WO2021164380A1 - 车门解锁方法、装置、系统、电子设备和存储介质 - Google Patents

车门解锁方法、装置、系统、电子设备和存储介质 Download PDF

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Publication number
WO2021164380A1
WO2021164380A1 PCT/CN2020/134272 CN2020134272W WO2021164380A1 WO 2021164380 A1 WO2021164380 A1 WO 2021164380A1 CN 2020134272 W CN2020134272 W CN 2020134272W WO 2021164380 A1 WO2021164380 A1 WO 2021164380A1
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WIPO (PCT)
Prior art keywords
distance
vehicle
face recognition
threshold
response
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PCT/CN2020/134272
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English (en)
French (fr)
Inventor
黎建平
孙牵宇
周群艳
黄程
许亮
张宣彪
Original Assignee
上海商汤临港智能科技有限公司
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Application filed by 上海商汤临港智能科技有限公司 filed Critical 上海商汤临港智能科技有限公司
Priority to JP2021550214A priority Critical patent/JP7106768B2/ja
Priority to KR1020217034084A priority patent/KR20210135608A/ko
Publication of WO2021164380A1 publication Critical patent/WO2021164380A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
    • B60R25/34—Detection related to theft or to other events relevant to anti-theft systems of conditions of vehicle components, e.g. of windows, door locks or gear selectors
    • 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
    • B60R25/25—Means to switch the anti-theft system on or off using biometry
    • 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
    • B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
    • B60R25/31—Detection related to theft or to other events relevant to anti-theft systems of human presence inside or outside the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/26—Power supply means, e.g. regulation thereof
    • G06F1/32—Means for saving power
    • G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
    • G06F1/3206—Monitoring of events, devices or parameters that trigger a change in power modality
    • G06F1/3231—Monitoring the presence, absence or movement of users
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/40—Scenes; Scene-specific elements in video content
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/172—Classification, e.g. identification

Definitions

  • the present disclosure relates to the field of vehicle technology, and in particular to a method, device, system, electronic equipment, and storage medium for unlocking a vehicle door.
  • the present disclosure provides a technical solution for unlocking a vehicle door.
  • a method for unlocking a vehicle door including:
  • At least one door of the vehicle is controlled to be unlocked and/or opened.
  • the continuously acquiring the distance between the object outside the vehicle and the infrared distance measuring sensor through the infrared distance measuring sensor provided outside the vehicle outdoor includes:
  • the distance between an object outside the vehicle and the infrared distance sensor is continuously acquired by an infrared distance measuring sensor arranged outside the vehicle.
  • the capture module captures the video stream, including:
  • the awakened face recognition module controls the image acquisition module to collect video streams
  • the face recognition module installed in the vehicle is awakened ;
  • the awakened face recognition module controls the image acquisition module to acquire a video stream.
  • the first distance threshold includes a first predetermined distance value and a second predetermined distance value, and the first predetermined distance value is greater than the second predetermined distance value;
  • waking up and controlling the image acquisition module provided in the vehicle to collect the video stream includes:
  • the awakened face recognition module controls the image acquisition module to collect a video stream
  • the second distance threshold includes a third predetermined distance value and a fourth predetermined distance value, wherein the third predetermined distance value is greater than the fourth predetermined distance value;
  • the distance gradually decreasing and in the process that the distance is less than or equal to the second distance threshold, the distance is maintained for a fixed duration to reach the second time threshold, awakening and controlling the image acquisition module to collect Video streaming, including:
  • the awakened face recognition module controls the image acquisition module to collect Video streaming.
  • the method further includes:
  • the face recognition module is controlled to enter the dormant state.
  • a vehicle door unlocking device including:
  • An acquiring module configured to continuously acquire the distance between an object outside the vehicle and the infrared distance measuring sensor through an infrared distance measuring sensor arranged outside the vehicle's exterior;
  • a face recognition module configured to perform face recognition based on at least one image in the video stream
  • the control module is used to control the unlocking and/or opening of at least one door of the vehicle in response to successful face recognition.
