信号相乘以得到第一乘积信号。S431: Multiply the first detection wave signal and the first reflected wave signal to obtain a first product signal.
结合式(1)与式(4),利用R(t)×T(t),以得到第一乘积信号;具体地,Combining equation (1) and equation (4), using R (t) × T (t) to obtain the first product signal; specifically,
Figure PCTCN2018122673-appb-000006
Figure PCTCN2018122673-appb-000006
由式(6)可以看出,在第一乘积信号中包含高频分量与低频分量,在低频分量中携带有生命体征信号x(t),即利用第一检测波信号与第一反射波信号相乘,后续即可提取出第一 反射波信号中的生命体征信号。It can be seen from equation (6) that the first product signal contains a high-frequency component and a low-frequency component, and the low-frequency component carries the vital sign signal x (t), that is, the first detection wave signal and the first reflected wave signal are used By multiplying, the vital signs in the first reflected wave signal can be extracted later.
S432,对第一乘积信号进行低通滤波以得到第一目标信号。S432. Perform low-pass filtering on the first product signal to obtain a first target signal.
处理器在得到第一乘积信号之后,对第一乘积信号进行低通滤波将一些高频分量去除之后,可以得到第一目标信号中的同相分量I(t)。After the processor obtains the first product signal, after low-pass filtering the first product signal to remove some high-frequency components, the in-phase component I (t) in the first target signal can be obtained.
请结合式(6),第一目标信号中的同相分量I(t)可以表示为:Please combine equation (6), the in-phase component I (t) in the first target signal can be expressed as:
Figure PCTCN2018122673-appb-000007
Figure PCTCN2018122673-appb-000007
此外,将第一反射波信号与移相90°的第一检测波信号进行相乘,并进行低通滤波后,即可得到第一目标信号中的正交分量Q(t),可以表示为:In addition, after multiplying the first reflected wave signal with the first detection wave signal shifted by 90 ° and performing low-pass filtering, the orthogonal component Q (t) in the first target signal can be obtained :
Figure PCTCN2018122673-appb-000008
Figure PCTCN2018122673-appb-000008
最后,将I(t)以及Q(t)组成第一目标信号S(t),可以采用如下公式表示:Finally, I (t) and Q (t) form the first target signal S (t), which can be expressed by the following formula:
S(t)=I(t)+iQ(t)    (9)S (t) = I (t) + iQ (t) (9)
S44,根据第一目标信号检测车辆内是否存在生命体。S44: Detect whether a living body exists in the vehicle according to the first target signal.
处理器在得到第一目标信号之后,由于第一目标信号中包含有所采集到的生命体征信息,因此对第一目标信号进行功率谱分析,可以得到第一反射波信号的能量,再利用反射波的能量与第一阈值进行大小比较,即可检测出车辆内是否存在生命体。具体地,包括以下步骤:After the processor obtains the first target signal, since the first target signal contains the collected vital signs information, the power spectrum analysis is performed on the first target signal to obtain the energy of the first reflected wave signal, and then use the reflection The energy of the wave is compared with the first threshold to detect whether there is a living body in the vehicle. Specifically, it includes the following steps:
S441,对第一目标信号进行功率谱分析,以得到第一反射波信号的能量。S441: Perform power spectrum analysis on the first target signal to obtain the energy of the first reflected wave signal.
功率谱表示了目标信号功率随着频率的变化关系,对其进行功率谱分析,分析低频能量大小,即可得到第一反射波信号的能量。The power spectrum indicates the relationship between the power of the target signal and the frequency, and the power spectrum analysis is performed to analyze the magnitude of the low-frequency energy to obtain the energy of the first reflected wave signal.
S442,当能量小于第一阈值时,确定车辆内不存在生命体。S442, when the energy is less than the first threshold, it is determined that there is no living body in the vehicle.
处理器利用得到的第一反射波信号的能量与设定的第一阈值进行对比,当能量小于第一阈值时,则认为不存在生命体。The processor uses the energy of the obtained first reflected wave signal to compare with the set first threshold, and when the energy is less than the first threshold, it is considered that there is no living body.
可选地,当能量大于或等于第一阈值时,可以认为存在生命体,也可以继续进行生命体的检测,以提高检测准确性。Optionally, when the energy is greater than or equal to the first threshold, it may be considered that there is a living body, or the detection of the living body may be continued to improve the detection accuracy.
与图3所示实施例相比,该生命体的检测方法由于生命体与发射检测波信号的装置之间可能具有一定的距离,所接收的反射波信号会有延时,且反射波信号的相位在被生命体征信号的周期运动所调制。因此,将给反射波信号乘上检测波信号,这个相位调制就能够被解调,从而能够目标信号;对该目标信号进行功率谱分析,可得到反射波信号的低频能量大小,利 用得到的能量与第一阈值进行比较,即可进行生命体的检测。Compared with the embodiment shown in FIG. 3, the detection method of the living body may have a certain distance between the living body and the device that emits the detection wave signal, and the received reflected wave signal will be delayed, and the reflected wave signal The phase is modulated by the periodic motion of vital signs. Therefore, by multiplying the reflected wave signal by the detection wave signal, this phase modulation can be demodulated to achieve the target signal; by performing power spectrum analysis on the target signal, the low-frequency energy of the reflected wave signal can be obtained, and the obtained energy can be used. Compared with the first threshold, the detection of the living body can be performed.
作为本实施例的另一种可选实施方式,还可以利用人体的微动(呼吸、心跳)产生的微多普勒效应进行生命体的检测,如图5所示,具体包括如下步骤:As another optional implementation of this embodiment, the micro-Doppler effect generated by the micro-motion of the human body (breathing, heartbeat) can also be used to detect the living body, as shown in FIG. 5, specifically including the following steps:
S51,向车辆内发射第一检测波信号。S51: Transmit the first detection wave signal into the vehicle.
其中,第一检测波信号为超声波信号。由于生命体的生命体征信号相对于第一检测波信号存在径向运动,那么在反射回的第一反射波信号会发生频移(也可称为多普勒现象,产生的频移量称为多普勒频率)。后续是由于心跳和呼吸等微动生命体征对第一检测波信号的频率造成偏移,通过检测微多普勒频率来确定心跳和呼吸信息。The first detection wave signal is an ultrasonic signal. Since the vital signs of the living body have radial movement relative to the first detection wave signal, the frequency of the first reflected wave signal reflected back will occur (also known as the Doppler phenomenon, and the amount of frequency shift generated is called Doppler frequency). The follow-up is that the frequency of the first detection wave signal is shifted due to micro-motion vital signs such as heartbeat and breathing, and the heartbeat and breathing information are determined by detecting the micro-Doppler frequency.
S52,接收反射回的第一反射波信号。S52: Receive the first reflected wave signal reflected back.
请参考式(5)第一反射波信号可以表示为:Please refer to equation (5) The first reflected wave signal can be expressed as:
Figure PCTCN2018122673-appb-000009
Figure PCTCN2018122673-appb-000009
其中,生命体征信号x(t)可以看作是生命体的胸腔位移,而胸腔位移是由心跳和呼吸导致的。Among them, the vital signs x (t) can be regarded as the chest displacement of the living body, and the chest displacement is caused by heartbeat and breathing.
其余详细请参见图4所示实施例的S42,在此不再赘述。For the rest of the details, please refer to S42 in the embodiment shown in FIG. 4, which will not be repeated here.
S53,基于第一检测波信号对第一反射波信号进行信号处理以得到第一目标信号。S53: Perform signal processing on the first reflected wave signal based on the first detection wave signal to obtain a first target signal.
S531,将第一检测波信号与第一反射波信号相乘以得到第一乘积信号。详细请参见图4所示实施例的S431,在此不再赘述。S531: Multiply the first detection wave signal and the first reflected wave signal to obtain a first product signal. For details, please refer to S431 in the embodiment shown in FIG. 4, which will not be repeated here.
S532,对第一乘积信号进行低通滤波以得到第一目标信号。详细请参见图4所示实施例的S432,在此不再赘述。S532: Perform low-pass filtering on the first product signal to obtain a first target signal. For details, please refer to S432 in the embodiment shown in FIG. 4, which will not be repeated here.
S54,根据第一目标信号检测车辆内是否存在生命体。S54: Detect whether there is a living body in the vehicle according to the first target signal.
