WO2020200294A1 - 一种车辆解锁时的人车交互方法、系统及车辆 - Google Patents

一种车辆解锁时的人车交互方法、系统及车辆 Download PDF

Info

Publication number
WO2020200294A1
WO2020200294A1 PCT/CN2020/083061 CN2020083061W WO2020200294A1 WO 2020200294 A1 WO2020200294 A1 WO 2020200294A1 CN 2020083061 W CN2020083061 W CN 2020083061W WO 2020200294 A1 WO2020200294 A1 WO 2020200294A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
lamp
pedestrian
light
movement
Prior art date
Application number
PCT/CN2020/083061
Other languages
English (en)
French (fr)
Inventor
刘毅林
陆宇哲
叶奕航
郭彦东
Original Assignee
广州小鹏车联网科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州小鹏车联网科技有限公司 filed Critical 广州小鹏车联网科技有限公司
Priority to EP20782270.1A priority Critical patent/EP3885203B1/en
Publication of WO2020200294A1 publication Critical patent/WO2020200294A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S43/00—Signalling devices specially adapted for vehicle exteriors, e.g. brake lamps, direction indicator lights or reversing lights
    • F21S43/10—Signalling devices specially adapted for vehicle exteriors, e.g. brake lamps, direction indicator lights or reversing lights characterised by the light source
    • F21S43/13—Signalling devices specially adapted for vehicle exteriors, e.g. brake lamps, direction indicator lights or reversing lights characterised by the light source characterised by the type of light source
    • F21S43/15—Strips of light sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20—Means to switch the anti-theft system on or off
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20—Means to switch the anti-theft system on or off
    • B60R25/2009—Antitheft state indicator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S43/00—Signalling devices specially adapted for vehicle exteriors, e.g. brake lamps, direction indicator lights or reversing lights
    • F21S43/10—Signalling devices specially adapted for vehicle exteriors, e.g. brake lamps, direction indicator lights or reversing lights characterised by the light source
    • F21S43/13—Signalling devices specially adapted for vehicle exteriors, e.g. brake lamps, direction indicator lights or reversing lights characterised by the light source characterised by the type of light source
    • F21S43/14—Light emitting diodes [LED]
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/40—Welcome lights, i.e. specific or existing exterior lamps to assist leaving or approaching the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2900/00—Features of lamps not covered by other groups in B60Q
    • B60Q2900/40—Several lamps activated in sequence, e.g. sweep effect, progressive activation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20—Means to switch the anti-theft system on or off
    • B60R25/24—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C2209/00—Indexing scheme relating to groups G07C9/00 - G07C9/38
    • G07C2209/60—Indexing scheme relating to groups G07C9/00174 - G07C9/00944
    • G07C2209/63—Comprising locating means for detecting the position of the data carrier, i.e. within the vehicle or within a certain distance from the vehicle
    • G07C2209/64—Comprising locating means for detecting the position of the data carrier, i.e. within the vehicle or within a certain distance from the vehicle using a proximity sensor