  • the acquisition module is used to:
  • the distance between an object outside the vehicle and the infrared distance sensor is continuously acquired by an infrared distance measuring sensor arranged outside the vehicle.
  • the wake-up module is used to:
  • the awakened face recognition module controls the image acquisition module to collect video streams
  • the face recognition module installed in the vehicle is awakened ;
  • the awakened face recognition module controls the image acquisition module to acquire a video stream.
  • the first distance threshold includes a first predetermined distance value and a second predetermined distance value, and the first predetermined distance value is greater than the second predetermined distance value;
  • the wake-up module is used for:
  • the awakened face recognition module controls the image acquisition module to collect a video stream
  • the second distance threshold includes a third predetermined distance value and a fourth predetermined distance value, wherein the third predetermined distance value is greater than the fourth predetermined distance value;
  • the wake-up module is used for:
  • the awakened face recognition module controls the image acquisition module to collect Video streaming.
  • the device further includes:
  • the sleep module is used for controlling the face recognition module to enter the sleep state if the face image is not collected within the preset time, or the face recognition is not passed within the preset time.
  • a vehicle door unlocking system which includes an infrared ranging sensor, a main control chip, a face recognition module, and an image acquisition module; the main control chip is connected to the infrared ranging sensor and The face recognition module is connected, and the image acquisition module is connected to the face recognition module; the infrared ranging sensor is used to continuously obtain the distance between an object outside the vehicle and the infrared ranging sensor
  • the main control chip responds to the distance gradually decreases, and the duration of the distance less than or equal to the first distance threshold reaches the first time threshold, or, in response to the distance gradually decreases, and in the
  • the distance is less than or equal to the second distance threshold, the distance is maintained for a fixed duration and reaches the second time threshold, the face recognition module is awakened, and the image acquisition module is awakened through the face recognition module
  • the image acquisition module is used to collect a video stream; the face recognition module performs face recognition based on at least one image in the video stream;
  • the control module is used to collect
  • an electronic device including: one or more processors; a memory for storing executable instructions; wherein the one or more processors are configured to call the memory to store The executable instructions to perform the above method.
  • a computer-readable storage medium having computer program instructions stored thereon, and the computer program instructions implement the above-mentioned method when executed by a processor.
  • a computer program including computer readable code, and when the computer readable code is executed in an electronic device, a processor in the electronic device executes for realizing the above method.
  • the distance between the object outside the vehicle and the infrared distance sensor is continuously acquired by the infrared distance sensor provided outside the vehicle, and the distance is gradually reduced in response to the distance, and the distance
  • the duration less than or equal to the first distance threshold reaches the first duration threshold, wakes up and controls the image acquisition module set in the car to collect a video stream, performs face recognition based on at least one image in the video stream, and
  • at least one door of the car is controlled to be unlocked and/or opened, so that the infrared range sensor can be used as a wake-up source to wake up the image acquisition module used for face unlocking the door, so that both
  • the infrared ranging sensor has accurate ranging and fast ranging speed, so the response speed can be improved.
  • the infrared ranging sensor has a low price and
  • Fig. 1 shows a flowchart of a method for unlocking a vehicle door provided by an embodiment of the present disclosure.
  • Fig. 2 shows a schematic diagram of the ranging principle of the infrared ranging sensor in an embodiment of the present disclosure.
  • Fig. 3 shows a block diagram of a vehicle door unlocking system provided by an embodiment of the present disclosure.
  • Fig. 4 shows a block diagram of a vehicle door unlocking device provided by an embodiment of the present disclosure.
  • FIG. 5 shows a block diagram of an electronic device 800 provided by an embodiment of the present disclosure.
  • FIG. 6 shows a block diagram of an electronic device 1900 provided by an embodiment of the present disclosure.
  • Fig. 1 shows a flowchart of a method for unlocking a vehicle door provided by an embodiment of the present disclosure.