处理器先对第一目标信号S(t)进行能量检测,检测是否存在生命体;在利用能量检测排除不存在生命体的情况下,再提取S(t)中的生命体征信号,利用生命体征信号的频率进行生命体的检测。具体地,包括以下步骤:The processor first performs energy detection on the first target signal S (t) to detect whether there is a living body; when energy detection is used to exclude the absence of a living body, then extracts the vital sign signal in S (t) and uses the vital sign The frequency of the signal is used to detect the living body. Specifically, it includes the following steps:
S541,对第一目标信号进行功率谱分析,以得到第一反射波信号的能量。S541. Perform power spectrum analysis on the first target signal to obtain the energy of the first reflected wave signal.
处理器对第一目标信号S(t)进行功率谱分析,分析低频能量大小,得到第一反射波信号的能量。The processor performs power spectrum analysis on the first target signal S (t), analyzes the magnitude of low-frequency energy, and obtains the energy of the first reflected wave signal.
其余详细请参见图4所示实施例的S441,在此不再赘述。For other details, please refer to S441 in the embodiment shown in FIG. 4, which will not be repeated here.
S542,判断第一反射波信号的能量是否小于第一阈值。S542: Determine whether the energy of the first reflected wave signal is less than the first threshold.
处理器利用得到的第一反射波信号的能量与设定的第一阈值进行对比,当能量小于第一 阈值时,则执行S543;否则,则认为可能存在生命体需要进行进一步检测,执行S544。The processor uses the energy of the obtained first reflected wave signal to compare with the set first threshold. When the energy is less than the first threshold, S543 is executed; otherwise, it is considered that there may be a living body that needs to be further detected, and S544 is executed.
S543,确定车辆内不存在生命体。S543, it is determined that there is no living body in the vehicle.
S544,通过反正切解调提取第一目标信号中频率随时间的变化量,以得到频率信号。S544, extracting the variation of frequency with time in the first target signal by arc tangent demodulation to obtain a frequency signal.
处理器在检测出第一反射波信号的能量大于或等于第一阈值时,再次进行生命体的检测。其中,目标信号S(t)采用如下公式表示:When the processor detects that the energy of the first reflected wave signal is greater than or equal to the first threshold, it detects the living body again. Among them, the target signal S (t) is expressed by the following formula:
Figure PCTCN2018122673-appb-000010
Figure PCTCN2018122673-appb-000010
进一步地,further,
Figure PCTCN2018122673-appb-000011
Figure PCTCN2018122673-appb-000011
其中,
Figure PCTCN2018122673-appb-000012
among them,
Figure PCTCN2018122673-appb-000012
上式中,f(t)为目标信号中频率随时间的变化量。目标信号S(t)包含采集的生命体造成的多普勒效应,后续对S(t)进行能量检测即可判断是否存在生命体。In the above formula, f (t) is the amount of change in frequency of the target signal with time. The target signal S (t) contains the Doppler effect caused by the collected living body, and subsequent energy detection of S (t) can determine whether there is a living body.
由式(11)可以得出,目标信号S(t)与频率随时间的变化量f(t)之间为指数关系,因此通过反正切解调提取第一目标信号S(t)中的频率随时间的变化f(t),即得到频率信号。It can be drawn from equation (11) that the relationship between the target signal S (t) and the frequency variation f (t) with time is exponential, so the frequency in the first target signal S (t) is extracted by arc tangent demodulation The change of f (t) with time gives the frequency signal.
其中,反正切解调具体表示如下:Among them, the arc tangent demodulation is specifically expressed as follows:
Figure PCTCN2018122673-appb-000013
Figure PCTCN2018122673-appb-000013
但是发明人在实际检测过程中发现,对于反正切函数,其自身的值域为
Figure PCTCN2018122673-appb-000014
在进行反正切解调时可能会出现不连续点,从而导致检测性能的衰减。因此,采用如下公式进行反正切解调:
However, the inventor discovered in the actual detection process that for the arc tangent function, its own value range is
Figure PCTCN2018122673-appb-000014
When performing arc tangent demodulation, discontinuities may occur, resulting in degradation of detection performance. Therefore, the following formula is used for arc tangent demodulation:
Figure PCTCN2018122673-appb-000015
Figure PCTCN2018122673-appb-000015
式中,f(t)为所述频率信号;Q(t)为所述第一目标信号中的正交分量;I(t)为所述第一目标信号中的同相分量;Q DC为所述正交分量中的直流分量;I DC为所述同相分量中的直流分量;F为
Figure PCTCN2018122673-appb-000016
的整数倍。例如,如图6所示,图6中示出了频率信号的时域图。
Where f (t) is the frequency signal; Q (t) is the quadrature component in the first target signal; I (t) is the in-phase component in the first target signal; Q DC is The DC component in the quadrature component; I DC is the DC component in the in-phase component; F is
Figure PCTCN2018122673-appb-000016
An integer multiple of. For example, as shown in FIG. 6, a time domain diagram of frequency signals is shown in FIG. 6.
S545,对频率信号进行数据处理,以得到生命体征信号。S545: Perform data processing on the frequency signal to obtain vital sign signals.
处理器对提取出的频率信号f(t)进行数据处理,可以恢复出生命体征信号。具体地,如公式(11)所示,频率信号f(t)与生命体征信号x(t)之间近似于线性关系,因此,可以通过一些数据处理之后得到生命体征信号x(t)。The processor performs data processing on the extracted frequency signal f (t) to recover the vital signs signal. Specifically, as shown in formula (11), the frequency signal f (t) and the vital sign signal x (t) are approximately linear, so the vital sign signal x (t) can be obtained after some data processing.
S546,判断生命体体征信号的频率是否大于第二阈值。S546: Determine whether the frequency of the vital signs signal is greater than the second threshold.
处理器在对频率信号采用反正切解调后,即可恢复出生命体征信号x(t)。在恢复出生命体征信号x(t)之后,可以进行降采样然后FFT变换,可以获得生命体征信号的频谱。例如,如图7所示,图7中示出了生命体征信号的频域图,其中,频率较大的为心跳频率,频率较小的为呼吸频率。例如,呼吸频率为0.2Hz-0.6Hz、心跳频率为1Hz-2Hz,则确定车辆内存在生命体。After the processor uses the arc tangent demodulation of the frequency signal, the vital sign signal x (t) can be recovered. After the vital sign signal x (t) is recovered, downsampling and FFT transformation can be performed to obtain the frequency spectrum of the vital sign signal. For example, as shown in FIG. 7, a frequency domain diagram of vital sign signals is shown in FIG. 7, where the greater frequency is the heartbeat frequency and the smaller frequency is the respiratory frequency. For example, if the breathing frequency is 0.2 Hz-0.6 Hz and the heartbeat frequency is 1 Hz-2 Hz, it is determined that there are living bodies in the vehicle.
利用该生命体征信号x(t)的频率与第二阈值进行大小比较,以检测生命体。其中,当生命体征信号的频率大于第二阈值时,执行S547;否则,执行S543。The frequency of the vital sign signal x (t) is compared with the second threshold to detect a vital body. Wherein, when the frequency of the vital sign signal is greater than the second threshold, S547 is executed; otherwise, S543 is executed.
S547,检测出存在生命体。S547, the existence of a living body is detected.
与图4所示实施例相比,该生命体的检测方法,在进行反正切解调时可能会出现不连续点,可能会导致检测性能的衰退,因此,通过对反正切解调进行修正,能够避免解调后出现不连续点,提高了检测性能。此外,通过检测反射波信号(即超声波回波)的多普勒信息来确定生命体的生命体征信息,通过信号处理提取心跳以及呼吸等微动信息达到检测目的,该方法能在一定距离内对生命体进行快速的心跳呼吸检测。由于空气中声速远小于光速,对于同一速度移动的物体为了获得相同大小的多普勒频移,超声的载频远小于电磁波,易于在车内或密闭空间内实现。此外,相比于使用电磁波的雷达系统超声成本更低。Compared with the embodiment shown in FIG. 4, the detection method of the living body may have discontinuities when performing arc tangent demodulation, which may lead to deterioration of detection performance. Therefore, by modifying the arc tangent demodulation, It can avoid discontinuities after demodulation and improve the detection performance. In addition, by detecting the Doppler information of the reflected wave signal (ie, ultrasonic echo) to determine the vital sign information of the living body, and extracting the micro-motion information such as heartbeat and breathing through signal processing to achieve the detection purpose, this method can The living body performs rapid heartbeat breathing detection. Since the speed of sound in the air is much lower than the speed of light, for objects moving at the same speed in order to obtain the same magnitude of Doppler frequency shift, the carrier frequency of ultrasound is much smaller than the electromagnetic wave, which is easy to achieve in the car or in a confined space. In addition, ultrasound costs are lower compared to radar systems that use electromagnetic waves.