Definitions

  • the invention relates to the technical field of smart cars, in particular to a method, system and vehicle for human-vehicle interaction when the vehicle is unlocked.
  • the embodiment of the present invention discloses a human-vehicle interaction method, system and vehicle when a vehicle is unlocked, which can reduce the number of unlocking operations performed by a user and improve user experience.
  • the first aspect of the embodiments of the present invention discloses a human-vehicle interaction method when a vehicle is unlocked, and the method includes:
  • the external lamps of the vehicle are controlled to output a first light effect in response to the movement of the pedestrian.
  • the method further includes:
  • controlling the external lamps of the vehicle to output the first light effect in response to the movement of the pedestrian includes:
  • the first angle is the detection range of the vehicle's central axis and the real-time pedestrian position contained in the movement information The angle between the boundaries;
  • the target lamp particles that need to be lit are moved according to the movement direction of the lamp particles by the number of movement positions of the lamp particles, so that the target lamp particles output follow the pedestrian movement by lighting the target lamp particles. A lighting effect.
  • the controlling the lighting of the preset initial lamp particles in the external lamps of the vehicle includes:
  • the sum of the first quantity and the second quantity is the quantity of the initial lamp particles.
  • the detecting movement information of a layperson in a vehicle includes:
  • the real-time position of the pedestrian closest to the vehicle is detected, and the movement information of the pedestrian in the vehicle is obtained according to the real-time position.
  • the method further includes:
  • the method further includes:
  • the second aspect of the embodiments of the present invention discloses a human-vehicle interaction system, including:
  • An unlocking unit configured to unlock the vehicle when an unlocking instruction for the vehicle is received
  • the detection unit is used to detect the movement information of the layman in the vehicle after the vehicle is unlocked;
  • the first control unit is configured to control the external lamps of the vehicle to output a first light effect in response to the movement of the pedestrian.
  • the first control unit is further configured to, after receiving the unlocking instruction, control the initial lamp particles preset in the external lamps of the vehicle to light up;
  • the method for the first control unit to control the external lamps of the vehicle to output the first light effect in response to the movement of the pedestrian is specifically as follows:
  • the first control unit is configured to determine the movement direction of the lamp particles corresponding to the movement direction of the pedestrian according to the movement direction of the pedestrian contained in the movement information; and, according to the total number of lamp particles of the external lamp and the initial lamp particles Determining the number of movable limit lamp particles and the position of the initial lamp particles; and determining the angle corresponding to each movable lamp particle according to the number of limit lamp particles and the preset first angle;
  • the first angle is the angle between the central axis of the vehicle and the detection range boundary of the real-time pedestrian position contained in the movement information; and, according to the angle between the real-time pedestrian position and the central axis and the external
  • the angle corresponding to each movable lamp in the luminaire determines the movement quantity of the lamp corresponding to the real-time pedestrian position; and the target lamp to be illuminated is based on the initial lamp according to the The movement direction of the lamp particles moves the position of the movement amount of the lamp particles, so as to output the first light effect that follows the movement of the pedestrian by lighting the target
  • the first control unit is used to control the first number of lamp particles located on the left side of the central axis of the external lamps of the vehicle to light up to form a first light band; and to control the external lamps of the vehicle to be located at all
  • the second number of lamp particles on the right side of the central axis are lit to form a second light band; and controlling the third number of lamp particles between the first light band and the second light band to keep off;
  • the sum of the first quantity and the second quantity is the quantity of the initial lamp particles.
  • the detection unit is specifically configured to determine whether the pedestrian is on the same side when the vehicle is unlocked and a pedestrian outside the vehicle is detected; if so, when the number of pedestrians outside the vehicle is detected to be greater than one, the detection distance is The real-time position of the nearest pedestrian in the vehicle, and the movement information of the pedestrian outside the vehicle is obtained according to the real-time position.
  • system further includes:
  • the second control unit is configured to control the vehicle to output a first sound effect corresponding to the unlocking instruction.
  • the first control unit is further configured to control the output of the vehicle and the A second light effect corresponding to the car finding instruction; and, when the unlocking instruction is received, controlling the vehicle to stop outputting the second light effect;
  • the second control unit is further configured to control the vehicle to output a second sound effect corresponding to the car search instruction when receiving a car search instruction for the vehicle; and, upon receiving the unlock instruction When, control the vehicle to stop outputting the second sound effect.
  • the third aspect of the embodiments of the present invention discloses a vehicle, including any human-vehicle interaction system disclosed in the second aspect of the embodiments of the present invention.
  • a fourth aspect of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes a computer to execute any method disclosed in the first aspect of the embodiments of the present invention.
  • the fifth aspect of the embodiments of the present invention discloses a computer program product, which when the computer program product runs on a computer, causes the computer to execute any one of the methods disclosed in the first aspect of the embodiments of the present invention.
  • the vehicle can detect the movement information of the layperson in the vehicle and further control the lights of the vehicle to follow the pedestrian movement, so that the user can always have lights when the user walks from the unlocked position to the side of the vehicle. Accompanied. It can be seen that the vehicle can prompt the user that the vehicle is unlocked through continuous light output, so that the user does not need to repeat unnecessary unlocking operations, reducing the number of unlocking operations performed by the user, thereby improving the user experience.
  • the lights follow pedestrians to move can also provide users with a more interactive interactive experience, making the vehicle's lighting effects more intelligent.
  • FIG. 1 is a schematic flowchart of a human-vehicle interaction method when a vehicle is unlocked according to an embodiment of the present invention
  • Fig. 2 is an example diagram of a penetrating light strip disclosed in an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of another human-vehicle interaction method when a vehicle is unlocked according to an embodiment of the present invention
  • Fig. 4 is a diagram showing an example of lighting effects when the initial lamp particles are lit according to an embodiment of the present invention
  • FIG. 5 is another example diagram of lighting effects when lighting the initial lamp particles disclosed in the embodiment of the present invention.
  • FIG. 6 is an example diagram of a first lighting effect output in response to the movement of a pedestrian disclosed in an embodiment of the present invention
  • FIG. 7 is an exemplary diagram of another first lighting effect output in response to the movement of a pedestrian disclosed in an embodiment of the present invention.
  • Fig. 8 is an example diagram of control logic of a lighting effect disclosed in an embodiment of the present invention.
  • FIG. 9 is a schematic flowchart of another method for human-vehicle interaction when a vehicle is unlocked according to an embodiment of the present invention.
  • Figure 10 is a schematic structural diagram of a human-vehicle interaction system disclosed in an embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of another human-vehicle interaction system disclosed in an embodiment of the present invention.
  • Fig. 12 is a schematic structural diagram of another human-vehicle interaction system disclosed in an embodiment of the present invention.
  • the embodiment of the present invention discloses a human-vehicle interaction method, system and vehicle when a vehicle is unlocked, which can reduce the number of unlocking operations performed by a user and improve user experience. Detailed descriptions are given below.
  • FIG. 1 is a schematic flowchart of a human-vehicle interaction method when a vehicle is unlocked according to an embodiment of the present invention.
  • the human-vehicle interaction method when the vehicle is unlocked may include the following steps:
  • the human-vehicle interaction system unlocks the vehicle when receiving an unlocking instruction for the vehicle.
  • the human-vehicle interaction system can receive the unlocking instruction for the vehicle in at least one of the following ways: 1. Receive the unlock instruction sent by the vehicle's electronic key via wireless signal; 2. Receive the communication connection with the vehicle Unlock instructions sent by mobile terminals such as smart phones; 3. Identify the face image captured by the vehicle's camera, and trigger the unlock instruction when the face in the image is recognized as a preset legal face; 4. The fingerprint recognition module set on the door handle of the vehicle recognizes the detected user fingerprint, and when the user fingerprint is recognized as a legal fingerprint, an unlocking instruction is triggered.
  • the communication between the vehicle and the electronic key can use Near Field Communication (NFC) or Radio Frequency (RF) and other communication methods.
  • NFC Near Field Communication
  • RF Radio Frequency
  • the user can press the unlock button of the electronic key to trigger the electronic key to send Unlock instruction; or, the electronic key automatically sends an unlock instruction when it enters the wireless signal receiving range of the vehicle.
  • a mobile terminal such as a smart phone may be loaded with an application program (Application, APP).
  • the user may press an unlock key through the APP to trigger the mobile terminal to send an unlocking instruction.
  • the vehicle can identify whether a person approaching the vehicle is a preset legitimate user through face recognition or fingerprint recognition and other identification technologies, and if so, trigger an unlock instruction to automatically unlock.
  • the preset legal user may be a user who has passed the identity verification in advance, such as the car owner or the family or friends of the car owner.
  • the human-vehicle interaction system can unlock the vehicle according to the unlocking instruction, so that the door of the vehicle can be opened externally.
  • the human-vehicle interaction system detects the movement information of pedestrians outside the vehicle.
  • the movement information of the pedestrian outside the vehicle may at least include the real-time pedestrian position and the movement direction of the pedestrian.
  • a pedestrian outside the vehicle can be captured by a camera, and a target pedestrian can be tracked in the continuously captured multiple frames of images, so as to determine the pedestrian's real-time pedestrian position and pedestrian movement direction; or, laser Radar sensors such as radar or ultrasonic radar detect pedestrians outside the vehicle, and determine the real-time pedestrian position and movement direction of the pedestrian by analyzing the reflected wave of the radar, which is not limited in the embodiment of the present invention.
  • the above-mentioned camera may be a camera located at the front of the vehicle facing the direction of the vehicle, or a camera set on the roof; wherein the camera set on the top of the vehicle is connected to the roof support device, and the roof support device includes a mechanical arm, which can be mechanically The arm drives the camera to lift and rotate, so that the viewing range of the camera can include the surrounding environment of the vehicle.
  • the human-vehicle interaction system controls the external lamps of the vehicle according to the movement information to output the first light effect in response to the movement of the pedestrian.
  • the lamp of the vehicle may be composed of a plurality of LED lamp pellets, and the human-vehicle interaction system can control the on and off of each LED lamp pellet.
  • the lamp of the vehicle may be a penetrating light strip as shown in FIG. 2.
  • the penetrating light strip can be arranged at any position of the vehicle body, including but not limited to the front or rear of the vehicle.
  • the above-mentioned first lighting effect may specifically be expressed as light moving with the movement of pedestrians. For example, if it is detected that the real-time pedestrian position in the movement information is on the left side of the vehicle's central axis at time T1, control the left headlight in the penetrating light strip shown in Figure 2 to light up, and the remaining central headlights And the right headlights are off; at time T2 after time T1, it is detected that the real-time pedestrian position in the movement information is on the right side of the vehicle's central axis, then the right headlights are controlled to light up, and the remaining middle headlights and left headlights Extinguished.
  • the lights output by the vehicle move from the left headlights to the right headlights. Create the effect of light moving with pedestrians.
  • the brightness of the lamp pellets during lighting and the specific expression form after lighting can be preset. Taking the above control of the right front light as an example, when the right front light is turned on, the right front light can be controlled to keep on at a preset brightness; or, the right front light can also be controlled to a preset brightness. The brightness and the preset time interval flicker; or, the right front light can also be controlled to light up with the light effect of the running water lamp, which is not limited in the embodiment of the present invention.
  • the vehicle can respond to the movement of pedestrians outside the vehicle by outputting the first light effect. Therefore, even if the user unlocks successfully through an electronic key or mobile phone APP in a place far away from the vehicle, When approaching the vehicle, the vehicle can prompt the user that the vehicle is currently unlocked through the first light effect that moves with the movement of the user.
  • the duration of the first light effect (such as 20 min) can be preset, and when the output duration of the first light effect reaches the duration, the output of the first light effect is stopped.
  • the human-vehicle interaction system automatically triggers the lock and stops outputting the first light effect.
  • the user does not open the door within the preset time period after the vehicle is unlocked, the vehicle is automatically locked for defense, and the vehicle enters the locked state, so the output of the first light effect is stopped.
  • the human-vehicle interaction system after the human-vehicle interaction system unlocks the vehicle according to the unlocking instruction, it can detect the movement information of pedestrians outside the vehicle in real time, thereby controlling the external lamps of the vehicle to output lights that move with the movement of pedestrians. In this way, the user is prompted by the continuous lighting effect that the vehicle has been unlocked, so as to reduce the number of unlocking operations by the user, improve the user experience, and provide users with a more interactive lighting experience.
  • FIG. 3 is a schematic flowchart of another human-vehicle interaction method when a vehicle is unlocked according to an embodiment of the present invention.
  • the human-vehicle interaction method when the vehicle is unlocked may include the following steps:
  • the human-vehicle interaction system When the human-vehicle interaction system receives an unlocking instruction for the vehicle, it unlocks the vehicle and controls the initial lamp particles preset in the external lamps of the vehicle to light up.
  • the external lamps of the vehicle may be through-type light strips as shown in FIG. 2, or may be lamps separately arranged on both sides of the front and rear of the vehicle.
  • the following content is described with a through-type light strip as an example, and should not constitute a limitation on the external lamps of the vehicle.
  • the initial lighting of the lamp particles is related to the unlocking of the vehicle, and has nothing to do with whether a pedestrian outside the vehicle is detected. That is to say, after the vehicle detects the unlocking instruction and unlocks, even if no pedestrian outside the vehicle is detected at this time, the initial lamp particles can be controlled to light up.
  • controlling the preset initial lamp particles in the external lamps of the vehicle to light up specifically may be controlling the lamp particles in the external lamps of the vehicle that are symmetrically diffused to both sides with the center axis of the vehicle as the center.
  • the middle headlight can be preset as the initial lamp pellet, and the middle headlight can be lighted after unlocking the vehicle (as shown in Figure 4).
  • controlling the lighting of the preset initial lamp particles in the external lamps of the vehicle can also be specifically controlling the lighting of the first number of lamp particles located on the left side of the central axis in the external lamps of the vehicle, forming a first Light band; control the second number of lamp particles located on the right side of the central axis in the external lamps of the vehicle to light up to form a second light band; control the third number of lamp particles between the first light band and the second light band to keep off.
  • taking the first number of lamp particles on the left side of the central axis and the second number of lamp particles on the right side of the central axis as the initial lamp particles after the initial lamp particles are lit, two light bands shaped like "eyes" are formed.
  • the third number of lamp particles between the two light bands are kept off to simulate eye distance (as shown in Figure 5).
  • the sum of the first quantity and the second quantity is the quantity of the initial lamp particles.
  • the numerical value of the first quantity and the numerical value of the second quantity may be the same, and the first light band and the second light band are symmetrical about the center axis of the vehicle.
  • FIG. 8 is an example diagram of a lighting effect control logic disclosed in an embodiment of the present invention.
  • Figure 8 shows the control logic of the penetrating lamps installed in the front of the car.
  • the penetrating lamps can be divided into the right front light (AR1 ⁇ AR19 in Fig. 8) and the left front light (AL1 ⁇ AL1 in Fig. 8). AR19) and the middle headlights (BM1 ⁇ BM48 in Figure 8).
  • the horizontal axis in Figure 8 is the lamp particle grouping, each group can include 1 or more LED lamp particles, the vertical axis is the time series, indicating the time trend, the unit of each grid on the vertical axis can be t milliseconds, and t can be set manually (Such as 50).
  • the instantaneous state corresponding to the blank grid in Figure 8 is that the lamp is turned off, and the instantaneous state corresponding to the remaining grids is that the lamp is on.
  • the right and left headlights are lit with 100% brightness in yellow, and the middle headlight is off; at time T4 ⁇ T8, the right and left headlights Extinguished, the middle front light turns on white light with 3%, 20%, 100%, 20%, 3% brightness in turn.
  • the human-vehicle interaction system detects the movement information of pedestrians outside the vehicle.
  • the human-vehicle interaction system determines the movement direction of the lamp particles corresponding to the movement direction of the pedestrian according to the movement direction of the pedestrian contained in the movement information.
  • the moving direction of the lamp particles may be consistent with the moving direction of pedestrians. That is, if the pedestrian moving direction is to the left of the central axis, then the corresponding light particle moving direction is also to the left of the central axis; if the pedestrian moving direction is to the right of the central axis, then the corresponding light particle moving direction is also to the center The axis moves to the right.
  • the human-vehicle interaction system determines the number of movable limit lamp particles according to the total number of lamp particles of the external lamps, the number of initial lamp particles, and the position of the initial lamp particles.
  • the movable limit of the number of lamp particles refers to the maximum number of lamp particles that can be illuminated when the illuminated lamp particles move to the left and right sides of the boundary.
  • the initial light bulbs to be lit are 11 of the 21 light bulbs on the left plus 6 of the 48 light bulbs in the middle that are closest to the left bulb, forming the first light band; and 11 of the 21 light bulbs on the right side plus the 6 light bulbs closest to the right side of the 48 light bulbs in the middle form a second light band; 36 lights between the first light band and the second light band If the lamp stays off, the total number of lamp particles of the external lamp is also 90, so it can be concluded that the limit lamp lamp number that the first light band can move to the left is 10, and the limit lamp particle number that the second light band can move to the right is 10 Pieces.
  • the human-vehicle interaction system determines the angle corresponding to each movable lamp particle according to the number of limit lamp particles and the preset first angle.
  • the preset first angle is the angle between the central axis of the vehicle and the boundary of the detection range of the real-time pedestrian position included in the movement information.
  • the detection range of the real-time pedestrian position is related to the sensor that detects pedestrians outside the vehicle. For example, if a camera is used to detect the movement information of a pedestrian outside the car, assuming that the camera is located at the central axis of the vehicle and the camera can capture a range of 90°, the aforementioned first angle may be 45°. In other words, the angle between the real-time position of the pedestrian that can be detected and the center axis of the vehicle varies within the range of 0° to 45°.
  • the human-vehicle interaction system determines the movement quantity of the lamp particles corresponding to the real-time pedestrian position according to the angle between the real-time pedestrian position and the central axis and the angle corresponding to each movable lamp particle in the external lamps.
  • each lamp position of the target lamp is moved on the basis of the initial lamp, corresponding to the pedestrian
  • the real-time position of the pedestrian deviates from the vehicle's central axis by 4.5°; or, every time the pedestrian's real-time position deviates from the vehicle's central axis by 1°, it corresponds to the target lamp's position to move 0.2222 lamp particles based on the initial lamp's position.
  • the angle between the current real-time pedestrian position and the central axis of the vehicle is x°
  • the number of targets that the target lamp needs to move on the basis of the initial lamp is x°/45°; or, the aforementioned target
  • the moving quantity is 0.2222*x pieces.
  • the human-vehicle interaction system moves the target lamp particles that need to be lit based on the initial lamp particles to move the position of the lamp particles by the above-mentioned movement direction of the lamp particles, so as to follow the pedestrian movement through the output of the illuminated target lamp particles.
  • the first lighting effect is the target lamp particles that need to be lit based on the initial lamp particles to move the position of the lamp particles by the above-mentioned movement direction of the lamp particles, so as to follow the pedestrian movement through the output of the illuminated target lamp particles.
  • the movement quantity of the lamp particles corresponds to the real-time pedestrian position