  • the execution subject of the vehicle door unlocking method may be a vehicle door unlocking device.
  • the method for unlocking the vehicle door may be executed by an in-vehicle device or other processing device.
  • the method for unlocking the vehicle door may be implemented by a processor invoking a computer-readable instruction stored in a memory. As shown in FIG. 1, the method for unlocking the vehicle door includes steps S11 to S14.
  • step S11 the distance between the object outside the vehicle and the infrared distance measuring sensor is continuously acquired by the infrared distance measuring sensor provided outside the vehicle exterior.
  • the infrared ranging sensor may be installed in at least one of the following positions: a B-pillar of the vehicle, at least one door, and at least one rearview mirror.
  • the vehicle door in the embodiment of the present disclosure may include a vehicle door through which people enter and exit (for example, a left front door, a right front door, a left rear door, and a right rear door), and may also include a trunk door of the vehicle.
  • Fig. 2 shows a schematic diagram of the ranging principle of the infrared ranging sensor in an embodiment of the present disclosure.
  • the transmitter of the infrared ranging sensor can emit infrared light at a preset frequency.
  • the infrared light will It is reflected back and received by the receiver of the infrared ranging sensor.
  • the infrared ranging sensor can send the acquired distance to the main control chip, and the main control chip can save the distance information according to the time of receiving the distance from the infrared ranging sensor, that is, the distance information saved by the main control chip can include the correspondence between the receiving time and the distance Therefore, according to the distance information, the distance value obtained by the infrared ranging sensor at each time can be determined.
  • the main control chip may be an MCU (Micro Controller Unit, Micro Control Unit) or the like.
  • the infrared light emitted by the transmitter of the infrared ranging sensor will not be reflected back. In this case, the infrared ranging sensor will not be able to measure the distance value, or, The distance value acquired by the infrared range sensor is null. In the case that the infrared distance measuring sensor cannot measure the distance value or the distance value obtained by the infrared distance measuring sensor is empty, the infrared distance measuring sensor may not send distance information to the main control chip.
  • infrared ranging sensors The power consumption of infrared ranging sensors is low, usually at uA level, while the power consumption of ultrasonic radar is relatively high, usually at mA level. Therefore, compared with ultrasonic radar, infrared ranging sensor can greatly reduce power consumption.
  • the embodiment of the present disclosure uses an infrared ranging sensor to obtain the distance between an object outside the vehicle and the infrared ranging sensor to wake up the image acquisition module. This does not require the user to carry a mobile terminal with Bluetooth function (such as a mobile phone), and does not require the user to confirm on the mobile terminal with Bluetooth function, so the user experience can be improved.
  • infrared ranging sensors also have high ranging accuracy.
  • the continuously acquiring the distance between the object outside the vehicle and the infrared distance measuring sensor through the infrared distance measuring sensor provided outside the vehicle outdoor includes: when the vehicle is in a dormant state Or when the vehicle is in a dormant state and the vehicle door is not unlocked, the distance between the object outside the vehicle and the infrared distance sensor is continuously acquired through the infrared distance measuring sensor arranged outside the vehicle exterior.
  • the sleep state of the car may indicate the sleep state of all modules in the car except the infrared ranging sensor and the main control chip.
  • the driver can usually operate to control the unlocking of the door.
  • the distance between the object outside the vehicle and the infrared distance sensor can be continuously obtained through the infrared distance sensor only when the vehicle is in the dormant state or in the dormant state and the door is not unlocked.
  • the car is not in a dormant state or in a dormant state but the door is not unlocked, there is no need to use an infrared ranging sensor to measure distance, thereby reducing power consumption.
  • step S12 in response to the distance gradually decreasing, and the duration of the distance being less than or equal to the first distance threshold reaches the first duration threshold, wake up and control the image acquisition module installed in the vehicle to collect the video stream Or, in response to the distance being gradually reduced, and in the process that the distance is less than or equal to the second distance threshold, the distance is maintained for a fixed duration to reach the second time threshold, wake up and control the image acquisition module Capture video stream.