可选地,在S54中,S541以及S542可以省略,即处理器在得到目标信号之后,直接通过反正切解调提取第一目标信号中频率随时间的变化量,以得到频率信号;对频率信号进行数据处理,以得到生命体征信号;当生命体征信号的频率大于第二阈值时,检测出存在生命体。Optionally, in S54, S541 and S542 can be omitted, that is, after obtaining the target signal, the processor directly extracts the variation of the frequency in the first target signal with time through arc tangent demodulation to obtain the frequency signal; Data processing is performed to obtain vital sign signals; when the frequency of the vital sign signals is greater than the second threshold, the presence of vital signs is detected.
作为本实施例的另一种可选实施方式,其中,检测车辆内是否存在生命体,如图8所示,该生命体的检测方法包括以下步骤:As another optional implementation manner of this embodiment, where a living body is detected in the vehicle, as shown in FIG. 8, the detection method of the living body includes the following steps:
S61,向车辆内发射至少一个第二检测波信号。S61. At least one second detection wave signal is transmitted into the vehicle.
第二发射装置向车辆内发射至少一个第二检测波信号,该第二检测波信号可以是超声波信号,也可以是其他类型的检测波信号。例如,第二发射装置所发射的每个第二检测波信号为单频波。The second transmitting device transmits at least one second detection wave signal into the vehicle. The second detection wave signal may be an ultrasonic signal or other types of detection wave signals. For example, each second detection wave signal transmitted by the second transmitting device is a single frequency wave.
S62,接收反射回的多个第二反射波信号。S62. Receive a plurality of second reflected wave signals reflected back.
各个第二检测波信号在接触生命体或其他物体之后反射回第二接收装置,即第二接收装置接收到反射回的多个第二反射波信号。其中,第二发射装置与第二接收装置可以是一体的(即,同一个装置既可以发射检测波信号,又可以接受反射回的反射波信号),也可以是分 开设置的(即,发射装置与接收装置独立设置,分别实现对应的功能)。Each second detection wave signal is reflected back to the second receiving device after contacting a living body or other objects, that is, the second receiving device receives a plurality of second reflected wave signals reflected back. Among them, the second transmitting device and the second receiving device may be integrated (that is, the same device can transmit both the detection wave signal and the reflected wave signal reflected back), or it can be provided separately (that is, the transmitting device It is set independently from the receiving device and realizes the corresponding functions respectively).
S63,基于第二检测波信号对各个第二反射波信号进行信号处理,以得到第二目标信号。S63: Perform signal processing on each second reflected wave signal based on the second detection wave signal to obtain a second target signal.
其中,信号处理可以是解调,也可以是希尔伯特变换。解调是从携带消息的已调信号中恢复消息的过程。由于生命体征信号会对第二检测波信号进行调制,从而使得第二反射波信号中携带有生命体征信号,因此利用第二检测波信号对第二反射波信号进行解调即可分解出生命体征信号。Among them, the signal processing may be demodulation or Hilbert transform. Demodulation is the process of recovering a message from a modulated signal that carries a message. Since the vital sign signal modulates the second detection wave signal, so that the second reflected wave signal carries the vital sign signal, the second detection wave signal can be used to demodulate the second reflected wave signal to decompose the vital sign signal.
S64,对所有第二目标信号进行目标方位估计,以得到空间方位信息。S64: Perform target orientation estimation on all second target signals to obtain spatial orientation information.
处理器对所有第二目标信号(其中,每个第二反射波信号对应于一个第二目标信号)进行目标方位估计,即,将所有第二目标信号合成为一个空间方位信息。由于每个第二目标信号对应于被生命体征信号所调制的第二反射波信号,因此,通过对第二目标信号进行波束合成后得到的空间方位信息能够极大程度地反应出所检测到的生命体征信号。The processor performs target orientation estimation on all second target signals (where each second reflected wave signal corresponds to a second target signal), that is, synthesizes all second target signals into one piece of spatial orientation information. Since each second target signal corresponds to the second reflected wave signal modulated by the vital signs signal, the spatial orientation information obtained by beam-synthesizing the second target signal can reflect the detected life to a great extent Sign signals.
S65,基于空间方位信息检测车辆内是否存在生命体。S65. Detect whether there is a living body in the vehicle based on the spatial orientation information.
处理器在得到空间方位信息之后,可以利用空间方位信息的功率进行生命体的检测,也可以提取空间方位信息的功率变化所反映的生命体征的频率进行生命体征的检测,也可以是上述的组合(例如,功率、频率以及幅度的组合)等等。不论采用合成方式,由于在空间方位信息中携带有生命体征信号,因此利用该空间方位信息即可进行生命体的检测。After the processor obtains the spatial orientation information, it can use the power of the spatial orientation information to detect the vital body, or it can extract the frequency of the vital signs reflected by the power change of the spatial orientation information to detect the vital signs, or a combination of the above (For example, a combination of power, frequency, and amplitude) and so on. Regardless of the synthesis method, the vital position signals are carried in the spatial orientation information, so the spatial orientation information can be used to detect the vital body.
其中,若在车辆内中存在生命体时,生命体的生命体征(例如,脉搏,心跳或呼吸等等)会对第二检测波信号进行调制,在反射回的第二反射波信号中会携带有生命体的生命体征信号,再利用第二检测波信号对第二反射波信号进行信号处理以及目标方位估计,所得到的空间方位信息中包括有生命体征信号,通过该空间方位信息即可检测出车辆内是否存在生命体。该方法利用生命体征信号对第二检测波信号的调制即可检测出是否存在生命体,只要是车辆内中存在生命体都能够通过该方法检测出,而不受生命体在车辆内中的具体位置或运动状态的限制,极大地提高了检测的准确性。Among them, if there is a living body in the vehicle, the vital signs of the living body (for example, pulse, heartbeat or breathing, etc.) will modulate the second detection wave signal, which will be carried in the second reflected wave signal reflected back Vital sign signals of living organisms, and then use the second detection wave signal to perform signal processing on the second reflected wave signal and target orientation estimation. The obtained spatial orientation information includes vital sign signals, which can be detected through the spatial orientation information Check whether there is a living body in the vehicle. The method uses the modulation of the vital sign signal to the second detection wave signal to detect whether there is a living body, as long as there is a living body in the vehicle can be detected by this method, and is not affected by the specific life body in the vehicle. The limitation of position or motion state greatly improves the accuracy of detection.
作为本实施例的另一种可选实施方式,其中,检测车辆内是否存在生命体可以采用如下方法实现,如图9所示,该生命体的检测方法包括以下步骤:As another optional implementation of this embodiment, the detection of the presence of a living body in the vehicle may be implemented as follows. As shown in FIG. 9, the detection method of the living body includes the following steps:
S71,向车辆内发射至少一个第二检测波信号。S71: Transmit at least one second detection wave signal into the vehicle.
其中,第二发射装置向车辆内发射的至少一个第二检测波信号均为单频波。每个第二检测波信号可以采用如下公式表示:Wherein, at least one second detection wave signal transmitted by the second transmitting device into the vehicle is a single frequency wave. Each second detection wave signal can be expressed by the following formula:
T(t)=cos(2p f ct)     (1) T (t) = cos (2p f c t) (1)
其中,f c为第二检测波信号的频率。 Where f c is the frequency of the second detection wave signal.
其余详细请参见图8所示实施例的S61,在此不再赘述。For the rest of the details, please refer to S61 in the embodiment shown in FIG. 8, which will not be repeated here.
S72,接收反射回的多个第二反射波信号。S72: Receive a plurality of second reflected wave signals reflected back.