  • the movement direction of the lamp particles corresponds to the movement direction of the pedestrian, so that the effect of the light following the movement of the pedestrian can be created.
  • the target lamp particles that need to be lit move in the direction of movement of the lamp particles based on the initial lamp particles.
  • the position of the number of movement of the lamp particles mentioned above can be specifically as follows by lighting the target lamp particle to output the first light effect that follows the movement of the pedestrian:
  • the first light belt and the second light belt are controlled to simultaneously move the positions of the lamp particles by the movement direction of the lamp particles. That is, as shown in Fig. 6, the first light band and the second light band move 4 lamp particles to the left at the same time, and 36 lamp particles are kept between the first light band and the second light band to go out.
  • first light belt and the second light belt move at the same time while keeping 36 light particles apart, they will be limited by the limit number of the second light belt that can move to the right of 10, when the pedestrian moves to the right and deviates
  • the position of the central axis is 25°
  • the second light band has moved to the far right, causing pedestrians to move from a position that is 25° to the right away from the central axis to a position that is 41° to the right. Then follow the pedestrian to move.
  • the target lamp particle that needs to be illuminated moves the target lamp particle position according to the movement direction of the lamp particle based on the initial lamp particle by the number of lamp particle positions mentioned above, so as to illuminate the target lamp particle
  • the specific method for outputting the first light effect following the movement of pedestrians can also be:
  • the relative orientation indicates that the pedestrian's real-time position is on the left side of the vehicle's central axis
  • the light band corresponding to the relative orientation is the first light band
  • the light band corresponding to the relative orientation is the second light band.
  • FIG. 7 is an example diagram of another first lighting effect output in response to the movement of a pedestrian according to an embodiment of the present invention. As shown in Figure 7, suppose that the pedestrian moves from a position deviated from the central axis by 20° to the left to a position deviated from the central axis by 41° to the right. At the initial moment in the entire movement process, the first light band corresponds to the deviation from the central axis to the left.
  • the steps 303 to 307 are executed, and the human-vehicle interaction system controls the external lamps of the vehicle to output the first light effect in response to the movement of the pedestrian. Specifically, the first lighting effect moves following the movement of pedestrians.
  • the human-vehicle interaction system may first light up the preset initial lamp particles, thereby creating the initial effect of waiting for the vehicle to wake up.
  • the light effect that moves with the movement of the pedestrian is output.
  • FIG. 9 is a schematic flowchart of another method for human-vehicle interaction when a vehicle is unlocked according to an embodiment of the present invention.
  • the human-vehicle interaction method when the vehicle is unlocked may include the following steps:
  • the human-vehicle interaction system When the human-vehicle interaction system receives a car-finding instruction, it controls the vehicle to output a second light effect and a second sound effect corresponding to the car-finding instruction.
  • the user can trigger the car search before unlocking the vehicle.
  • the human-vehicle interaction system can receive the car search instruction sent by the electronic key of the vehicle through wireless signals, and the user can trigger the electronic key to send the car search instruction by long pressing the unlock key in the electronic key; or, it can also receive the vehicle search instruction.
  • the car-finding instruction sent by a mobile terminal such as a smart phone connected in communication is not limited in the embodiment of the present invention.
  • the above-mentioned second light effect and second sound effect can be pre-bound with the car-finding instruction, and the output of the second light effect and second sound effect can help the user find the specific parking location of the vehicle.
  • the second light effect may be a through-type light strip arranged in the front of the vehicle and a through-type light strip arranged in the rear of the vehicle flashing alternately, and the second sound effect may be a horn homing.
  • the human-vehicle interaction system controls the vehicle to stop outputting the second light effect and the second sound effect, and at the same time unlocks the vehicle and controls the initial lamp particles preset in the external lamps of the vehicle to light up.
  • the unlocking instruction if the unlocking instruction is received, it can be considered that the user has found the specific parking position of the vehicle under the guidance of the second lighting effect and the second sound effect, so the output of the second car-finding instruction can be stopped.
  • the human-vehicle interaction system may also simultaneously output the first sound effect corresponding to the unlocking instruction.
  • the duration of continuous play or the number of repeated play of the second lighting effect and the second sound effect can also be preset. If the playing duration of the second lighting effect and the second sound effect reaches the preset continuous playing duration; or, the playing times of the second lighting effect and the second sound effect reach the preset loop times, even if the unlocking instruction is not detected, It is also possible to control the vehicle to stop outputting the second light effect and the second sound effect to reduce power consumption.
  • the human-vehicle interaction system detects the movement information of pedestrians outside the vehicle.
  • the process ends; if The number of pedestrians outside the vehicle is greater than one, and the movement information of the vehicle layperson detected by the human-vehicle interaction system is the real-time location of the pedestrian closest to the vehicle, and the movement information of the vehicle layperson is obtained according to the real-time location.
  • pedestrians outside the vehicle can be located on any side of the front, rear, left, or right centered on the vehicle. When the pedestrians are detected on the same side, continue to perform the subsequent steps to trigger the light effect, otherwise, the vehicle will not Output lighting effects.
  • the pedestrian closest to the vehicle is the detection target.
  • the human-vehicle interaction system controls the external lamps of the vehicle to output the first light effect in response to the movement of the pedestrian, and controls the vehicle to output the first sound effect corresponding to the unlocking instruction.
  • the manner in which the human-vehicle interaction system controls the external lamps of the vehicle to output the first light effect in response to the movement of the pedestrian can be specifically as shown in the above steps 303 to 307, and the following content will not be repeated.
  • the human-vehicle interaction system can not only prompt the user through lights, but also prompt the user through sound, and prompts the user from both visual and auditory aspects to enhance the prompt effect.
  • the human-vehicle interaction system can first assist the user in finding the car through the second lighting effect and the second sound effect when the user is looking for a car; A light effect and a second sound effect continuously remind the user that the vehicle is unlocked, enhancing the prompt effect from both visual and auditory aspects.
  • the light output by the first light effect can also move with the movement of pedestrians; specifically, when there are multiple pedestrians, interact with the pedestrian closest to the vehicle; the pedestrian closest to the vehicle can experience the most intuitive experience
  • the lighting effects output by the vehicle can maximize the interaction experience between people and vehicles, making the interaction between people and vehicles more intelligent.
  • FIG. 10 is a schematic structural diagram of a human-vehicle interaction system disclosed in an embodiment of the present invention.
  • the human-vehicle interaction system may include:
  • the unlocking unit 501 is configured to unlock the vehicle when an unlocking instruction for the vehicle is received;
  • the unlocking unit 501 may specifically receive the unlocking instruction sent by the electronic key of the vehicle via a wireless signal; or, may receive the unlocking instruction sent by a mobile terminal such as a smart phone that is in communication with the vehicle; or, it may also
  • the face image captured by the vehicle’s camera performs identity recognition.
  • the unlocking instruction is triggered; the fingerprint recognition module set on the door handle can also be used to identify the detected face.
  • the user's fingerprint is recognized, and when the user's fingerprint is recognized as a legal fingerprint, the unlocking instruction is triggered.
  • the detection unit 502 is configured to detect the movement information of the layperson in the vehicle after the vehicle is unlocked; the movement information of the layperson in the vehicle may at least include the real-time pedestrian position and the movement direction of the pedestrian.
  • the first control unit 503 is configured to control the external lamps of the vehicle to output the first light effect in response to the movement of the pedestrian.
  • the external lamps of the vehicle can be composed of multiple LED lamp pellets.
  • the lamp of the vehicle may be a through-type light strip, and the through-type light strip may be arranged at any position of the vehicle body, including but not limited to the front of the vehicle or the rear of the vehicle.
  • the first lighting effect may specifically be expressed as the light moving with the movement of the pedestrian.
  • the first control unit 503 can specifically control the brightness of the target lamp particle when it is turned on and the specific expression form after it is turned on. Taking the control of the right front light at the front of the car as an example, the first control unit 503 can control the right front light to keep on at a preset brightness; alternatively, it can also control the right front light at a preset brightness and preset brightness.
  • the set time interval flickers; or, the right front light can also be controlled to light up with the light effect of the running water lamp, which is not limited in the embodiment of the present invention.
  • the first control unit 503 can also be used to stop outputting the first light effect when the first light effect output time reaches a preset duration; or, when the unlocking unit 501 controls the vehicle After unlocking, if the operation of opening the door is not detected within the preset time period, the output of the first light effect is stopped and the vehicle is automatically locked.
  • the movement information of pedestrians outside the car can be detected in real time, thereby determining the target lamp that needs to be lit, and controlling the target lamp Turn on, output the light effect that moves with the movement of pedestrians, thereby reminding the user that the vehicle has been unlocked through the continuous light effect, so as to reduce the number of unlocking operations by the user, improve the user experience, and provide users with more interactive Lighting experience.
  • FIG. 11 is a schematic structural diagram of another human-vehicle interaction system disclosed in an embodiment of the present invention. Among them, in the human-vehicle interaction system shown in Figure 11:
  • the above-mentioned first control unit 503 is further configured to control the initial lamp particles preset in the external lamps of the vehicle to light up after receiving an unlocking instruction for the vehicle;
  • the manner in which the first control unit 503 controls the preset initial lamp particles in the external lamps of the vehicle to light up may specifically be:
  • the first control unit 503 is used to control the first number of lamp particles located on the left side of the central axis of the vehicle's external lamps to light up to form a first light band; and control the second number of external lamps of the vehicle located on the right side of the central axis
  • the lamp particles are lit to form a second light band; and the third number of lamp particles between the first light band and the second light band are controlled to remain off; wherein the sum of the above-mentioned first number and second number is the initial lamp The number of grains.
  • two light bands shaped like "eyes" can be formed after lighting the initial lamp particles.
  • the above-mentioned first control unit 503 is used to control the external lamps of the vehicle to output the first light effect in response to the movement of the pedestrian, specifically, as follows:
  • the first control unit 503 is configured to determine the movement direction of the lamp particles corresponding to the movement direction of the pedestrian according to the movement direction of the pedestrian contained in the movement information; and determine the light particle movement direction according to the total number of lamp particles of the external lamps, the number of initial lamp particles, and the position of the initial lamp particles
  • the number of movable limit lamp particles; and, the angle corresponding to each movable lamp particle is determined according to the limit lamp number and the preset first angle, the first angle being the center axis of the vehicle and the movement information included
  • the movement quantity of the lamp particles corresponding to the position; and, based on the initial lamp particles, the target lamp particles that need to be lit are moved according to the movement direction of the lamp particles by the position of the movement quantity of the lamp particles, so as to follow the pedestrian
  • the first control unit 503 can output the first lighting effect that follows the movement of the pedestrian.
  • the first control unit 503 is configured to move the target lamp particles that need to be lighted on the basis of the initial lamp particles according to the movement direction of the lamp particles to move the position of the lamp particles by the number
  • the specific method for the lamp particle to output the first light effect following the movement of the pedestrian can be as follows:
  • the first control unit 503 is used to control the first light belt and the second light belt to simultaneously move the positions of the above-mentioned lamp particles by the moving direction of the lamp particles.
  • the above two light strips simultaneously move with pedestrians.
  • the first control unit 503 is configured to move the target lamp particles that need to be lit based on the initial lamp particles according to the movement direction of the lamp particles by the number of lamp particles, so as to pass the lighting
  • the specific method for the target lamp particle to output the first light effect following the movement of the pedestrian can also be:
  • the first control unit 503 is used to identify the relative position of the pedestrian's real-time position relative to the central axis of the vehicle, and control the light strip corresponding to the above-mentioned relative position to move the position of the above-mentioned lamp particles according to the movement direction of the lamp particles.
  • the light band corresponding to the relative orientation is the first light band
  • the light band corresponding to the relative orientation is the second light band.
  • the aforementioned detection unit 502 may be specifically used to determine whether the pedestrian is on the same side after the vehicle is unlocked and a pedestrian is detected outside the vehicle; if Yes, when the number of pedestrians detected in the vehicle is greater than one, the real-time position of the pedestrian closest to the vehicle is detected, and the movement information of the vehicle layman is obtained based on the real-time position, so that the output light effect is triggered when the layman is on the same side of the vehicle , And make the output light effect respond to the movement of the pedestrian who recently picked up the vehicle, so that the pedestrian closest to the vehicle can experience the light effect output by the vehicle most intuitively, so as to maximize the interactive experience between people and vehicles, making the interaction between people and vehicles more intelligent.
  • the human-vehicle interaction system shown in FIG. 11 may further include:
  • the second control unit 504 is configured to control the vehicle to output the first sound effect corresponding to the unlocking instruction. That is, when the unlocking unit 501 receives the unlocking instruction, the second control unit 504 can also be triggered to prompt the user that the vehicle has been unlocked through sound effects, so that the prompting effect can be enhanced from both visual and auditory perspectives.
  • the above-mentioned first control unit 503 may also be used to control the vehicle to output a second light effect corresponding to the car finding instruction when receiving the car finding instruction for the vehicle; and, upon receiving the unlock instruction When, control the vehicle to stop outputting the second light effect;
  • the above-mentioned second control unit 504 can also be used to control the vehicle to output a second sound effect corresponding to the car search command when receiving a car search command for the vehicle; and, when receiving an unlock command, control the vehicle to stop outputting The second sound effect.
  • the human-vehicle interaction system can also help the user find the specific parking location of the vehicle by outputting light and sound effects after the user triggers the car-finding instruction.
  • an unlocking instruction when received, it automatically stops outputting the light and sound effects when searching for a car, and switches to the light and sound effects when unlocking.
  • the implementation of the human-vehicle interaction system shown in Figure 11 can first assist the user in finding the car through the second lighting effect and the second sound effect when the user finds the car; when the user finds the car successfully and triggers the unlocking of the vehicle, the first The lighting effect and the second sound effect continuously remind the user that the vehicle has been unlocked, and the prompt effect is enhanced from both visual and auditory aspects to reduce the number of unlock operations performed by the user. Furthermore, by outputting two light strips, a lighting effect similar to "eyes" is created. During the movement of pedestrians, the "eyes" of the vehicle also follow the movement, thereby creating a more interactive human-vehicle interaction effect. Furthermore, when there are multiple pedestrians outside the vehicle, interact with the pedestrian closest to the vehicle to maximize the interaction experience between people and vehicles, making the interaction between people and vehicles more intelligent.
  • FIG. 12 is a schematic structural diagram of another human-vehicle interaction system disclosed in an embodiment of the present invention.
  • the human-vehicle interaction system may include:
  • Central Gateway 601 Central Gateway, CGW
  • Acoustic Vehicle Alerting System (AVAS) Controller 602 Lamp Controller 603, Car Central Display Unit (CDU), Remote Control Module 605 (Telematics Box, T-BOX), camera 606 (Camera), in-vehicle intelligent unit 607, body controller 608 (Body Control Module, BCM), etc.
  • AVAS Acoustic Vehicle Alerting System
  • CDU Car Central Display Unit
  • Remote Control Module 605 Telematics Box, T-BOX
  • camera 606 Camera
  • in-vehicle intelligent unit 607 body controller 608 (Body Control Module, BCM), etc.
  • the AVAS controller 602 and the lamp controller 603 can be connected to the central gateway 601 through the body control bus (Body CAN, BCAN); the vehicle central control screen controller 604, the remote control module 605, and the in-vehicle intelligent unit 607 can be connected to the central gateway 601 through the ICAN (Industry CAN-bus Application Protocol, ICAN) is connected to the central gateway 601; the vehicle control unit 608 can be connected to the central gateway 601 through ECAN (Entertainment CAN, ECAN); the camera 606 and the intelligent driving module 609 can also be connected to the central gateway 601 .
  • ICAN Industry CAN-bus Application Protocol
  • each of the above-mentioned controllers and control modules may be any electronic control unit (ECU) of the vehicle.
  • the central gateway 601 is used to connect the aforementioned controllers and sensors, so as to establish interconnection and transmit data between different networks in the vehicle.
  • the body controller 608 is used to receive the unlocking instruction sent by the electronic key of the vehicle through a wireless signal; and, to unlock the vehicle after receiving the unlocking instruction; optionally, the body controller 608 is also used to receive the electronic key of the vehicle through Car-finding instructions sent by wireless signals;
  • the remote control module 605 is used to receive unlocking instructions sent by mobile terminals such as smart phones that are in communication with the vehicle, and trigger the body controller 608 to unlock the vehicle; optionally, the remote control module 605 can also be used to receive There is a car-finding instruction sent by a mobile terminal such as a smart phone connected to the communication;
  • the camera 606 is used to capture images and transmit the captured images to the in-vehicle smart unit 607.
  • the in-vehicle smart unit 607 performs identity recognition on the face in the image, and the face in the image is recognized as a preset When the face is legal, trigger the unlock instruction and trigger the body controller 609 to unlock the vehicle;
  • the in-vehicle smart unit 607 is also used to receive the image captured by the camera 606 after the vehicle body controller 608 unlocks the vehicle, detect the movement information of the layman in the vehicle based on the image, and send the movement information to the vehicle central control screen controller 604;
  • the vehicle-mounted central control screen controller 604 is used to determine the first light effect in response to pedestrian movement according to the movement information, and send the control logic of the first light effect to the lamp controller 603, and the lamp controller 603 controls the lamps of the vehicle to respond The movement of the pedestrian outputs the first lighting effect; and, according to the unlocking instruction received by the body controller 608, the first sound effect corresponding to the unlocking instruction is inquired, and the first sound effect is sent to the AVAS controller 602, which is controlled by the AVAS controller
  • the speaker of the vehicle outputs the first sound effect; and, according to the car-finding command received by the body controller 609, the second lighting effect and the second sound effect corresponding to the car-finding command are inquired and sent to the lamp controller 603 and AVAS control respectively
  • the lamp controller 603 controls the lamp of the vehicle to output the second light effect
  • the AVAS controller 602 controls the speaker of the vehicle to output the second sound effect.
  • the embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, where the computer program causes the computer to execute any one of the human-vehicle interaction methods when the vehicle is unlocked shown in FIG. 1, FIG. 3, or FIG. 9.
  • the embodiment of the present invention discloses a computer program product.
  • the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute what is shown in FIG. 1, FIG. 3, or FIG. 9. Any of the methods for human-vehicle interaction when the vehicle is unlocked.
  • the embodiment of the present invention discloses a vehicle, which includes any human-vehicle interaction system as shown in FIG. 10 to FIG. 12.
  • the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present invention.
  • the units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, which can be located in one place, or can be distributed to multiple network units. on. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the program can be stored in a computer-readable storage medium.
  • the storage medium includes read-only Memory (Read-Only Memory, ROM), Random Access Memory (RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (EEPROM), CD-ROM (Compact Disc) Read-Only Memory, CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data.
  • Read-Only Memory ROM
  • RAM Random Access Memory
  • PROM Programmable Read-only Memory
  • EPROM Erasable Programmable Read Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • EEPROM Electronically-Erasable Programmable Read-Only Memory
  • CD-ROM Compact Disc