  • the distance in the process when the distance is less than or equal to the second distance threshold, the distance is maintained for a fixed duration to reach the second time length threshold, which may mean that in the process when the distance is less than or equal to the second distance threshold, The distance remains the same for a duration that reaches the second duration threshold.
  • the distance in the process when the distance is less than or equal to the second distance threshold, the distance is maintained for a fixed duration to reach the second time threshold, which may mean that the dispersion degree of the distance in any time period is less than or equal to the predetermined distance.
  • the distances in the time period are all less than or equal to the second distance threshold, and the length of the time period is greater than or equal to the second duration threshold.
  • the degree of dispersion can be measured by standard deviation or variance, for example, the standard deviation can be used as the degree of dispersion.
  • the main control chip can save the distance information and determine whether the distance is gradually decreasing. If the distance is gradually decreasing, it can be determined whether the duration of the distance less than or equal to the first distance threshold reaches the preset first distance. One-time threshold, or it can be judged whether the fixed duration of the distance in the process of being less than or equal to the second distance threshold reaches the second-time threshold, if yes, it can be judged as intentional opening, otherwise it can be judged as unintentional opening, for example It may be a pedestrian passing by, an obstacle drifting by, etc. According to the embodiments of the present disclosure, it is possible to reduce the possibility of unlocking the door of the vehicle when the user unintentionally opens the door, so that the safety of the vehicle can be improved.
  • the image set on the car is awakened and controlled
  • the collection module collects the video stream, including: in response to the distance gradually decreasing, and the duration of the distance being less than or equal to the first distance threshold reaches the first time threshold, waking up the face recognition module installed in the vehicle
  • the awakened face recognition module controls the image acquisition module to collect video streams.
  • the face recognition module may be in a sleep state before the condition that "the distance is gradually reduced, and the duration of the distance less than or equal to the first distance threshold reaches the first time threshold" is satisfied. Maintain low-power operation, which can reduce the operating power consumption of the way of brushing the face and opening the door.
  • wake up And controlling the image capture module to capture the video stream including: responding to the distance gradually decreasing, and in the process that the distance is less than or equal to a second distance threshold, the distance is maintained for a fixed duration to reach the second duration
  • the threshold is used to wake up the face recognition module set in the car; the waked up face recognition module controls the image acquisition module to collect video streams.
  • the person The face recognition module can be in a sleep state to maintain low-power operation, which can reduce the operating power consumption of the way of brushing the face and driving the door.
  • the first distance threshold includes a first predetermined distance value and a second predetermined distance value, and the first predetermined distance value is greater than the second predetermined distance value;
  • the distance gradually decreases, and the duration of the distance less than or equal to the first distance threshold reaches the first time threshold, waking up and controlling the image acquisition module provided in the vehicle to collect the video stream, including: responding to the distance Gradually decrease, and the distance is less than or equal to the first predetermined distance value, wake up the face recognition module installed in the car; respond to the duration of the distance less than or equal to the second predetermined distance value
  • the awakened face recognition module controls the image acquisition module to collect a video stream.
  • the second predetermined distance value may be the maximum allowable distance value between the user and the car when performing face recognition.
  • the first predetermined distance value may be determined according to the second predetermined distance value and the wake-up distance.
  • the first predetermined distance value may be equal to the sum of the second predetermined distance value and the wake-up distance, or the first predetermined distance value may be set slightly larger than the first predetermined distance value. 2.
  • the wake-up distance may be equal to the product of the wake-up duration of the face recognition module and the average walking speed, and the wake-up duration of the face recognition module may represent the length of time required for the face recognition module to switch from a sleep state to a working state.