其中,可以采用x(t)表示生命体的生命体征信号。第二发射装置与生命体之间的间距为r 0,那么各个第二检测波信号从第二发射装置发射,被生命体征信号调制后反射回第二接收装置,一次发射到接收信号波经过的距离采用如下公式表示: Among them, x (t) can be used to represent the vital signs of a living body. The distance between the second transmitting device and the living body is r 0 , then each second detection wave signal is transmitted from the second transmitting device, modulated by the vital sign signal and reflected back to the second receiving device, once transmitted to the received signal wave passing The distance is expressed by the following formula:
2r(t)=2r 0+2x(t)              (2) 2r (t) = 2r 0 + 2x (t) (2)
此外,第i个第二反射波信号R i(t)可以采用如下公式表示: In addition, the i-th second reflected wave signal R i (t) can be expressed by the following formula:
Figure PCTCN2018122673-appb-000017
Figure PCTCN2018122673-appb-000017
其中,a为所述第二反射波信号的幅度;t i为第二接收装置接收到第i个第二发射波信号与第一个第二反射波信号之间的时间差,i=2,…,N,N为第二反射波信号的数量;c为所述第二检测波信号的传播速度。 Where a is the amplitude of the second reflected wave signal; t i is the time difference between the ith second transmitted wave signal received by the second receiving device and the first second reflected wave signal, i = 2, ... , N, N are the number of second reflected wave signals; c is the propagation speed of the second detected wave signal.
关于上述时间差,可以通过记录各个第二反射波信号的接收时间,利用记录的时间计算时间差;也可以通过其他方式计算时间差等等。Regarding the above time difference, the time difference can be calculated by recording the reception time of each second reflected wave signal, and the time difference can be calculated by using the recorded time; the time difference can also be calculated by other methods, and so on.
例如,第二发射装置以及第二接收装置为多个阵元形成的阵列,每个阵元发射一个第二检测波信号,接收一个第二检测波信号;由于各个第二检测波信号从发射到反射回阵元之间可能会存在一定的时间差,因此,以阵元接收第一个第二反射波信号的时间为起点,那么时间差的含义描述如下:For example, the second transmitting device and the second receiving device are arrays formed by a plurality of array elements, and each array element transmits a second detection wave signal and receives a second detection wave signal; since each second detection wave signal is transmitted from There may be a certain time difference between the reflected back array elements. Therefore, starting from the time when the array element receives the first second reflected wave signal, the meaning of the time difference is described as follows:
t 2为阵元接收到第2个第二反射波信号与接收到第1个第二反射波信号之间的时间差; t 2 is the time difference between the second second reflected wave signal received by the array element and the first second reflected wave signal received;
t 3为阵元接收到第3个第二反射波信号与接收到第1个第二反射波信号之间的时间差; t 3 is the time difference between the third second reflected wave signal received by the array element and the first second reflected wave signal received;
……;...;
t N为阵元接收到第N个第二反射波信号与接收到第1个第二反射波信号之间的时间差。 t N is the time difference between the Nth second reflected wave signal received by the array element and the 1st second reflected wave signal received.
S73,基于第二检测波信号对各个第二反射波信号进行信号处理,以得到第二目标信号。S73: Perform signal processing on each second reflected wave signal based on the second detection wave signal to obtain a second target signal.
其中,本实施例中的信号处理为解调。从式(3)中可以看出第二反射波信号与第二检测波信号非常相似。由于生命体与第二发射装置之间可能具有一定的距离,所接收的第二反射波信号会有延时,且第二反射波信号的相位在被生命体征信号的周期运动所调制。因此,在第二反射波信号的基础上利用第二检测波信号进行IQ解调,这个相位调制就可以被解调。具体地,包括以下步骤:Among them, the signal processing in this embodiment is demodulation. It can be seen from equation (3) that the second reflected wave signal is very similar to the second detected wave signal. Since there may be a certain distance between the living body and the second transmitting device, the received second reflected wave signal will be delayed, and the phase of the second reflected wave signal is modulated by the periodic motion of the vital sign signal. Therefore, using the second detection wave signal for IQ demodulation based on the second reflected wave signal, this phase modulation can be demodulated. Specifically, it includes the following steps:
S731,将第二检测波信号与第二反射波信号相乘以得到第二乘积信号。S731: Multiply the second detection wave signal and the second reflected wave signal to obtain a second product signal.
结合式(1)与式(4),利用R i(t)×T(t),以得到第二乘积信号f i(t);具体地, Combining equation (1) and equation (4), using R i (t) × T (t) to obtain the second product signal f i (t); specifically,
Figure PCTCN2018122673-appb-000018
Figure PCTCN2018122673-appb-000018
再将式(2)代入式(3)中,即可得到第二乘积信号,在该第二乘积信号中携带有生命体征信号x(t),即利用第二检测波信号与第二反射波信号相乘,后续即可提取出第二反射波信号中的生命体征信号。Substitute equation (2) into equation (3), you can get the second product signal, which carries the vital signs x (t), that is, the second detection wave signal and the second reflected wave By multiplying the signals, the vital signs in the second reflected wave signal can be extracted later.
S732,对第二乘积信号进行低通滤波以得到第二目标信号。S732: Perform low-pass filtering on the second product signal to obtain a second target signal.
处理器在得到第二乘积信号之后,对乘积信号进行低通滤波将一些高频分量信号去除之后,可以得到目标信号中的同相分量I i(t)。 After the processor obtains the second product signal, after low-pass filtering the product signal to remove some high-frequency component signals, the in-phase component I i (t) in the target signal can be obtained.
此外,将反射波信号与移相90°的检测波信号进行相乘,并进行低通滤波后,即可得到目标信号中的正交分量Q i(t)。 After addition, the reflected wave signal with a 90 ° phase shift is multiplied by the detection wave signal, and low-pass filtering, to obtain the target quadrature component signals Q i (t).
最后,将I i(t)以及Q i(t)组成复信号,即可形成目标信号s i(t)。其中,各个第二反射波信号R i(t)对应的目标信号可以表示为s i(t),即s i(t)为第i个第二反射波信号R i(t)对应的第二目标信号,可以采用如下公式表示: Finally, I i (t) and Q i (t) signal composed of complex, to form the target signal s i (t). The target signal corresponding to each second reflected wave signal R i (t) can be expressed as s i (t), that is, s i (t) is the second corresponding to the i-th second reflected wave signal R i (t) The target signal can be expressed by the following formula:
Figure PCTCN2018122673-appb-000019
Figure PCTCN2018122673-appb-000019
可选地,在IQ解调之后,可以再次进行低通滤波,得到零中频信号。由于在IQ解调之后只含有低频信号,因此后续在进行波束合成时可以进行降采样以减小运算量。Optionally, after IQ demodulation, low-pass filtering may be performed again to obtain a zero-IF signal. Since only low-frequency signals are included after IQ demodulation, subsequent downsampling can be performed during beam synthesis to reduce the amount of calculation.
S74,对所有第二目标信号进行目标方位估计,以得到空间方位信息。S74: Perform target orientation estimation on all second target signals to obtain spatial orientation information.
处理器对所有第二目标信号(其中,每个第二反射波信号对应于一个第二目标信号)进行目标方位估计,即将所有第二目标信号合成为一个空间方位信息。其中,本实施例中的目标方位估计为波束合成。具体包括以下步骤:The processor performs target orientation estimation on all second target signals (where each second reflected wave signal corresponds to a second target signal), that is, synthesizes all second target signals into one spatial orientation information. Among them, the target position estimation in this embodiment is beam synthesis. It includes the following steps:
S741,计算接收各个第二反射波信号与接收第一个第二反射波信号之间的时间差。S741: Calculate the time difference between receiving each second reflected wave signal and receiving the first second reflected wave signal.
其中,第二发射装置以及第二接收装置为多个阵元形成的阵元阵列,每个阵元之间的间距相等,均为d;在计算时间差之前,可以先遍历每个阵元接收到的第二反射波信号的掠射角q,用于后续的计算;也可以认为每个阵元接收到的第二反射波信号近似认为是平行的,因此阵列中每个阵元接收到的第二反射波信号的掠射角q均相等。Among them, the second transmitting device and the second receiving device are arrays of elements formed by multiple elements, and the distance between each element is equal to d; before calculating the time difference, each element can be traversed to receive The glancing angle q of the second reflected wave signal of is used for subsequent calculations; it can also be considered that the second reflected wave signal received by each array element is approximately parallel, so the first received by each array element in the array The glancing angles q of the two reflected wave signals are all equal.