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Optics & Photonics (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种车辆解锁时的人车交互方法、系统及车辆，车辆解锁时的人车交互方法包括：在接收到针对车辆的解锁指令时，对车辆进行解锁；在车辆进行解锁后，检测车辆外行人的移动信息；控制车辆的外部灯具响应行人的移动输出第一灯光效果。

Description

一种车辆解锁时的人车交互方法、系统及车辆
相关申请的交叉引用
本申请要求于2019年04月03日提交中国专利局的申请号为CN 201910267518.4、名称为“一种车辆解锁时的人车交互方法、系统及车辆”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及智能汽车技术领域，具体涉及一种车辆解锁时的人车互动方法、系统及车辆。
背景技术
随着汽车保有量的提升，驾车已经成为人们日常的出行方式。为了保障车辆安全，大部分司机在停车后会进行锁车操作。相应地，在再次使用车辆之前，司机需要先执行解锁操作，以解除对车辆的锁定。
目前，大部分车辆的解锁操作都可以通过无线遥控的方式进行。某些车辆对无线信号的接收较为灵敏，因此司机可以在距离车辆较远的地方成功解锁车辆。然而，由于距离较远，司机从解锁成功的位置走到车辆旁边的路上可能存在各种分散司机注意力的因素，导致司机在回到车辆旁边时很可能已经忘了曾经执行过解锁操作，因此再次按下解锁键，从而导致司机执行了多次不必要的解锁操作。
发明内容
本发明实施例公开了一种车辆解锁时的人车交互方法、系统及车辆，能够减少用户进行解锁操作的次数，改善用户体验。
本发明实施例第一方面公开一种车辆解锁时的人车交互方法，所述方法包括：
在接收到针对所述车辆的解锁指令时，对所述车辆进行解锁；
在所述车辆进行解锁后，检测车辆外行人的移动信息；
控制所述车辆的外部灯具响应所述行人的移动输出第一灯光效果。
作为一种可选的实施方式，在本发明实施例第一方面中，在接收到所述解锁指令之后，所述方法还包括：
控制所述车辆的外部灯具中预设的初始灯粒点亮；
以及，所述控制所述车辆的外部灯具响应所述行人的移动输出第一灯光效果，包括：
根据所述移动信息包含的行人移动方向确定与所述行人移动方向对应的灯粒移动方向；
根据所述外部灯具的灯粒总数、所述初始灯粒的数量以及所述初始灯粒的位置确定可移动的极限灯粒数量；
根据所述极限灯粒数量以及预设的第一角度确定每一颗可移动的灯粒对应的角度；所述第一角度 为车辆的中轴线与所述移动信息包含的实时行人位置的检测范围边界之间的夹角；
根据所述实时行人位置与所述中轴线之间的夹角以及所述外部灯具中每一颗可移动的灯粒对应的角度确定与所述实时行人位置对应的灯粒移动数量；
将需要被点亮的目标灯粒在所述初始灯粒的基础上按照所述灯粒移动方向移动所述灯粒移动数量的位置，以通过点亮所述目标灯粒输出跟随行人移动的第一灯光效果。
作为一种可选的实施方式，在本发明实施例第一方面中，所述控制所述车辆的外部灯具中预设的初始灯粒点亮，包括：
控制所述车辆的外部灯具中位于所述中轴线左侧的第一数量灯粒点亮，形成第一光带；
控制所述车辆的外部灯具位于所述中轴线右侧的第二数量灯粒点亮，形成第二光带；
控制所述第一光带与所述第二光带之间第三数量的灯粒保持熄灭；
其中，所述第一数量与所述第二数量之和为所述初始灯粒的数量。
作为一种可选的实施方式，在本发明实施例第一方面中，所述检测车辆外行人的移动信息，包括：
在检测到车辆外存在行人时，判断行人是否位于同一侧；
如果是，在检测到所述车辆外行人的数量大于一时，检测距离所述车辆最近的行人的实时位置，并根据所述实时位置获取车辆外行人的移动信息。
作为一种可选的实施方式，在本发明实施例第一方面中，所述方法还包括：
控制所述车辆输出与所述解锁指令对应的第一声音效果。
作为一种可选的实施方式，在本发明实施例第一方面中，所述方法还包括：
在接收到针对所述车辆的寻车指令时，控制所述车辆输出与所述寻车指令对应的第二灯光效果以及第二声音效果；
以及，在接收到所述解锁指令时，控制所述车辆停止输出所述第二灯光效果以及所述第二声音效果。
本发明实施例第二方面公开一种人车交互系统，包括：
解锁单元，用于在接收到针对所述车辆的解锁指令时，对所述车辆进行解锁；
检测单元，用于在所述车辆进行解锁后，检测车辆外行人的移动信息；
第一控制单元，用于控制所述车辆的外部灯具响应所述行人的移动输出第一灯光效果。
作为一种可选的实施方式，在本发明实施例第二方面中:
所述第一控制单元，还用于在接收到所述解锁指令之后，控制所述车辆的外部灯具中预设的初始 灯粒点亮；
以及，所述第一控制单元用于控制所述车辆的外部灯具响应所述行人的移动输出第一灯光效果的方式具体为：
所述第一控制单元，用于根据所述移动信息包含的行人移动方向确定与所述行人移动方向对应的灯粒移动方向；以及，根据所述外部灯具的灯粒总数、所述初始灯粒的数量以及所述初始灯粒的位置确定可移动的极限灯粒数量；以及，根据所述极限灯粒数量以及预设的第一角度确定每一颗可移动的灯粒对应的角度；所述第一角度为车辆的中轴线与所述移动信息包含的实时行人位置的检测范围边界之间的夹角；以及，根据所述实时行人位置与所述中轴线之间的夹角以及所述外部灯具中每一颗可移动的灯粒对应的角度确定与所述实时行人位置对应的灯粒移动数量；以及，将需要被点亮的目标灯粒在所述初始灯粒的基础上按照所述灯粒移动方向移动所述灯粒移动数量的位置，以通过点亮所述目标灯粒输出跟随行人移动的第一灯光效果。作为一种可选的实施方式，在本发明实施例第二方面中，所述第一控制单元控制所述车辆的外部灯具中预设的初始灯粒点亮的方式具体为：
所述第一控制单元，用于控制所述车辆的外部灯具中位于所述中轴线左侧的第一数量灯粒点亮，形成第一光带；以及，控制所述车辆的外部灯具位于所述中轴线右侧的第二数量灯粒点亮，形成第二光带；以及，控制所述第一光带与所述第二光带之间第三数量的灯粒保持熄灭；
其中，所述第一数量与所述第二数量之和为所述初始灯粒的数量。
作为一种可选的实施方式，在本发明实施例第二方面中：
所述检测单元，具体用于在所述车辆进行解锁并且检测到车辆外存在行人时，判断行人是否位于同一侧；如果是，在检测到所述车辆外行人的数量大于一时，检测距离所述车辆最近的行人的实时位置，并根据所述实时位置获取所述车辆外行人的移动信息。
作为一种可选的实施方式，在本发明实施例第二方面中，所述系统还包括：
第二控制单元，用于控制所述车辆输出与所述解锁指令对应的第一声音效果。
作为一种可选的实施方式，在本发明实施例第二方面中，所述第一控制单元，还用于在接收到针对所述车辆的寻车指令时，控制所述车辆输出与所述寻车指令对应的第二灯光效果；以及，在接收到所述解锁指令时，控制所述车辆停止输出所述第二灯光效果；
所述第二控制单元，还用于在接收到针对所述车辆的寻车指令时，控制所述车辆输出与所述寻车指令对应的第二声音效果；以及，在接收到所述解锁指令时，控制所述车辆停止输出所述第二声音效果。
本发明实施例第三方面公开一种车辆，包括本发明实施例第二方面公开的任一种人车交互系统。
本发明第四方面公开一种计算机可读存储介质，其存储计算机程序，其中，所述计算机程序使得计算机执行本发明实施例第一方面公开的任一项方法。
本发明实施例第五方面公开一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行本发明实施例第一方面公开的任一项方法。
与现有技术相比，本发明实施例具有以下有益效果：
在本发明实施例中，用户触发解锁车辆之后，车辆可以检测车辆外行人的移动信息并且进一步控制车辆的灯光跟随行人移动，使得用户从解锁成功的位置走到车辆旁的过程中一直可以有灯光伴随。可见，车辆可以通过持续的灯光输出提示用户车辆已解锁，使得用户无需重复不必要的解锁操作，减少用户进行解锁操作的次数，从而改善用户体验。此外，灯光跟随行人移动，还可以为用户提供互动性更强的交互体验，使得车辆的灯光效果更加智能化。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，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。
图1是本发明实施例公开的一种车辆解锁时的人车交互方法的流程示意图；
图2是本发明实施例公开的一种贯穿式灯带的示例图；
图3是本发明实施例公开的另一种车辆解锁时的人车交互方法的流程示意图；
图4是本发明实施例公开的一种点亮初始灯粒时的灯光效果示例图；
图5是本发明实施例公开的另一种点亮初始灯粒时的灯光效果示例图；
图6是本发明实施例公开的一种响应行人的移动输出的第一灯光效果的示例图；
图7是本发明实施例公开的另一种响应行人的移动输出的第一灯光效果的示例图；
图8是本发明实施例公开的一种灯光效果的控制逻辑示例图；
图9本发明实施例公开的又一种车辆解锁时的人车交互方法的流程示意图；
图10是本发明实施例公开的一种人车交互系统的结构示意图；
图11是本发明实施例公开的另一种人车交互系统的结构示意图；
图12是本发明实施例公开的又一种人车交互系统的结构示意图。
具体实施方式
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，所描述的实施例仅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，本领域普通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。
需要说明的是，本发明实施例及附图中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
本发明实施例公开了一种车辆解锁时的人车交互方法、系统及车辆，能够减少用户进行解锁操作的次数，改善用户体验。以下分别进行详细说明。
实施例一
请参阅图1，图1是本发明实施例公开的一种车辆解锁时的人车交互方法的流程示意图。如图1所示，该车辆解锁时的人车交互方法可以包括以下步骤：
101、人车交互系统在接收到针对车辆的解锁指令时，对车辆进行解锁。
在本发明实施例中，人车交互系统至少可以通过以下的任意一种方式接收针对车辆的解锁指令：1.接收车辆的电子钥匙通过无线信号发送的解锁指令；2.接收与车辆存在通信连接的智能手机等移动终端发送的解锁指令；3.对车辆的摄像头拍摄到的人脸图像进行身份识别，在识别出图像中的人脸为预设的合法人脸时，触发解锁指令；4.设置在车门把手上的指纹识别模块对检测到的用户指纹进行识别，在识别出用户指纹为合法指纹时，触发解锁指令。
其中，车辆与电子钥匙之间的通信可以采用近场通信(Near Field Communication，NFC)或者无线射频(Radio Frequency，RF)等通信方式，具体可以由用户按下电子钥匙的解锁键触发电子钥匙发送解锁指令；或者，电子钥匙在进入车辆的无线信号接收范围时自动发送解锁指令。此外，智能手机等移动终端上可以装载有应用程序(Application，APP)，具体可以由用户通过APP按下解锁键触发移动终端发送解锁指令。进一步地，车辆可以通过人脸识别或者指纹识别等身份识别技术识别接近车辆的人是否为预设的合法用户，如果是，触发解锁指令以进行自动解锁。其中，预设的合法用户可以为车主或者车主的家人、朋友等预先通过身份验证的用户。
可以理解的是，人车交互系统可以根据解锁指令对车辆进行解锁，以使车辆的车门可以在外部打开。
102、人车交互系统在车辆进行解锁后，检测车辆外行人的移动信息。
在本发明实施例中，车辆外行人的移动信息至少可以包括实时行人位置以及行人移动方向。具体地，可以通过摄像头拍摄车外的行人，并且在连续拍摄到的多帧图像中对某一目标行人进行跟踪，从而确定出该行人的实时行人位置和行人移动方向；或者，也可以通过激光雷达或者超声波雷达等雷达传感器检测车辆外的行人，通过分析雷达的反射波确定实时行人位置和行人移动方向，本发明实施例不做限定。上述的摄像头可以为位于车头朝向车辆行驶方向的摄像头，也可以为设置在车顶的摄像头；其中，设置在车辆顶部的摄像头与车顶支撑装置连接，车顶支撑装置包括机械臂，可以通过机械臂带动摄像头进行升降、旋转，使得摄像头的取景范围可以包括车辆周边的环境。
103、人车交互系统根据移动信息控制车辆的外部灯具响应行人的移动输出第一灯光效果。
在本发明实施例中，车辆的灯具可以由多个LED灯粒组合而成，人车交互系统可以控制每个LED灯粒的明灭。具体的，车辆的灯具可以为如图2所示的贯穿式灯带。贯穿式灯带可以设置在车身的任一位置，包括但不限于车辆的车头前方或者车尾。
可以理解的是，上述的第一灯光效果具体可以表现为灯光随着行人的移动而移动。举例来说，假设在T1时刻检测到移动信息中的实时行人位置位于车辆的中轴线左侧，那么控制图2所示的贯穿式灯带中的左侧前灯点亮，其余的中间前灯和右侧前灯熄灭；在T1时刻之后的T2时刻检测到移动信息中的实时行人位置位于车辆的中轴线右侧，那么控制右侧前灯点亮，其余的中间前灯和左侧前灯熄灭。在上述的例子中，在T1时刻到T2时刻之间，行人从车辆的中轴线左侧移动至中轴线右侧，相应地，车辆输出的灯光从左侧前灯移动至右侧前灯，从而营造出灯光随行人移动的效果。进一步地，可以预先设定灯粒在点亮时的亮度以及点亮后的具体表现形式。以上述控制右侧前灯点亮为例，在点亮右侧前灯时，具体可以控制右侧前灯以预设的亮度保持常亮；或者，也可以控制右侧前灯以预设的亮度以及预设的时间间隔闪烁；或者，还可以控制右侧前灯以流水灯的灯光效果点亮，本发明实施例不做限定。