  • the face recognition module can be in a sleep state to maintain low power consumption before the condition that "the distance is gradually reduced, and the distance is less than or equal to the first predetermined distance value" is satisfied , So as to reduce the operating power consumption of the face-sweeping driving door mode; when the condition that "the distance is gradually reduced and the distance is less than or equal to the first predetermined distance value" is met, the face recognition module is awakened, This enables the face recognition module to be in a working state before the user arrives at the door, so that when "the duration of the distance less than or equal to the second predetermined distance reaches the first time threshold", it is determined that the user has arrived In the car door, the image capture module can immediately perform face recognition through the awakened face recognition module after the video stream is collected.
  • Facial recognition efficiency improves user experience.
  • the user has no perception during the wake-up process, which can further improve the user experience.
  • the image capture module may not capture the video stream, thereby not only reducing power It can also reduce the possibility of unlocking the door by mistake, thereby improving the safety of unlocking the door. Therefore, this implementation can not only meet the requirements of low-power operation, but also meet the requirements of fast opening doors, thereby providing a way to better balance the power saving of the face recognition module, user experience, and safety. Aspects of the solution.
  • the second distance threshold includes a third predetermined distance value and a fourth predetermined distance value, wherein the third predetermined distance value is greater than the fourth predetermined distance value; the response When the distance is gradually reduced, and the distance is maintained for a fixed duration during the process that the distance is less than or equal to the second distance threshold and reaches the second time threshold, wake up and control the image acquisition module to collect the video stream,
  • the method includes: in response to the distance gradually decreasing, and the distance is less than or equal to the third predetermined distance value, waking up a face recognition module provided in the vehicle; and in response to the distance being less than or equal to the first During the four-predetermined distance value process, the distance is maintained for a fixed duration and reaches the second duration threshold, and the awakened face recognition module controls the image acquisition module to collect video streams.
  • the third predetermined distance value may be equal to or not equal to the first predetermined distance value; the fourth predetermined distance value may be equal to or not equal to the second predetermined distance value.
  • the fourth predetermined distance value may be the maximum allowable distance value between the user and the car when performing face recognition.
  • the third predetermined distance value may be determined according to the fourth predetermined distance value and the wake-up distance.
  • the third predetermined distance value may be equal to the sum of the fourth predetermined distance value and the wake-up distance, or the third predetermined distance value may be set slightly larger than the first 4. The sum of the predetermined distance value and the wake-up distance.
  • the face recognition module can be in a sleep state to maintain low power consumption before the condition that "the distance is gradually reduced, and the distance is less than or equal to the third predetermined distance value" is satisfied , So as to reduce the operating power consumption of the face-sweeping driving door mode; when the condition of “the distance is gradually reduced and the distance is less than or equal to the third predetermined distance value” is met, the face recognition module is awakened, This enables the face recognition module to be in a working state before the user arrives at the door, so that "the distance is maintained for a fixed duration in the process when the distance is less than or equal to the fourth predetermined distance value to reach the second Time threshold", that is, when the user arrives at the car door, the image capture module can immediately use the awakened face recognition module to recognize the car door after collecting the video stream, without requiring the user to wait for the face recognition after the user arrives at the car door The module is awakened, which can increase the efficiency of face recognition and improve the user experience.
  • the image capture module may not capture video until the condition that "the distance remains fixed for a duration that reaches the second duration threshold in the process when the distance is less than or equal to the fourth predetermined distance value" is satisfied.
  • This not only reduces power consumption, but also reduces the possibility of unlocking the door by mistake, thereby improving the safety of unlocking the door. Therefore, this implementation can not only meet the requirements of low-power operation, but also meet the requirements of fast opening doors, thereby providing a good balance between the power saving of the face recognition module, user experience, and safety. Aspects of the solution.
  • the image acquisition module can be installed outside the car. By controlling the image acquisition module installed outside the car to collect the video stream outside the car, the car can be detected based on the video stream outside the car. The intention of outsiders to board the car.
  • the image acquisition module may be installed in at least one of the following positions: the B-pillar of the vehicle, at least one door, and at least one rearview mirror.