第二发射装置接收各个第二反射波信号与接受第一个第二反射波信号之间的时间差可以采用如下公式计算:The time difference between the second transmitting device receiving each second reflected wave signal and receiving the first second reflected wave signal can be calculated using the following formula:
Figure PCTCN2018122673-appb-000020
其中,i=1,2,……,N;    (6)
Figure PCTCN2018122673-appb-000020
Among them, i = 1, 2, ..., N; (6)
式中,t i为第i个第二反射波信号与第一个第二反射波信号之间的时间差;N为所述第二反射波信号的数量;d为发射所述第二检测波信号的阵列的间距;q为阵列接收到的所述第二反射波信号的掠射角;c为所述第二检测波信号的传播速度。 Where t i is the time difference between the ith second reflected wave signal and the first second reflected wave signal; N is the number of the second reflected wave signal; d is the second detected wave signal Q is the pitch of the array; q is the glancing angle of the second reflected wave signal received by the array; c is the propagation speed of the second detection wave signal.
S742,基于时间差以及第二目标信号进行波束合成,以得到空间方位信息。S742: Perform beam synthesis based on the time difference and the second target signal to obtain spatial orientation information.
处理器在计算出时间差之后,利用时间差以及第二目标信号计算出波束输出功率(也可称之为空间方位信息的输出功率),可以采用如下公式进行波束合成:After calculating the time difference, the processor uses the time difference and the second target signal to calculate the beam output power (also referred to as the output power of the spatial azimuth information), and can use the following formula to perform beam synthesis:
Figure PCTCN2018122673-appb-000021
Figure PCTCN2018122673-appb-000021
其中,
Figure PCTCN2018122673-appb-000022
2r(t)=2r 0+2x(t);
among them,
Figure PCTCN2018122673-appb-000022
2r (t) = 2r 0 + 2x (t);
式中,P(q,r)为波束输出功率;s i(t)为第i个第二反射波信号对应的第二目标信号;r 0为预设距离;x(t)为生命体征信号。 Where P (q, r) is the beam output power; s i (t) is the second target signal corresponding to the ith second reflected wave signal; r 0 is the preset distance; x (t) is the vital sign signal .
S75,基于空间方位信息检测车辆内是否存在生命体。S75: Detect whether there is a living body in the vehicle based on the spatial orientation information.
处理器在计算得到波束输出功率之后,利用波束输出功率与第三阈值进行比较,当波束输出功率小于第三阈值时,检测不存在生命体。After calculating the beam output power, the processor uses the beam output power to compare with the third threshold, and when the beam output power is less than the third threshold, it detects that there is no living body.
此外,可选地当波束输出功率大于或等于第三阈值时,可以认为存在生命体;也可以再次进行生命体的检测,以提高检测的准确性。In addition, optionally when the beam output power is greater than or equal to the third threshold, it can be considered that there is a living body; the detection of the living body can also be performed again to improve the accuracy of the detection.
与图8所示实施例相比,本实施例提供的生命体的检测方法,由于生命体与接收发射波信号的装置之间可能具有一定的距离,所接收的第二反射波信号会有延时且到各个换能器的距离不同,因此在进行波束合成时利用计算出的各个第二反射波信号与第一个第二发射波信号之间的时间差,能够保证波束合成的准确性。Compared with the embodiment shown in FIG. 8, the method for detecting a living body provided in this embodiment may have a certain distance between the living body and the device receiving the transmitted wave signal, and the received second reflected wave signal may be delayed. Since the distance to each transducer is different, the time difference between each second reflected wave signal and the first second transmitted wave signal calculated during beam synthesis can be used to ensure the accuracy of beam synthesis.
作为本实施例的另一种可选实施方式,还可以利用人体的微动(呼吸、心跳)产生的微多普勒效应进行生命体的检测,如图10所示,具体包括如下步骤:As another optional implementation of this embodiment, the micro-Doppler effect generated by the micro-motion of the human body (breathing, heartbeat) can also be used to detect the living body, as shown in FIG. 10, specifically including the following steps:
S81,向车辆内发射至少一个第二检测波信号。S81. At least one second detection wave signal is transmitted into the vehicle.
其中,第二检测波信号为超声波信号。第二发射装置为超声换能器阵列,第二接收装置为超声换能器阵列。由于生命体的生命体征信号(呼吸、心跳等等)相对于第二检测波信号存在径向运动,那么在反射回的第二反射波信号会发生频移(也可称为微多普勒现象,产生的频移量称为多普勒频率),后续再利用波束合成进行生命体的检测。The second detection wave signal is an ultrasonic signal. The second transmitting device is an ultrasound transducer array, and the second receiving device is an ultrasound transducer array. Due to the radial movement of vital signs (breathing, heartbeat, etc.) of the living body relative to the second detection wave signal, the frequency of the second reflected wave signal reflected back will occur (also known as the micro-Doppler phenomenon) , The amount of frequency shift is called Doppler frequency), and then use beam synthesis to detect the living body.
S82,接收反射回的多个第二反射波信号。S82: Receive a plurality of second reflected wave signals reflected back.
请参考式(3),反射回的第i个第二反射波信号R i(t)可以采用如下公式表示: Please refer to equation (3), the i-th second reflected wave signal R i (t) reflected back can be expressed by the following formula:
Figure PCTCN2018122673-appb-000023
Figure PCTCN2018122673-appb-000023
其余详细请参见图9所示实施例的S72,在此不再赘述。For the rest of the details, please refer to S72 in the embodiment shown in FIG. 9, which will not be repeated here.
S83,基于第二检测波信号对各个第二反射波信号进行信号处理,以得到第二目标信号。S83: Perform signal processing on each second reflected wave signal based on the second detection wave signal to obtain a second target signal.
处理器先对第二反射波信号进行ADC采样之后,再进行解调。解调可以包括如下步骤:The processor samples the second reflected wave signal after ADC sampling, and then performs demodulation. Demodulation can include the following steps:
S831,将第二检测波信号与第二反射波信号相乘以得到第二乘积信号。详细请参见图9所示实施例的S731,在此不再赘述。S831: Multiply the second detection wave signal and the second reflected wave signal to obtain a second product signal. For details, please refer to S731 in the embodiment shown in FIG. 9, which will not be repeated here.
S832,对第二乘积信号进行低通滤波以得到第二目标信号。详细请参见图9所示实施例的S732,在此不再赘述。S832: Perform low-pass filtering on the second product signal to obtain a second target signal. For details, please refer to S732 in the embodiment shown in FIG. 9, which will not be repeated here.
S84,对所有第二目标信号进行目标方位估计,以得到空间方位信息。详细请参见图9所示实施例的S74,在此不再赘述。S84: Perform target orientation estimation on all second target signals to obtain spatial orientation information. For details, please refer to S74 in the embodiment shown in FIG. 9, which will not be repeated here.
S85,基于空间方位信息检测车辆内是否存在生命体。S85: Detect whether a living body exists in the vehicle based on the spatial orientation information.
S851,判断波束输出功率是否小于第三阈值。S851: Determine whether the beam output power is less than the third threshold.
处理器在计算得到波束输出功率之后,利用波束输出功率与第三阈值进行比较,当波束输出功率小于第三阈值时,执行S852;否则,执行S853。After calculating the beam output power, the processor uses the beam output power to compare with the third threshold, and when the beam output power is less than the third threshold, executes S852; otherwise, executes S853.
S852,确定车辆内不存在生命体。S852. Determine that there is no living body in the vehicle.
S853,利用波束输出功率确定生命体的位置。S853. Use the beam output power to determine the position of the living body.
处理器在判断出波束输出功率大于或等于第三阈值时,利用波束输出功率P(q,r)确定生命体的空间位置(q 0,r 0),包括空间方位信息以及空间距离。例如,图11示出了不存在生命体时空间方位信息的示意图,图12示出了存在生命体时空间方位信息的示意图。 When determining that the beam output power is greater than or equal to the third threshold, the processor uses the beam output power P (q, r) to determine the spatial position (q 0 , r 0 ) of the living body, including spatial orientation information and spatial distance. For example, FIG. 11 shows a schematic diagram of spatial orientation information when no living body exists, and FIG. 12 shows a schematic diagram of spatial orientation information when a living body exists.