通过执行上述的步骤101～步骤104，车辆可以通过输出第一灯光效果响应车外行人的移动，因此，即使用户在距离车辆较远的地方通过电子钥匙或者手机APP等方式解锁成功，在用户走近车辆的过程中，车辆都可以通过随着用户的移动而移动的第一灯光效果提示用户车辆当前已解锁。此外，作为一种可选的实时方式，可以预先设定第一灯光效果的持续时长(如20min)，在第一灯光效果输出时长 到达该持续时长时，停止输出第一灯光效果。也就是说，如果第一灯光效果的输出时长超过预设的持续时长，即使仍然检测到车外行人的移动信息，也停止输出第一灯光效果，以减少功耗。或者，如果在车辆进行解锁后的预设时长内没有检测到车门开启的操作，人车交互系统自动触发锁车，并停止输出第一灯光效果。也就是说，如果用户在车辆解锁后的预设时长内没有打开车门，车辆自动上锁设防，车辆进入锁车状态，因此停止输出第一灯光效果。实施该实施方式，用户可以通过车辆是否输出第一灯光效果判断当前的车辆状态为车辆锁定还是已解锁。
可见，在图1所描述的方法中，人车交互系统根据解锁指令对车辆进行解锁之后，可以实时检测车外行人的移动信息，从而控制车辆的外部灯具输出随着行人的移动而移动的灯光效果，从而通过持续的灯光效果提示用户车辆已解锁，以减少用户进行解锁操作的次数，改善用户体验，还可以为用户提供互动性更强的灯光体验。
实施例二
请参阅图3，图3是本发明实施例公开的另一种车辆解锁时的人车交互方法的流程示意图。如图3所示，该车辆解锁时的人车交互方法可以包括以下步骤：
301、人车交互系统在接收到针对车辆的解锁指令时，对车辆进行解锁并控制车辆的外部灯具中预设的初始灯粒点亮。
在本发明实施例中，车辆的外部灯具可以为如图2所示的贯穿式灯带，也可以为分别独立设置在车头两侧、车尾等位置的灯具。为了方便描述，以下内容以贯穿式灯带为例进行描述，不应构成对车辆外部灯具的限定。
在本发明实施例中，可以预先设定车辆解锁之后需要首先点亮哪些灯粒，可以理解的是，初始灯粒的点亮与车辆解锁相关，与是否检测到车辆外的行人无关。也就是说，当车辆检测到解锁指令并解锁之后，即使此时未检测到车辆外的行人，也可以控制初始灯粒点亮。
作为一种可选的实施方式，控制车辆外部灯具中预设的初始灯粒点亮，具体可以为控制车辆的外部灯具中以车辆中轴线为中心，对称地向两侧扩散的灯粒点亮。以设置在车头前方的贯穿式灯带为例，可以将中间前灯预设为初始灯粒，对车辆进行解锁之后点亮中间前灯(如图4所示)。
作为另一种可选的实施方式，控制车辆外部灯具中预设的初始灯粒点亮具体还可以为控制车辆的外部灯具中位于中轴线左侧的第一数量灯粒点亮，形成第一光带；控制车辆的外部灯具中位于中轴线右侧的第二数量灯粒点亮，形成第二光带；控制第一光带和第二光带之间第三数量的灯粒保持熄灭。也就是说，以中轴线左侧的第一数量灯粒和中轴线右侧的第二数量灯粒为初始灯粒，在点亮初始灯粒 之后，形成两段形似“眼睛”的光带，两段光带之间第三数量的灯粒保持熄灭，以模拟眼距(如图5所示)。其中，第一数量与第二数量之和为初始灯粒的数量。优选的，上述第一数量的数值与第二数量的数值可以相同，并且第一光带与第二光带以车辆的中轴线为中心对称。
可以理解的是，控制初始灯粒点亮时，也可以控制点亮的亮度和/或颜色。举例来说，请一并参阅图8，图8是本发明实施例公开的一种灯光效果的控制逻辑示例图。图8示出的是对设置在车头前方的贯穿式灯具的控制逻辑，该贯穿式灯具具体可以分为右侧前灯(图8中AR1～AR19)、左侧前灯(图8中AL1～AR19)以及中间前灯(图8中BM1～BM48)。图8中横轴为灯粒编组，每个编组可以包括1个或以上LED灯粒，纵轴为时间序列，表示时间走向，纵轴每一格的单位可以为t毫秒，t可以人为设定(如50)。图8中空白的格子对应的瞬时状态为灯粒关闭，其余格子对应的瞬时状态为灯粒点亮。如图8所示，在T1～T3时刻，右侧前灯及左侧前灯均以黄色100％亮度点亮，中间前灯熄灭；在T4～T8时刻，右侧前灯及左侧前灯熄灭，中间前灯依次以3％、20％、100％、20％、3％的亮度通过点亮白色灯光。
302、人车交互系统在车辆进行解锁后，检测车辆外行人的移动信息。
303、人车交互系统根据移动信息包含的行人移动方向确定与行人移动方向对应的灯粒移动方向。
在本发明实施例中，灯粒移动方向可以与行人移动方向一致。即如果行人移动方向为往中轴线左侧移动，那么对应的灯粒移动方向也是往中轴线左侧移动；如果行人移动方向为往中轴线右侧移动，那么对应的灯粒移动方向也是往中轴线右侧移动。
304、人车交互系统根据外部灯具的灯粒总数、初始灯粒的数量以及初始灯粒的位置确定可移动的极限灯粒数量。
在本发明实施例中，可移动的极限灯粒数量指被点亮的灯粒向左右两侧边界移动时，最多可以被点亮的灯粒数量。
举例来说，如图4所示，假设被点亮的初始灯粒的数量为24颗，初始灯粒的位置为中轴线左侧以及右侧分别各12颗，外部灯具的灯粒总数为21+21+48＝90颗，可以得出向左可移动的极限灯粒数量为33颗，向右可移动的极限灯粒数量为33颗。
如图5所示，假设被点亮的初始灯粒为左侧21颗灯粒中的11颗加上中间48颗灯粒中最接近左侧灯粒的6颗，形成第一光带；以及右侧21颗灯粒中的11颗加上中间48颗灯粒中的最接近右侧灯粒的6颗，形成第二光带；第一光带和第二光带之间的36颗灯粒保持熄灭，外部灯具的灯粒总数也是90颗，那么可以得出第一光带向左可移动的极限灯粒数量为10颗，第二光带向右可移动的极限灯粒数量 为10颗。
305、人车交互系统根据极限灯粒数量以及预设的第一角度确定每一颗可移动的灯粒对应的角度。
本发明实施例中，预设的第一角度为车辆的中轴线与移动信息包含的实时行人位置的检测范围边界之间的夹角。实时行人位置的检测范围与检测车外行人的传感器相关。举例来说，如果采用摄像头检测车外行人的移动信息，假设摄像头的设置位置位于车辆中轴线，且摄像头能够拍摄到的范围为90°，那么上述的第一角度可以为45°。也就是说，能够检测到的行人实时位置与车辆中轴线之间的夹角在0°～45°的范围内变化。
如果需要实现灯光随着行人移动的效果，那么需要被点亮的目标灯粒的移动对应于行人实时位置与车辆中轴线之间的夹角变化。举例来说，假设向左可移动的极限灯粒数量为10颗，需要对应45°的角度变化，那么每一颗可移动的灯粒对应的角度为45°/10颗＝4.5°/颗，即每一度对应的灯粒数量为：10颗/45°≈0.2222颗/°。
306、人车交互系统根据实时行人位置与中轴线之间的夹角以及外部灯具中每一颗可移动的灯粒对应的角度确定与实时行人位置对应的灯粒移动数量。
在本发明实施例中，从上述对每一颗可移动的灯粒对应的角度进行的说明中可以看出，目标灯粒在初始灯粒的基础上每移动一颗灯粒位置，对应于行人的实时位置偏离车辆中轴线4.5°；或者，行人的实时位置每偏离车辆中轴线1°，对应于目标灯粒在初始灯粒的基础上移动0.2222颗灯粒位置。相应地，假设当前的实时行人位置与车辆中轴线的夹角为x°，那么目标灯粒在初始灯粒的基础上需要移动的目标移动数量为x°/45°颗；或者，上述的目标移动数量为0.2222*x颗。
307、人车交互系统将需要被点亮的目标灯粒在初始灯粒得基础上按照上述的灯粒移动方向移动上述的灯粒移动数量的位置，以通过点亮目标灯粒输出跟随行人移动的第一灯光效果。
在本发明实施例中，灯粒移动数量对应于实时行人位置，灯粒移动方向对应于行人移动方向，从而可以营造出灯光跟随行人移动的效果。比如说，请一并参阅图6，图6是本发明实施例公开的一种响应行人的移动输出的第一灯光效果的示例图。假设当前检测到的行人实时位置向左偏离车辆中轴20°，那么目标灯粒可以在初始灯粒的基础上向左移动0.2222*20＝4.4444颗灯粒位置，四舍五入为向左移动4颗灯粒位置。
此外，假设初始灯粒如图5所示，包含两段光带，那么作为一种可选的实施方式，将需要被点亮的目标灯粒在初始灯粒的基础上按照灯粒移动方向移动目上述的灯粒移动数量的位置，以通过点亮目标灯粒输出跟随行人移动的第一灯光效果的方式具体可以为：
控制第一光带和第二光带同时按照灯粒移动方向移动灯粒移动数量的位置。即如图6所示，第一光带和第二光带同时向左移动4颗灯粒位置，第一光带和第二光带之间保持36颗灯粒熄灭。
在一些可能的具体场景下，上述的实施方式可能会受限于灯粒的极限移动数量，无法很好地跟随行人移动。举例来说，假设行人从向左偏离中轴线20°的位置移动至向右偏离中轴线41°的位置，那么在整个移动过程中，目标灯粒需要移动的目标移动数量为0.2222*(20+41)＝4.4444+9.1102＝13.5546颗，四舍五入为14颗。然而，如果第一光带和第二光带在保持相隔36颗灯粒的情况下同时移动，会受到第二光带向右可移动极限数量为10颗的限制，当行人移动至向右偏离中轴线25°的位置时，第二光带已经移动至最右，导致行人从向右偏离中轴线25°的位置移动至向右偏离中轴线41°的位置的过程中，第二光带无法再跟随行人移动。
作为另一种可选的实施方式，需要被点亮的目标灯粒在初始灯粒的基础上按照灯粒移动方向移动目标上述的灯粒移动数量的灯粒位置，以通过点亮目标灯粒输出跟随行人移动的第一灯光效果的方式具体也可以为：
识别行人实时位置相对于车辆中轴线的相对方位，控制与上述的相对方位对应的光带按照灯粒移动方向移动灯粒移动数量的位置。其中，当相对方位指示行人实时位置位于车辆中轴线左侧时，与相对方位对应的光带为第一光带；当相对方位指示行人实时位置位于车辆中轴线右侧时，与相对方位对应的光带为第二光带。
请一并参阅图7，图7为本发明实施例公开的另一种响应行人的移动输出的第一灯光效果的示例图。如图7所示，假设行人从向左偏离中轴线20°的位置移动至向右偏离中轴线41°的位置，在整个移动过程中的初始时刻，第一光带对应于向左偏离中轴线20°的行人实时位置，也就是在初始灯粒位置的基础上向左移动4颗灯粒位置；随着行人逐渐向右移动，当行人移动至车辆中轴线的正前方，即行人实时位置于车辆中轴线之间的夹角为0°时，第一光带回复初始灯粒位置，相较于上述的初始时刻，第一光带向右移动了4颗灯粒位置；当行人从中轴线正前方逐渐移动至向右偏离中轴线41°的位置时，第二光带向右移动0.2222*41＝9.1102颗，即9颗灯粒位置。
综上所述，执行上述的步骤303～步骤307，人车交互系统控制车辆的外部灯具响应于行人的移动输出第一灯光效果。具体地，第一灯光效果跟随行人的移动而移动。
可见，在图3所描述的方法中，人车交互系统在接收到解锁指令并且解锁车辆之后，可以首先点亮预设的初始灯粒，从而营造车辆唤醒等待的初始效果。当检测到车辆外的行人移动时，输出随着行人的移动而移动的灯光效果。进一步地，具体还可以通过输出两段光带营造类似于“眼睛”的灯光效 果，在行人移动的过程中，车辆的“眼睛”也跟随移动，从而营造出互动性更强的人车交互效果。
实施例三
请参阅图9，图9是本发明实施例公开的又一种车辆解锁时的人车交互方法的流程示意图。如图9所示，该车辆解锁时的人车交互方法可以包括以下步骤：
401、人车交互系统在接收到寻车指令时，控制车辆输出于寻车指令对应的第二灯光效果以及第二声音效果。
在本发明实施例中，用户在对车辆进行解锁之前可以先触发寻车。具体的，人车交互系统可以通过接收车辆的电子钥匙通过无线信号发送的寻车指令，用户可以通过长按电子钥匙中的解锁键触发电子钥匙发送寻车指令；或者，也可以接收与车辆存在通信连接的智能手机等移动终端发送的寻车指令，本发明实施例不做限定。
此外，上述的第二灯光效果以及第二声音效果可以预先与寻车指令绑定，通过输出第二灯光效果以及第二声音效果，可以帮助用户寻找到车辆的具体停放位置。举例来说，第二灯光效果可以为设置于车头前方的贯穿式灯带以及设置于车尾的贯穿式灯带交替闪烁，第二声音效果可以为喇叭鸣笛。
402、人车交互系统在接收到解锁指令时，控制车辆停止输出第二灯光效果以及第二声音效果，同时对车辆进行解锁并且控制车辆的外部灯具中预设的初始灯粒点亮。
在本发明实施例中，如果接收到解锁指令，可以认为用户已经在第二灯光效果以及第二声音效果的指引下寻找到车辆的具体停放位置，因此可以停止输出与寻车指令对应的第二灯光效果以及第二声音效果，并且切换至与解锁指令对应的灯光效果。可选的，人车交互系统也可以同时输出与解锁指令对应的第一声音效果。
此外，也可以预先设定第二灯光效果以及第二声音效果的持续播放时长或者循环播放次数。如果第二灯光效果以及第二声音效果的播放时长到达预设的持续播放时长；或者，第二灯光效果以及第二声音效果的播放次数到达预设的循环播放次数，即使没有检测到解锁指令，也可以控制车辆停止输出第二灯光效果以及第二声音效果，以减少功耗。
403、人车交互系统在车辆进行解锁后，检测车辆外行人的移动信息。
在本发明实施例中，在检测到车辆外存在行人时，可以先判断行人是否位于同一侧；如果行人位于同一侧，检测车辆外的行人人数；如果行人不位于同一侧，结束本流程；如果车辆外的行人数量大于一，人车交互系统检测的车辆外行人的移动信息为距离车辆最近的行人的实时位置，并根据该实时位置获取车辆外行人的移动信息。其中，车辆外的行人可以位于以车辆为中心的前、后、左、右中的 任意一侧，当检测到行人均位于同一侧时，继续执行后续的步骤以触发灯光效果，否则，车辆不输出灯光效果。此外，当车辆外存在多个行人时，以最靠近车辆的行人为检测目标。
404、人车交互系统控制车辆的外部灯具响应行人的移动输出第一灯光效果，以及控制车辆输出与解锁指令对应的第一声音效果。