  • the image acquisition module can be installed 130 cm to 160 cm above the ground on the B-pillar, which is not limited here.
  • the image capture module can be installed on the two B-pillars and the trunk of the car.
  • each B-pillar can be installed with an image acquisition module facing the front passenger (driver or co-driver) boarding position and an image acquisition module facing the rear passenger boarding position.
  • the method further includes: if no face image is collected within a preset time, or at a preset time If the face recognition is not passed, the face recognition module is controlled to enter the dormant state.
  • This implementation method controls the face recognition module to enter the dormant state when the face image is not collected within a preset time after waking up the face recognition module, or the face recognition module does not pass the person within a preset time after waking up the face recognition module.
  • the face recognition module is controlled to enter a sleep state, thereby reducing power consumption.
  • step S13 face recognition is performed based on at least one image in the video stream.
  • face recognition may be performed based on the first image in the video stream to obtain a face recognition result.
  • the first image may include at least a part of a human face.
  • the first image can be an image selected from a video stream, where the image can be selected from the video stream in a variety of ways.
  • the first image is an image selected from a video stream that meets a preset quality condition.
  • the preset quality condition may include one or any combination of the following: whether it contains a human face, and whether the human face is located in the image The central area of the face, whether the face is completely contained in the image, the proportion of the face in the image, the state of the face (such as the angle of the face), the image sharpness, the image exposure, etc., the embodiments of the present disclosure are This is not limited.
  • the face recognition includes face authentication; the performing face recognition based on at least one image in the video stream includes: based on at least one image in the video stream Perform face authentication with pre-registered facial features.
  • face authentication is used to extract facial features in the collected images, and compare the facial features in the collected images with pre-registered facial features to determine whether they belong to the same person's facial features For example, it can be judged whether the facial features in the collected images belong to the facial features of the car owner or temporary user (such as a friend of the car owner or a courier, etc.).
  • the face recognition further includes living body detection; the performing face recognition based on at least one image in the video stream includes: via a depth sensor in the image acquisition module Collecting a first depth map corresponding to the first image in the video stream; performing live detection based on the first image and the first depth map.
  • the living body detection is used to verify whether it is a living body, for example, it can be used to verify whether it is a human body.
  • the first depth map corresponds to the first image.
  • the first depth map and the first image are respectively acquired by the depth sensor and the image sensor for the same scene, or the first depth map and the first image are acquired by the depth sensor and the image sensor for the same target area at the same time , but the embodiment of the present disclosure does not limit this.
  • the image sensor can be an RGB sensor or an infrared sensor.
  • the depth sensor refers to a sensor used to collect depth information.
  • the embodiments of the present disclosure do not limit the working principle and working band of the depth sensor.
  • the depth sensor may be a binocular infrared sensor, a TOF sensor, or a structured light sensor.
  • the face recognition further includes authorization authentication;
  • the performing face recognition based on at least one image in the video stream includes: based on at least one image in the video stream Acquire door-opening authority information of the object outside the vehicle; perform authority authentication based on the door-opening authority information of the object outside the vehicle.
  • different door opening authority information can be set for different users, so that the safety of the vehicle can be improved.
  • the door opening authority information of the object outside the vehicle includes one or more of the following: information about the door of the object outside the vehicle that has the authority to open the door, and the object outside the vehicle that has the authority to open the door. Time, the number of door opening permissions corresponding to the object outside the vehicle.
  • the information of the doors for which the object outside the vehicle has the authority to open doors may be all doors or trunk doors.
  • the doors for which the owner or his family or friends have the authority to open the doors may be all doors
  • the doors for which the courier or property staff has the authority to open the doors may be the trunk doors.
  • the vehicle owner can set the door information for other personnel with the permission to open the door.
  • the time when the object outside the vehicle has the right to open the door may be all times, or may be a preset time period.
  • the time when the car owner or the car owner's family has the authority to open the door may be all the time.