S854,跟踪位置对应的波束输出功率以得到跟踪信号。S854. Beam output power corresponding to the tracking position to obtain a tracking signal.
在确定出生命体的位置之后,跟踪该位置处波束输出功率P(q 0,r 0)随时间的变化A(t)。例如,在确定出生命体的位置之后,可以调整第二发射装置向该位置发射多个超声波信号,然后再进行波束合成实时跟踪该位置对应的波束输出功率,利用实时跟踪出的波束输出功率计算该位置处的波束输出功率随时间的变化A(t),即得到跟踪信号。 After the position of the living body is determined, the change A (t) of the beam output power P (q 0 , r 0 ) with time at this position is tracked. For example, after determining the position of the living body, the second transmitting device can be adjusted to transmit multiple ultrasonic signals to the position, and then perform beam synthesis to track the beam output power corresponding to the position in real time, and calculate the beam output power using the tracked real time The change of the beam output power at this position with time A (t) is the tracking signal.
S855,基于跟踪信号检测车辆内是否存在生命体。S855: Detect whether a living body exists in the vehicle based on the tracking signal.
处理器在得到跟踪信号之后,对跟踪信号进行功率谱分析,即可提取出生命体征信号。具体地,包括以下步骤:After the processor obtains the tracking signal, it performs power spectrum analysis on the tracking signal to extract the vital signs signal. Specifically, it includes the following steps:
(1)对跟踪信号进行滤波以得到滤波信号。(1) Filter the tracking signal to obtain a filtered signal.
(2)对滤波信号进行功率谱分析,以得到生命体征信号。(2) Perform power spectrum analysis on the filtered signal to obtain vital signs.
功率谱表示了滤波信号的功率随着频率的变化关系,通过对滤波信号进行功率谱分析即可得到生命体征信号。The power spectrum represents the relationship between the power of the filtered signal and the frequency, and the vital signs can be obtained by performing power spectrum analysis on the filtered signal.
在恢复出生命体征信号x(t)之后,可以进行降采样然后FFT变换,可以获得生命体征信号的频谱。处理器通过比较生命体征信号的频率是否大于第四阈值即可检测是否存在生命体。After the vital sign signal x (t) is recovered, downsampling and FFT transformation can be performed to obtain the frequency spectrum of the vital sign signal. The processor can detect whether there is a vital body by comparing whether the frequency of the vital sign signal is greater than a fourth threshold.
(3)当生命体征信号的频率大于第四阈值时,确定车辆内存在生命体。(3) When the frequency of the vital signs signal is greater than the fourth threshold, it is determined that there are vital bodies in the vehicle.
(4)当生命体征信号的频率小于或等于第四阈值时,确定车辆内不存在生命体。(4) When the frequency of the vital sign signal is less than or equal to the fourth threshold, it is determined that no vital body exists in the vehicle.
与图7所示实施例相比,该生命体的检测方法在波束输出功率与第三阈值比较之后,检测出车辆内可能存在生命体;再对可能的生命体进行跟踪,提取出生命体征信号再次进行生命体的检测,提高了检测的准确性;此外,本实施例利用人体的微动(呼吸、心跳)产生的微多普勒效应导致的频移进行波束形成,波束形成的幅度与呼吸、心跳的频率相关,从而进行生命体检测,保证了检测的准确性。Compared with the embodiment shown in FIG. 7, after the beam output power is compared with the third threshold, the detection method of the living body detects that there may be a living body in the vehicle; then tracks the possible living body to extract the vital signs signal The detection of the living body is performed again, which improves the accuracy of the detection; in addition, this embodiment uses the frequency shift caused by the micro-Doppler effect generated by the micro-motion of the human body (breathing, heartbeat) to perform beamforming. 1. The frequency of the heartbeat is related, so that the life detection is carried out to ensure the accuracy of the detection.
本发明实施例还提供了一种车内生命体提醒装置,如图13所示,该生命体检测装置可以包括生命体检测装置91、处理器92和存储器93;所述处理器92和存储器93互相通信连接。此外,上述的处理器92和存储器93可以通过总线或者其他方式连接,图13中以通过总线连接为例。An embodiment of the present invention further provides a life body reminder device in a vehicle. As shown in FIG. 13, the life body detection device may include a life body detection device 91, a processor 92, and a memory 93; the processor 92 and the memory 93 Connect with each other. In addition, the processor 92 and the memory 93 described above may be connected through a bus or in other ways. In FIG. 13, the connection through a bus is used as an example.
其中,所述生命体检测装置91用于在检测到车辆处于停止状态且车门处于关闭状态时,检测所述车辆内是否存在生命体。Wherein, the living body detection device 91 is used to detect whether there is a living body in the vehicle when it is detected that the vehicle is in a stopped state and the door is in a closed state.
存储器93可以是高速RAM存储器(Random Access Memory,易挥发性随机存取存储器),也可以是非不稳定的存储器(non-volatile memory),例如至少一个磁盘存储器。存储器93可选的还可以是至少一个位于远离前述处理器92的存储装置。其中存储器93中存储应用程序,且处理器92调用存储器93中存储的程序代码,以用于执行以下操作:The memory 93 may be a high-speed RAM memory (Random Access Memory, volatile random access memory), or may be a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 93 may optionally be at least one storage device located away from the foregoing processor 92. The memory 93 stores an application program, and the processor 92 calls the program code stored in the memory 93 to perform the following operations:
当所述车辆内存在生命体时,向预设人员发送提醒信息;在接收到所述预设人员基于所述提醒信息反馈的控制指令时,控制车辆部件执行相应的动作。When a living body exists in the vehicle, a reminder message is sent to a preset person; when a control command fed back by the preset person based on the reminder message is received, the vehicle component is controlled to perform a corresponding action.
可选地,处理器92调用存储器93中存储的程序代码,以用于执行图1所示实施例中的S13;或,执行图2所示实施例中的S22至S27。Optionally, the processor 92 calls the program code stored in the memory 93 for executing S13 in the embodiment shown in FIG. 1; or, executing S22 to S27 in the embodiment shown in FIG.
此外,存储器93可以包括易失性存储器(英文:volatile memory),例如随机存取存储器(英文:random-access memory,缩写:RAM);存储器也可以包括非易失性存储器(英文:non-volatile memory),例如快闪存储器(英文:flash memory),硬盘(英文:hard disk drive, 缩写:HDD)或固态硬盘(英文:solid-state drive,缩写:SSD);存储器604还可以包括上述种类的存储器的组合。In addition, the memory 93 may include volatile memory (English: volatile memory), for example, random access memory (English: random-access memory, abbreviation: RAM); the memory may also include non-volatile memory (English: non-volatile) memory), such as flash memory (English: flash memory), hard disk (English: hard disk drive, abbreviation: HDD) or solid-state hard disk (English: solid-state drive, abbreviation: SSD); memory 604 can also include the above types Memory combination.
其中,处理器92可以是中央处理器(英文:central processing unit,缩写:CPU),网络处理器(英文:network processor,缩写:NP)或者CPU和NP的组合。The processor 92 may be a central processor (English: central processing unit, abbreviation: CPU), a network processor (English: network processor, abbreviation: NP), or a combination of CPU and NP.
其中,处理器92还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(英文:application-specific integrated circuit,缩写:ASIC),可编程逻辑器件(英文:programmable logic device,缩写:PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(英文:complex programmable logic device,缩写:CPLD),现场可编程逻辑门阵列(英文:field-programmable gate array,缩写:FPGA),通用阵列逻辑(英文:generic array logic,缩写:GAL)或其任意组合。The processor 92 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (English: application-specific integrated circuit, abbreviation: ASIC), a programmable logic device (English: programmable logic device, abbreviation: PLD), or a combination thereof. The PLD may be a complex programmable logic device (English: complex programmable logic device, abbreviation: CPLD), field programmable logic gate array (English: field-programmable gate array, abbreviation: FPGA), general array logic (English: generic array) logic, abbreviation: GAL) or any combination thereof.