在本发明实施例中，人车交互系统控制车辆的外部灯具响应行人的移动输出第一灯光效果的方式具体可以如上述的步骤303～步骤307所示，以下内容不再赘述。此外，在本发明实施例中，人车交互系统除了可以通过灯光提示用户以外，还可以通过声音提示用户，从视觉及听觉两方面为用户进行提示，以加强提示效果。
可见，在图9所描述的方法中，人车交互系统首先可以在用户寻车时通过第二灯光效果及第二声音效果辅助用户寻车；在用户寻车成功并触发车辆解锁时，通过第一灯光效果以及第二声音效果持续地提示用户车辆已解锁，从视觉及听觉两方面加强提示效果。进一步的，第一灯光效果输出的灯光还可以随着行人的移动而移动；具体的，当存在多个行人时，与最接近车辆的行人进行互动；最接近车辆的行人可以最直观地体验到车辆输出的灯光效果，从而可以最大化人车之间的交互体验，使得人车交互更加智能。
实施例四
请参阅图10，图10是本发明实施例公开的一种人车交互系统的结构示意图。如图10所示，该人车交互系统可以包括：
解锁单元501，用于在接收到针对车辆的解锁指令时，对车辆进行解锁；
在本发明实施例中，解锁单元501具体可以接收车辆的电子钥匙通过无线信号发送的解锁指令；或者，可以接收与车辆存在通信连接的智能手机等移动终端发送的解锁指令；或者，还可以对车辆的摄像头拍摄到的人脸图像进行身份识别，在识别出图像中的人脸为预设的合法人脸时，触发解锁指令；还可以通过设置在车门把手上的指纹识别模块对检测到的用户指纹进行识别，在识别出用户指纹为合法指纹时，触发解锁指令。
检测单元502，用于在车辆进行解锁后，检测车辆外行人的移动信息；其中，车辆外行人的移动信息至少可以包括实时行人位置以及行人移动方向。
第一控制单元503，用于控制车辆的外部灯具响应行人的移动输出第一灯光效果。其中，车辆的外部灯具可以由多个LED灯粒组合而成。可选的，车辆的灯具可以为贯穿式灯带，贯穿式灯带可以设置在车身的任一位置，包括但不限于车辆的车头前方或者车尾。
在本发明实施例中，第一灯光效果具体可以表现为灯光随着行人的移动而移动。第一控制单元503具体可以控制目标灯粒点亮时的亮度以及点亮后的具体表现形式。以控制设置在车头前方的右侧前灯为例，第一控制单元503可以控制右侧前灯以预设的亮度保持常亮；或者，也可以控制右侧前灯以预设的亮度以及预设的时间间隔闪烁；或者，还可以控制右侧前灯以流水灯的灯光效果点亮，本发明实施例不做限定。
此外，作为一种可选的实时方式，第一控制单元503还可以用于在第一灯光效果输出时长到达预设的持续时长时，停止输出第一灯光效果；或者，在解锁单元501对车辆进行解锁后没有在预设时长内检测到车门开启的操作，停止输出第一灯光效果并且触发车辆自动上锁。
实施如图10所示的人车交互系统，可以根据解锁指令对车辆进行解锁之后，可以实时检测车外行人的移动信息，从而确定出需要被点亮的目标灯粒，并且通过控制目标灯粒点亮，输出随着行人的移动而移动的灯光效果，从而通过持续的灯光效果提示用户车辆已解锁，以减少用户进行解锁操作的次数，改善用户体验，还可以为用户提供互动性更强的灯光体验。
实施例五
请参阅图11，图11是本发明实施例公开的另一种人车交互系统的结构示意图。其中，在如图11所示的人车交互系统中：
上述的第一控制单元503，还用于在接收到针对车辆的解锁指令之后，控制车辆的外部灯具中预设的初始灯粒点亮；
可选的，第一控制单元503控制车辆的外部灯具中预设的初始灯粒点亮的方式具体可以为：
第一控制单元503，用于控制车辆的外部灯具中位于中轴线左侧的第一数量灯粒点亮，形成第一光带；以及，控制车辆的外部灯具位于中轴线右侧的第二数量灯粒点亮，形成第二光带；以及，控制第一光带与第二光带之间第三数量的灯粒保持熄灭；其中，上述的第一数量与第二数量之和为初始灯粒的数量。实施该实施方式，点亮初始灯粒后可以形成形似“眼睛”的两段光带。
以及，上述的第一控制单元503，用于控制车辆的外部灯具响应行人的移动输出第一灯光效果的方式具体可以为：
第一控制单元503，用于根据移动信息包含的行人移动方向确定与行人移动方向对应的灯粒移动方向；以及，根据外部灯具的灯粒总数、初始灯粒的数量以及初始灯粒的位置确定可移动的极限灯粒数量；以及，根据极限灯粒数量以及预设的第一角度确定每一颗可移动的灯粒对应的角度，第一角度为车辆的中轴线与所述移动信息包含的实时行人位置的检测范围边界之间的夹角；以及，根据实时行 人位置与所述中轴线之间的夹角以及所述外部灯具中每一颗可移动的灯粒对应的角度确定与实时行人位置对应的灯粒移动数量；以及，将需要被点亮的目标灯粒在初始灯粒的基础上按照灯粒移动方向移动灯粒移动数量的位置，以通过点亮目标灯粒输出跟随行人移动的第一灯光效果。
实施上述的实施方式，第一控制单元503可以输出跟随行人移动的第一灯光效果。
作为一种可选的实施方式，第一控制单元503用于将需要被点亮的目标灯粒在初始灯粒的基础上按照灯粒移动方向移动灯粒移动数量的位置，以通过点亮目标灯粒输出跟随行人移动的第一灯光效果的方式具体可以为：
第一控制单元503，用于控制上述的第一光带和第二光带同时按照灯粒移动方向移动上述的灯粒移动数量的位置。实施该实施方式，上述两段光带同时跟随行人移动。
作为另一种可选的实施方式，第一控制单元503用于将需要被点亮的目标灯粒在初始灯粒的基础上按照灯粒移动方向移动灯粒移动数量的位置，以通过点亮目标灯粒输出跟随行人移动的第一灯光效果的方式具体也可以为：
第一控制单元503，用于识别行人实时位置相对于车辆中轴线的相对方位，并控制与上述的相对方位对应的光带按照灯粒移动方向移动上述的灯粒移动数量的位置。其中，当相对方位指示行人实时位置位于车辆中轴线左侧时，与相对方位对应的光带为第一光带；当相对方位指示行人实时位置位于车辆中轴线右侧时，与相对方位对应的光带为第二光带。
此外，可选的，在图11所示的人车交互系统中，上述的检测单元502，具体可以用于在车辆进行解锁后并且检测到车辆外存在行人时，判断行人是否位于同一侧；如果是，在检测到车辆外行人的数量大于一时，检测距离车辆最近的行人的实时位置，并根据该实时位置获取车辆外行人的移动信息，从而在车辆外行人均处于同一侧时才触发输出灯光效果，并且使得输出灯光效果响应于最近接车辆的行人的移动，使得最接近车辆的行人可以最直观地体验到车辆输出的灯光效果，以最大化人车之间的交互体验，使得人车交互更加智能。
进一步可选的，在图11所示的人车交互系统中，还可以包括：
第二控制单元504，用于控制车辆输出与解锁指令对应的第一声音效果。也就是说，在解锁单元501在接收到解锁指令时，还可以触发第二控制单元504通过声音效果对用户进行车辆已解锁的提示，从而可以从视觉和听觉两方面加强提示效果。
更进一步可选的，上述的第一控制单元503，还可以用于在接收到针对车辆的寻车指令时，控制车辆输出与寻车指令对应的第二灯光效果；以及，在接收到解锁指令时，控制车辆停止输出第二灯光 效果；
上述的第二控制单元504，还可以用于在接收到针对车辆的寻车指令时，控制车辆输出与寻车指令对应的第二声音效果；以及，在接收到解锁指令时，控制车辆停止输出第二声音效果。
也就是说，在本发明实施例中，人车交互系统还可以在用户触发寻车指令之后，通过输出灯光及音效帮助用户寻找车辆的具体停放位置。并且，在接收到解锁指令时，自动停止输出寻车时的灯光及音效，切换至解锁时的灯光及音效。
可见，实施如图11所示的人车交互系统，首先可以在用户寻车时通过第二灯光效果及第二声音效果辅助用户寻车；在用户寻车成功并触发车辆解锁时，通过第一灯光效果以及第二声音效果持续地提示用户车辆已解锁，从视觉及听觉两方面加强提示效果，以减少用户进行解锁操作的次数。进一步地，通过输出两段光带营造类似于“眼睛”的灯光效果，在行人移动的过程中，车辆的“眼睛”也跟随移动，从而营造出互动性更强的人车交互效果。更进一步地，当车辆外存在多个行人时，与最接近车辆的行人进行互动，以最大化人车之间的交互体验，使得人车交互更加智能。
实施例五
请参阅图12，图12是本发明实施例公开的又一种人车交互系统的结构示意图。如图12所示，该人车交互系统可以包括：
中央网关601(Central Gateway，CGW)、车辆低速行驶提示音(Acoustic Vehicle Alerting System，AVAS)控制器602、灯具控制器603、车载中控屏幕控制器604(Central Display Unit，CDU)、远程控制模块605(Telematics Box，T-BOX)、摄像头606(Camera)、车内智能单元607、车身控制器608(Body Control Module，BCM)等。具体的，AVAS控制器602以及灯具控制器603可以通过车身控制总线(Body CAN，BCAN)连接至中央网关601；车载中控屏幕控制器604、远程控制模块605以及车内智能单元607可以通过ICAN(Industry CAN-bus Application Protocol，ICAN)连接至中央网关601；整车控制单元608可以通过ECAN(Entertainment CAN，ECAN)连接至中央网关601；摄像头606以及智能驾驶模块609也可以连接至中央网关601。
其中，上述的各个控制器及控制模块可以为车辆的任意一个电子控制单元(Electronic Control Unit，ECU)。中央网关601用于连接上述的各个控制器及传感器，从而在车辆内不同的网络之间建立互连并传输数据。
下面结合图12对本发明实施例公开的人车交互系统进行具体介绍：
车身控制器608，用于接收车辆的电子钥匙通过无线信号发送的解锁指令；以及，在接收到解锁 指令之后对车辆进行解锁；可选的，车身控制器608还用于接收车辆的电子钥匙通过无线信号发送的寻车指令；
远程控制模块605，用于接收与车辆存在通信连接的智能手机等移动终端发送的解锁指令，并触发车身控制器608对车辆进行解锁；可选的，远程控制模块605还可以用于接收与车辆存在通信连接的智能手机等移动终端发送的寻车指令；
摄像头606，用于拍摄图像，并将拍摄得到的图像传输至车内智能单元607，由车内智能单元607对图像中的人脸进行身份识别，在识别出图像中的人脸为预设的合法人脸时，触发解锁指令，并触发车身控制器609对车辆进行解锁；
车内智能单元607，还用于在车身控制器608对车辆进行解锁后，接收摄像头606拍摄到的图像，根据图像检测车辆外行人的移动信息，并将移动信息发送至车载中控屏幕控制器604；
车载中控屏幕控制器604，用于根据移动信息确定响应行人移动的第一灯光效果，并将第一灯光效果的控制逻辑发送至灯具控制器603，由灯具控制器603控制车辆的灯具响应于行人的移动输出第一灯光效果；以及，根据车身控制器608接收到的解锁指令查询与解锁指令对应的第一声音效果，并将第一声音效果发送至AVAS控制器602，由AVAS控制器控制车辆的扬声器输出第一声音效果；以及，根据车身控制器609接收到的寻车指令查询与寻车指令对应的第二灯光效果和第二声音效果，并分别发送至灯具控制器603以及AVAS控制器602，由灯具控制器603控制车辆的灯具输出第二灯光效果，由AVAS控制器602控制车辆的扬声器输出第二声音效果。
本发明实施例公开一种计算机可读存储介质，其存储计算机程序，其中，该计算机程序使得计算机执行图1、图3或图9所示的任一种车辆解锁时的人车交互方法。
本发明实施例公开一种计算机程序产品，该计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质，且该计算机程序可操作来使计算机执行图1、图3或图9所示的任一种车辆解锁时人车交互方法。
本发明实施例公开一种车辆，其包括如图10～图12所示的任一种人车交互系统。
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本发明的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定特征、结构或特性可以以任意适合的方式结合在一个或多个实施例中。本领域技术人员也应该知悉，说明书中所描述的实施例均属于可选实施例，所涉及的动作和模块并不一定是本发明所必须的。此外，上述各过程的序号的大小并不意味 着执行顺序的必然先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。进一步地，上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物单元，即可位于一个地方，或者也可以分布到多个网络单元上。可根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。在本发明各实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质包括只读存储器(Read-Only Memory，ROM)、随机存储器(Random Access Memory，RAM)、可编程只读存储器(Programmable Read-only Memory，PROM)、可擦除可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、一次可编程只读存储器(One-time Programmable Read-Only Memory，OTPROM)、电子抹除式可复写只读存储器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。
以上对本发明实施例公开的一种车辆解锁时的人车交互方法、系统及车辆进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (13)

  1. 一种车辆解锁时的人车交互方法，其特征在于，包括：
    在接收到针对所述车辆的解锁指令时，对所述车辆进行解锁；
    在所述车辆进行解锁后，检测车辆外行人的移动信息；
    控制所述车辆的外部灯具，响应所述行人的移动输出第一灯光效果；所述第一灯光效果表现为需要被点亮的目标灯粒的移动方向对应于所述移动信息包含的行人移动方向。
  2. 根据权利要求1所述的方法，其特征在于，在接收到所述解锁指令之后，所述方法还包括：
    控制所述车辆的外部灯具中预设的初始灯粒点亮；
    以及，所述控制所述车辆的外部灯具响应所述行人的移动输出第一灯光效果，包括：
    根据所述移动信息包含的行人移动方向确定与所述行人移动方向对应的灯粒移动方向；
    根据所述外部灯具的灯粒总数、所述初始灯粒的数量以及所述初始灯粒的位置确定可移动的极限灯粒数量；
    根据所述极限灯粒数量以及预设的第一角度确定每一颗可移动的灯粒对应的角度；所述第一角度为车辆的中轴线与所述移动信息包含的实时行人位置的检测范围边界之间的夹角；
    根据所述实时行人位置与所述中轴线之间的夹角以及所述外部灯具中每一颗可移动的灯粒对应的角度确定与所述实时行人位置对应的灯粒移动数量；
    将需要被点亮的目标灯粒在所述初始灯粒的基础上按照所述灯粒移动方向移动所述灯粒移动数量的位置，以通过点亮所述目标灯粒输出跟随行人移动的第一灯光效果。
  3. 根据权利要求2所述的方法，其特征在于，所述控制所述车辆的外部灯具中预设的初始灯粒点亮，包括：
    控制所述车辆的外部灯具中位于所述中轴线左侧的第一数量灯粒点亮，形成第一光带；
    控制所述车辆的外部灯具位于所述中轴线右侧的第二数量灯粒点亮，形成第二光带；
    控制所述第一光带与所述第二光带之间第三数量的灯粒保持熄灭；
    其中，所述第一数量与所述第二数量之和为所述初始灯粒的数量。
  4. 根据权利要求1～3任一项所述的方法，其特征在于，所述检测车辆外行人的移动信息，包括：
    在检测到车辆外存在行人时，判断行人是否位于所述车辆的同一侧；
    如果是，在检测到所述车辆外行人的数量大于一时，检测距离所述车辆最近的行人的实时位置，并根据所述实时位置获取车辆外行人的移动信息。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    控制所述车辆输出与所述解锁指令对应的第一声音效果。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    在接收到针对所述车辆的寻车指令时，控制所述车辆输出与所述寻车指令对应的第二灯光效果以及第二声音效果；
    以及，在接收到所述解锁指令时，控制所述车辆停止输出所述第二灯光效果以及所述第二声音效果。
  7. 一种人车交互系统，其特征在于，包括：
    解锁单元，用于在接收到针对车辆的解锁指令时，对所述车辆进行解锁；
    检测单元，用于在所述车辆进行解锁后，检测车辆外行人的移动信息；
    第一控制单元，用于控制所述车辆的外部灯具响应所述行人的移动输出第一灯光效果；所述第一灯光效果表现为需要被点亮的目标灯粒的移动方向对应于所述移动信息包含的行人移动方向。
  8. 根据权利要求7所述的系统，其特征在于：
    所述第一控制单元，还用于在接收到所述解锁指令之后，控制所述车辆的外部灯具中预设的初始灯粒点亮；
    以及，所述第一控制单元用于控制所述车辆的外部灯具响应所述行人的移动输出第一灯光效果的方式具体为：
    所述第一控制单元，用于根据所述移动信息包含的行人移动方向确定与所述行人移动方向对应的灯粒移动方向；以及，根据所述外部灯具的灯粒总数、所述初始灯粒的数量以及所述初始灯粒的位置确定可移动的极限灯粒数量；以及，根据所述极限灯粒数量以及预设的第一角度确定每一颗可移动的灯粒对应的角度；所述第一角度为车辆的中轴线与所述移动信息包含的实时行人位置的检测范围边界之间的夹角；以及，根据所述实时行人位置与所述中轴线之间的夹角以及所述外部灯具中每一颗可移动的灯粒对应的角度确定与所述实时行人位置对应的灯粒移动数量；以及，将需要被点亮的目标灯粒在所述初始灯粒的基础上按照所述灯粒移动方向移动所述灯粒移动数量的位置，以通过点亮所述目标灯粒输出跟随行人移动的第一灯光效果。
  9. 根据权利要求8所述的系统，其特征在于，所述第一控制单元控制所述车辆的外部灯具中预设的初始灯粒点亮的方式具体为：
    所述第一控制单元，用于控制所述车辆的外部灯具中位于所述中轴线左侧的第一数量灯粒点亮，形成第一光带；以及，控制所述车辆的外部灯具位于所述中轴线右侧的第二数量灯粒点亮，形成第二 光带；以及，控制所述第一光带与所述第二光带之间第三数量的灯粒保持熄灭；
    其中，所述第一数量与所述第二数量之和为所述初始灯粒的数量。
  10. 根据权利要求7～9任一项所述的系统，其特征在于：
    所述检测单元，具体用于在所述车辆进行解锁并且检测到车辆外存在行人时，判断行人是否位于所述车辆的同一侧；如果是，在检测到所述车辆外行人的数量大于一时，检测距离所述车辆最近的行人的实时位置，并根据所述实时位置获取所述车辆外行人的移动信息。
  11. 根据权利要求10所述的系统，其特征在于，所述系统还包括：
    第二控制单元，用于控制所述车辆输出与所述解锁指令对应的第一声音效果。
  12. 根据权利要求11所述的系统，其特征在于：
    所述第一控制单元，还用于在接收到针对所述车辆的寻车指令时，控制所述车辆输出与所述寻车指令对应的第二灯光效果；以及，在接收到所述解锁指令时，控制所述车辆停止输出所述第二灯光效果；
    所述第二控制单元，还用于在接收到针对所述车辆的寻车指令时，控制所述车辆输出与所述寻车指令对应的第二声音效果；以及，在接收到所述解锁指令时，控制所述车辆停止输出所述第二声音效果。
  13. 一种车辆，其特征在于，所述车辆包括权利要求7～12任一项所述的人车交互系统。
PCT/CN2020/083061 2019-04-03 2020-04-02 一种车辆解锁时的人车交互方法、系统及车辆 WO2020200294A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20782270.1A EP3885203B1 (en) 2019-04-03 2020-04-02 Human-vehicle interaction method and system during vehicle unlocking, and vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910267518.4 2019-04-03
CN201910267518.4A CN110053583B (zh) 2019-04-03 2019-04-03 一种车辆解锁时的人车交互方法、系统及车辆