作为本实施例的一种可选实施方式,该车内生命体提醒装置还包括有环境检测装置,用于当车辆存在生命体时,检测车辆内的环境数据。As an optional implementation manner of this embodiment, the life body reminding device in the vehicle further includes an environment detection device, configured to detect the environment data in the vehicle when there is a life body in the vehicle.
作为本实施例的一种可选实施方式,如图14所示,该生命体检测装置91还包括:As an optional implementation of this embodiment, as shown in FIG. 14, the living body detection device 91 further includes:
第一发射装置911,用于向车辆内发射第一检测波信号;The first transmitting device 911 is used to transmit the first detection wave signal into the vehicle;
第一接收装置912,用于接收反射回的第一反射波信号;The first receiving device 912 is configured to receive the first reflected wave signal reflected back;
其中,所述处理器92还用于基于所述第一检测波信号对所述第一反射波信号进行信号处理以得到第一目标信号;根据所述第一目标信号检测所述车辆内是否存在生命体。Wherein, the processor 92 is further configured to perform signal processing on the first reflected wave signal based on the first detected wave signal to obtain a first target signal; detect whether the vehicle is present in the vehicle according to the first target signal Life form.
可选地,第一发射装置911为超声换能器,第一接收装置912为超声换能器。Optionally, the first transmitting device 911 is an ultrasonic transducer, and the first receiving device 912 is an ultrasonic transducer.
进一步可选地,第一发射装置911与第一接收装置912一体设置,即采用同一超声换能器实现发射第一检测波信号以及接收反射回的第一反射波信号。Further optionally, the first transmitting device 911 and the first receiving device 912 are integrated, that is, the same ultrasonic transducer is used to transmit the first detection wave signal and receive the reflected first reflected wave signal.
此外,处理器92还用于执行图3至图5所示实施例的生命体的检测方法中除向车辆发射第一检测波信号以及接收反射会的第一反射波信号之外的步骤。In addition, the processor 92 is also used to perform steps other than transmitting the first detection wave signal to the vehicle and receiving the first reflected wave signal of the reflection meeting in the living body detection method of the embodiments shown in FIGS. 3 to 5.
作为本实施例的一种可选实施方式,如图15所示,该生命体检测装置91还包括:As an optional implementation of this embodiment, as shown in FIG. 15, the living body detection device 91 further includes:
第二发射装置913,用于向所述车辆内发射至少一个第二检测波信号;A second transmitting device 913, configured to transmit at least one second detection wave signal into the vehicle;
第二接收装置914,用于接收反射回的多个第二反射波信号;The second receiving device 914 is configured to receive a plurality of second reflected wave signals reflected back;
其中,所述处理器92还用于基于所述第二检测波信号对各个所述第二反射波信号进行信号处理,以得到第二目标信号;对所有所述第二目标信号进行目标方位估计,以得到空间方位信息;基于所述空间方位信息检测车辆内是否存在所述生命体。Wherein, the processor 92 is further configured to perform signal processing on each of the second reflected wave signals based on the second detection wave signal to obtain a second target signal; and perform target orientation estimation on all the second target signals To obtain spatial orientation information; based on the spatial orientation information, detect whether the living body exists in the vehicle.
可选地,第二发射装置913包括超声换能器阵列,第二接收装置914包括超声换能器阵 列。其中,超声换能器阵列中阵元的排布可以根据实际情况进行具体设置,在此不做限制。Optionally, the second transmitting device 913 includes an ultrasound transducer array, and the second receiving device 914 includes an ultrasound transducer array. Among them, the arrangement of the array elements in the ultrasonic transducer array can be specifically set according to the actual situation, which is not limited herein.
进一步可选地,第二发射装置913与第二接收装置914一体设置,即采用同一超声换能器阵列实现发射至少一个第二检测波信号以及接收反射回的多个第二反射波信号;或者,发射一个第二检测波信号以及接收反射回的多个第二反射波信号。Further optionally, the second transmitting device 913 and the second receiving device 914 are integrated, that is, the same ultrasonic transducer array is used to transmit at least one second detection wave signal and receive a plurality of second reflected wave signals reflected back; or , A second detection wave signal is transmitted and a plurality of second reflected wave signals reflected back are received.
此外,处理器92还用于执行图8至图9所示实施例的生命体的检测方法中除向所述车辆内发射至少一个第二检测波信号以及接收反射回的多个第二反射波信号之外的步骤。In addition, the processor 92 is also used to execute the method for detecting a living body in the embodiments shown in FIG. 8 to FIG. 9 in addition to transmitting at least one second detection wave signal into the vehicle and receiving multiple second reflected waves reflected back Steps outside the signal.
本发明实施例还提供了一种行车记录仪,包括图13-图15所示实施例中的车内生命体提醒装置。An embodiment of the present invention also provides a driving recorder, which includes the in-vehicle life reminder in the embodiments shown in FIGS. 13-15.
本领域技术人员可以理解,实现上述实施例方法中的全部或部分流程,是可以通过计算机程序来指令相关的硬件来完成,所述的程序可存储于一计算机可读取存储介质中,该程序在执行时,可包括如上述各方法的实施例的流程。其中,所述存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)、随机存储记忆体(Random Access Memory,RAM)、快闪存储器(Flash Memory)、硬盘(Hard Disk Drive,缩写:HDD)或固态硬盘(Solid-State Drive,SSD)等;所述存储介质还可以包括上述种类的存储器的组合。Those skilled in the art can understand that all or part of the process in the method in the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the process of the above method embodiments may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random storage memory (Random Access Memory, RAM), a flash memory (Flash), a hard disk (Hard) Disk, Drive, abbreviation: HDD) or Solid-State Drive (SSD), etc .; the storage medium may also include a combination of the aforementioned types of memory.
虽然结合附图描述了本发明的实施例,但是本领域技术人员可以在不脱离本发明的精神和范围的情况下做出各种修改和变型,这样的修改和变型均落入由所附权利要求所限定的范围之内。Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope of the attached rights Within the limits defined by the requirements.

Claims (16)

  1. 一种车内生命体提醒方法,其特征在于,包括:A method for reminding a living body in a vehicle, characterized in that it includes:
    在检测到车辆处于停止状态且车门处于关闭状态时,检测所述车辆内是否存在生命体;When it is detected that the vehicle is in a stopped state and the door is in a closed state, detecting whether there is a living body in the vehicle;
    当所述车辆内存在生命体时,向预设人员发送提醒信息;When there is a living body in the vehicle, send reminder information to the preset personnel;
    在接收到所述预设人员基于所述提醒信息反馈的控制指令时,控制车辆部件执行相应的动作。When receiving a control instruction fed back by the preset person based on the reminder information, the vehicle component is controlled to perform a corresponding action.
  2. 根据权利要求1所述的方法,其特征在于,所述向预设人员发送提醒信息的步骤之前,还包括:The method according to claim 1, wherein before the step of sending reminder information to a preset person, the method further comprises:
    当所述车辆存在生命体时,检测所述车辆内的环境数据;其中,所述提醒信息还包括所述环境数据。When there is a living body in the vehicle, the environmental data in the vehicle is detected; wherein, the reminder information further includes the environmental data.
  3. 根据权利要求2所述的方法,其特征在于,还包括:The method of claim 2, further comprising:
    在没有接收到所述预设人员基于所述提醒信息反馈的控制指令时,判断所述环境数据是否超过预设值;When no control instruction fed back by the preset personnel based on the reminder information is received, determine whether the environmental data exceeds a preset value;
    当所述环境数据超过预设值时,控制车辆部件执行预设动作。When the environmental data exceeds a preset value, the vehicle component is controlled to perform a preset action.
  4. 根据权利要求1-3中任一项所述的方法,其特征在于,所述检测所述车辆内是否存在生命体,包括:The method according to any one of claims 1-3, wherein the detecting whether a living body exists in the vehicle includes:
    向所述车辆内发射第一检测波信号;Transmitting a first detection wave signal into the vehicle;
    接收反射回的第一反射波信号;Receive the first reflected wave signal reflected back;
    基于所述第一检测波信号对所述第一反射波信号进行信号处理以得到第一目标信号;Signal-processing the first reflected wave signal based on the first detection wave signal to obtain a first target signal;
    根据所述第一目标信号检测所述车辆内是否存在生命体。Detecting whether there is a living body in the vehicle according to the first target signal.