Publications (1)

Publication Number Publication Date
WO2020200294A1 true WO2020200294A1 (zh) 2020-10-08

Family

ID=67318200

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/083061 WO2020200294A1 (zh) 2019-04-03 2020-04-02 一种车辆解锁时的人车交互方法、系统及车辆

Country Status (3)

Country Link
EP (1) EP3885203B1 (zh)
CN (1) CN110053583B (zh)
WO (1) WO2020200294A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113879207A (zh) * 2021-09-27 2022-01-04 重庆长安汽车股份有限公司 呼吸迎宾灯控制方法、系统、车辆及存储介质
CN114407714A (zh) * 2022-02-22 2022-04-29 浙江吉利控股集团有限公司 车辆充电控制方法、装置、设备、介质及程序产品
CN114882617A (zh) * 2022-03-25 2022-08-09 潍柴动力股份有限公司 一种多终端紧急解锁方法和装置
WO2023035806A1 (zh) * 2021-09-10 2023-03-16 一汽奔腾轿车有限公司 一种乘用车后尾灯律动灯光控制系统及控制方法

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110053583B (zh) * 2019-04-03 2020-05-08 广州小鹏汽车科技有限公司 一种车辆解锁时的人车交互方法、系统及车辆
CN110588545A (zh) * 2019-09-30 2019-12-20 吉林北斗航天汽车研究院有限公司 一种带有avas功能的t-box
CN110877567B (zh) * 2019-10-17 2024-04-12 一汽奔腾轿车有限公司 一种乘用车后尾灯及车辆解锁闭锁时后尾灯律动控制方法
WO2021131789A1 (ja) * 2019-12-26 2021-07-01 ソニーグループ株式会社 車両
CN111833488B (zh) * 2019-12-31 2023-01-06 广州骑安科技有限公司 一种开关锁方法、装置、电子锁及存储介质
CN113311443A (zh) * 2020-02-26 2021-08-27 保定市天河电子技术有限公司 一种公交屏蔽门防夹检测方法及系统
CN111891033B (zh) * 2020-06-19 2022-09-27 吉利汽车研究院（宁波）有限公司 一种车灯控制方法、装置、电子设备及存储介质
CN112017335A (zh) * 2020-08-28 2020-12-01 广州小鹏汽车科技有限公司 一种解锁处理方法和装置
CN113312995B (zh) * 2021-05-18 2023-02-14 华南理工大学 基于中轴线的无锚点车载行人检测方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201559583U (zh) * 2009-10-19 2010-08-25 上海市宝山区青少年科学技术指导站 寻车烟花
CN102407803A (zh) * 2011-09-01 2012-04-11 奇瑞汽车股份有限公司 一种车辆智能大灯照明寻车装置及其控制方法
US20170088039A1 (en) * 2015-09-30 2017-03-30 Nissan North America, Inc. Vehicle state indication system
CN207583133U (zh) * 2017-11-23 2018-07-06 长城汽车股份有限公司 流动发光及手窝接近点亮的车门外把手
CN110053583A (zh) * 2019-04-03 2019-07-26 广州小鹏汽车科技有限公司 一种车辆解锁时的人车交互方法、系统及车辆

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09240398A (ja) * 1996-03-11 1997-09-16 Toyoda Gosei Co Ltd 接近警告表示装置
KR100297013B1 (ko) * 1998-12-30 2001-10-26 손동명 무인도난차량검색방법
JP2009057014A (ja) * 2007-09-03 2009-03-19 Honda Motor Co Ltd 車両照明装置
JP5173682B2 (ja) * 2008-09-03 2013-04-03 株式会社東海理化電機製作所 車両検索システム
CN202186347U (zh) * 2011-08-30 2012-04-11 上海华勤通讯技术有限公司 移动终端、车辆控制模块、车辆及车辆控制系统
CN102729888A (zh) * 2012-07-26 2012-10-17 李良杰 车门开启双向提醒系统
US9227558B2 (en) * 2013-01-14 2016-01-05 GM Global Technology Operations LLC Vehicle exterior door handle lighting
JP6027505B2 (ja) * 2013-08-08 2016-11-16 本田技研工業株式会社 車両用照明システム
JP2017024647A (ja) * 2015-07-27 2017-02-02 株式会社デンソー 車両用照明装置
US20180027634A1 (en) * 2016-07-22 2018-01-25 Honda Motor Co., Ltd. Vehicle lighting system, and methods of use and manufacture thereof
CN106394491A (zh) * 2016-12-09 2017-02-15 大陆汽车电子(长春)有限公司 用于无钥匙进入启动的系统及轮询方法
CN108648494A (zh) * 2018-05-09 2018-10-12 上海博泰悦臻网络技术服务有限公司 一种寻车提醒方法及系统
CN108674304A (zh) * 2018-05-31 2018-10-19 重庆长安汽车股份有限公司 一种利用汽车前大灯进行迎宾的控制方法
CN208602395U (zh) * 2018-07-09 2019-03-15 常州星宇车灯股份有限公司 一种新型迎宾灯控制系统
CN109413801A (zh) * 2018-11-12 2019-03-01 北京车和家信息技术有限公司 矩阵式led的控制方法、控制装置、存储介质及车辆

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201559583U (zh) * 2009-10-19 2010-08-25 上海市宝山区青少年科学技术指导站 寻车烟花
CN102407803A (zh) * 2011-09-01 2012-04-11 奇瑞汽车股份有限公司 一种车辆智能大灯照明寻车装置及其控制方法
US20170088039A1 (en) * 2015-09-30 2017-03-30 Nissan North America, Inc. Vehicle state indication system
CN207583133U (zh) * 2017-11-23 2018-07-06 长城汽车股份有限公司 流动发光及手窝接近点亮的车门外把手
CN110053583A (zh) * 2019-04-03 2019-07-26 广州小鹏汽车科技有限公司 一种车辆解锁时的人车交互方法、系统及车辆

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3885203A4 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023035806A1 (zh) * 2021-09-10 2023-03-16 一汽奔腾轿车有限公司 一种乘用车后尾灯律动灯光控制系统及控制方法
CN113879207A (zh) * 2021-09-27 2022-01-04 重庆长安汽车股份有限公司 呼吸迎宾灯控制方法、系统、车辆及存储介质
CN113879207B (zh) * 2021-09-27 2024-03-22 重庆长安汽车股份有限公司 呼吸迎宾灯控制方法、系统、车辆及存储介质
CN114407714A (zh) * 2022-02-22 2022-04-29 浙江吉利控股集团有限公司 车辆充电控制方法、装置、设备、介质及程序产品
CN114882617A (zh) * 2022-03-25 2022-08-09 潍柴动力股份有限公司 一种多终端紧急解锁方法和装置

Also Published As

Publication number Publication date
CN110053583B (zh) 2020-05-08
EP3885203B1 (en) 2023-11-22
EP3885203C0 (en) 2023-11-22
EP3885203A1 (en) 2021-09-29
EP3885203A4 (en) 2022-01-26
CN110053583A (zh) 2019-07-26

Similar Documents

Publication Publication Date Title
WO2020200294A1 (zh) 一种车辆解锁时的人车交互方法、系统及车辆
CN111800920B (zh) 控制车灯的方法和装置
CN110015308B (zh) 一种人车交互方法、系统及车辆
CN106415686B (zh) 可训练收发器和摄像系统及方法
US10286905B2 (en) Driver assistance apparatus and control method for the same
CN110085022B (zh) 一种车队车辆间的互动方法及系统、车辆
CN110001505A (zh) 一种车辆灯效的自定义方法及系统、车辆
US8963701B2 (en) Automotive vehicle early open door warning system
JP7309980B2 (ja) 制御装置及び制御方法
CN108116366A (zh) 用于提供至少一个车门的无需用手操作的系统和方法
CN110572912A (zh) 一种隧道行车灯光控制方法
CN109892011B (zh) 照明系统和照明系统控制方法
JPWO2019053890A1 (ja) 照射装置および照射方法
CN107878313A (zh) 一种智能喇叭和灯光控制系统
CN109969125B (zh) 一种车辆锁定时的人车交互方法、系统及车辆
CN109941182A (zh) 一种应用于汽车的灯效控制方法及汽车灯具系统、车辆
JP2017024647A (ja) 車両用照明装置
CN109969075B (zh) 一种车辆之间的互动方法及系统、车辆
CN110001510B (zh) 一种车辆与行人的互动方法及系统、车辆
CN111098864B (zh) 提示方法、装置、自动驾驶车辆及存储介质
CN112002140A (zh) 一种停车场寻车方法、装置、介质、车载终端及移动端
JPH08207713A (ja) 無人洗車機
CN116963938A (zh) 包括至少一个照明设备和至少一个声学设备的机动车、用于运行机动车的方法
CN105059177B (zh) 一种提高夜间行车安全性的控制系统
CN112085966A (zh) 用于停放车辆找寻的方法以及相应的装置和存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20782270

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020782270

Country of ref document: EP

Effective date: 20210623

NENP Non-entry into the national phase

Ref country code: DE