  5. 根据权利要求4所述的方法,其特征在于,所述基于所述第一检测波信号对所述第一反射波信号进行信号处理以得到第一目标信号包括:The method according to claim 4, wherein the signal processing of the first reflected wave signal based on the first detection wave signal to obtain a first target signal comprises:
    将所述第一检测波信号与所述第一反射波信号相乘以得到第一乘积信号;Multiplying the first detection wave signal and the first reflected wave signal to obtain a first product signal;
    对所述第一乘积信号进行低通滤波以得到所述第一目标信号。Low-pass filtering the first product signal to obtain the first target signal.
  6. 根据权利要求5所述的方法,其特征在于,所述根据所述第一目标信号检测所述车辆内是否存在生命体,包括:The method according to claim 5, wherein the detecting whether there is a living body in the vehicle according to the first target signal comprises:
    对所述第一目标信号进行功率谱分析,以得到所述第一反射波信号的能量;Performing power spectrum analysis on the first target signal to obtain the energy of the first reflected wave signal;
    当所述能量小于第一阈值时,确定所述车辆内不存在所述生命体;When the energy is less than the first threshold, it is determined that the living body does not exist in the vehicle;
    和/或,还包括:And / or, also includes:
    通过反正切解调提取所述第一目标信号中频率随时间的变化量,以得到频率信号;Extracting the variation of frequency with time in the first target signal by arc tangent demodulation to obtain a frequency signal;
    对所述频率信号进行数据处理,以得到生命体征信号;Performing data processing on the frequency signal to obtain vital signs signals;
    当所述生命体征信号的频率大于第二阈值时,确定所述车辆内存在所述生命体。When the frequency of the vital sign signal is greater than the second threshold, it is determined that the vital body exists within the vehicle.
  7. 根据权利要求1-3中任一项所述的方法,其特征在于,所述检测所述车辆内是否存在生命体,包括:The method according to any one of claims 1-3, wherein the detecting whether a living body exists in the vehicle includes:
    向所述车辆内发射至少一个第二检测波信号;Transmitting at least one second detection wave signal into the vehicle;
    接收反射回的多个第二反射波信号;Receiving multiple second reflected wave signals reflected back;
    基于所述第二检测波信号对各个所述第二反射波信号进行信号处理,以得到第二目标信号;Performing signal processing on each of the second reflected wave signals based on the second detection wave signal to obtain a second target signal;
    对所有所述第二目标信号进行目标方位估计,以得到空间方位信息;Perform target orientation estimation on all the second target signals to obtain spatial orientation information;
    基于所述空间方位信息检测所述车辆内是否存在所述生命体。It is detected whether the living body exists in the vehicle based on the spatial orientation information.
  8. 根据权利要求7所述的方法,其特征在于,所述基于所述第二检测波信号,对各个所述第二反射波信号进行解调,以得到第二目标信号,包括:The method according to claim 7, wherein the demodulating each of the second reflected wave signals based on the second detection wave signal to obtain a second target signal includes:
    将所述第二检测波信号与所述第二反射波信号相乘以得到第二乘积信号;Multiplying the second detection wave signal and the second reflected wave signal to obtain a second product signal;
    对所述第二乘积信号进行低通滤波以得到所述第二目标信号。Low-pass filtering the second product signal to obtain the second target signal.
  9. 根据权利要求8所述的方法,其特征在于,所述对所有所述第二目标信号进行目标方位估计,以得到空间方位信息,包括:The method according to claim 8, wherein the target orientation estimation is performed on all the second target signals to obtain spatial orientation information, including:
    计算接收各个所述第二反射波信号与接收第一个所述第二反射波信号之间的时间差;Calculating a time difference between receiving each of the second reflected wave signals and receiving the first of the second reflected wave signals;
    基于所述时间差以及所述第二目标信号进行波束合成,以得到所述空间方位信息。Beam synthesis is performed based on the time difference and the second target signal to obtain the spatial orientation information.
  10. 根据权利要求9所述的方法,其特征在于,所述基于所述空间方位信息检测所述车辆内是否存在所述生命体,包括:The method according to claim 9, wherein the detecting whether the living body exists in the vehicle based on the spatial orientation information includes:
    当所述波束的输出功率小于第三阈值时,确定所述车辆内不存在所述生命体。When the output power of the beam is less than the third threshold, it is determined that the living body does not exist in the vehicle.
  11. 一种车内生命体提醒装置,其特征在于,包括:A life body reminding device in a vehicle, which is characterized by comprising:
    生命体检测装置、存储器和处理器,所述存储器、所述处理器与所述生命体检测装置互相通信连接;A living body detection device, a memory, and a processor, and the memory, the processor, and the living body detection device are communicatively connected to each other;
    所述生命体检测装置用于在检测到车辆处于停止状态且车门处于关闭状态时,检测所述车辆内是否存在生命体;The living body detection device is used to detect whether there is a living body in the vehicle when it is detected that the vehicle is in a stopped state and the door is closed.
    所述处理器用于当所述车辆内存在生命体时,向预设人员发送提醒信息;在接收到所述预设人员基于所述提醒信息反馈的控制指令时,控制车辆部件执行相应的动作。The processor is used to send reminder information to a preset person when there is a living body in the vehicle; when receiving a control command fed back by the preset person based on the reminder information, control the vehicle component to perform a corresponding action.
  12. 根据权利要求11所述的装置,其特征在于,还包括:The device according to claim 11, further comprising:
    环境检测装置,用于当所述车辆存在生命体时,检测所述车辆内的环境数据。The environment detection device is used for detecting environment data in the vehicle when there is a living body in the vehicle.
  13. 根据权利要求11或12所述的装置,其特征在于,所述处理器在没有接收到所述预设人员基于所述提醒信息反馈的控制指令时,判断所述环境数据是否超过预设值;The apparatus according to claim 11 or 12, wherein the processor determines whether the environmental data exceeds a preset value when the control instruction fed back by the preset person based on the reminder information is not received;
    当所述环境数据超过预设值时,控制车辆部件执行预设动作。When the environmental data exceeds a preset value, the vehicle component is controlled to perform a preset action.
  14. 根据权利要求11-13中任一项所述的装置,其特征在于,所述生命体检测装置包括:The device according to any one of claims 11-13, wherein the living body detection device comprises:
    第一发射装置,用于向所述车辆内发射第一检测波信号;A first transmitting device, configured to transmit a first detection wave signal into the vehicle;
    第一接收装置,用于接收反射回的第一反射波信号;The first receiving device is used to receive the first reflected wave signal reflected back;
    其中,所述处理器还用于基于所述第一检测波信号对所述第一反射波信号进行信号处理以得到第一目标信号;根据所述第一目标信号检测所述车辆内是否存在生命体。Wherein, the processor is further configured to perform signal processing on the first reflected wave signal based on the first detection wave signal to obtain a first target signal; detect whether life exists in the vehicle according to the first target signal body.
  15. 根据权利要求11-13中任一项所述的装置,其特征在于,所述生命体检测装置包括:The device according to any one of claims 11-13, wherein the living body detection device comprises:
    第二发射装置,用于向所述车辆内发射至少一个第二检测波信号;A second transmitting device, configured to transmit at least one second detection wave signal into the vehicle;
    第二接收装置,用于接收反射回的多个第二反射波信号;A second receiving device, configured to receive a plurality of second reflected wave signals reflected back;
    其中,所述处理器用于基于所述第二检测波信号对各个所述第二反射波信号进行信号处理,以得到第二目标信号;对所有所述第二目标信号进行目标方位估计,以得到空间方位信息;基于所述空间方位信息确定所述车辆内是否存在所述生命体。Wherein, the processor is used for performing signal processing on each of the second reflected wave signals based on the second detection wave signal to obtain a second target signal; and performing target orientation estimation on all the second target signals to obtain Spatial orientation information; determining whether the living body exists in the vehicle based on the spatial orientation information.
  16. 一种行车记录仪,其特征在于,包括权利要求11-15中任一项所述的车内生命体提醒装置。A driving recorder is characterized by comprising the reminder device for the living body in a vehicle according to any one of claims 11-15.
PCT/CN2018/122673 2018-11-23 2018-12-21 In-vehicle living body reminder method and apparatus WO2020103266A1 (en)

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