  • the owner can set the time for other personnel with the authority to open the door. For example, in an application scenario where a friend of a car owner borrows a car from the car owner, the car owner can set the time for the friend to have the permission to open the door to two days. For another example, after the courier contacts the car owner, the car owner can set the time for the courier to open the door to 13:00-14:00 on January 20, 2020.
  • the number of door opening permissions corresponding to objects outside the vehicle may be an unlimited number of times or a limited number of times.
  • the number of door opening permissions corresponding to the car owner or the family or friends of the car owner may be an unlimited number of times.
  • the number of times the door-opening authority corresponding to the courier may be a limited number of times, for example, one time.
  • step S14 in response to successful face recognition, at least one door of the vehicle is controlled to be unlocked and/or opened.
  • the door of the driver's seat in response to successful face recognition, can be controlled to unlock and/or open.
  • the door corresponding to the image capture module that captures the video stream in response to successful face recognition, can be controlled to unlock and/or open, for example, if the status information of the door is unlocked , The door is controlled to unlock or the door is controlled to be unlocked and opened; if the status information of the door is unlocked and not opened, the door is controlled to open, which can automatically open the door for the user based on face recognition without The user pulls the car door manually to improve the convenience of using the car.
  • the door corresponding to the image capture module that captures the video stream may be determined according to the position of the image capture module.
  • the door corresponding to the image acquisition module that collects the video stream may be the left front door
  • the door corresponding to the image acquisition module that collects the video stream may be the left rear door
  • the door corresponding to the image acquisition module that collects the video stream may be the right front door
  • the door corresponding to the image acquisition module that collects the video stream can be the right rear door
  • the video The stream is collected by the image acquisition module installed on the trunk door, and the door corresponding to the image acquisition module that collects the video stream may be the trunk door.
  • the method further includes: in response to a face recognition failure, activating a password set in the car Unlock the module to start the password unlocking process.
  • password unlocking is an alternative to face recognition unlocking.
  • the reason for the failure of face recognition may include at least one of the result of the living body detection being a human prosthesis, the failure of face authentication, the failure of image collection (for example, the failure of the camera), and the number of recognition times exceeding a predetermined number.
  • the password unlocking process is initiated.
  • the password entered by the user can be obtained through the touch screen on the B-pillar.
  • the password unlocking will become invalid, for example, M is equal to 5.
  • the method further includes: performing object detection on at least one image in the video stream to determine the object carrying information of an object outside the vehicle; in response to the successful face recognition, controlling The unlocking and/or opening of the at least one door of the vehicle includes: in response to successful face recognition and the object carrying information is a carrying object, controlling the at least one door of the vehicle to open.
  • the object-carrying information of the object outside the vehicle may represent the information of the object carried by the object outside the vehicle.
  • the object carrying information may indicate whether the object is carried; for another example, the object carrying information may indicate the category of the carried object.
  • an object detection network may be used to perform object detection on at least one image in the video stream, where the object detection network may be based on a deep learning architecture.
  • the categories of objects that can be recognized by the object detection network may not be limited, and those skilled in the art can flexibly set the categories of objects that can be recognized by the object detection network according to actual application scenarios.
  • the categories of objects that can be identified by the object detection network include umbrellas, trolley boxes, strollers, strollers, handbags, shopping bags, and so on.
  • the user when it is inconvenient for the user to open the door (for example, the user carries a handbag, shopping bag, trolley case, umbrella, etc.), the user automatically pops the door (for example, the left front door, right front door, left rear door, right side of the car). Back door, trunk door), which can greatly facilitate the user to get on the car and place items in the trunk in scenes such as users carrying items or raining.
  • the face recognition process when the user approaches the vehicle, the face recognition process can be automatically triggered without deliberate actions (such as touching a button or making a gesture), so that the door can be automatically opened for the user without the user having to free up his hand to unlock or open The door can improve the user experience of getting on the car and placing items in the trunk.
  • the bounding box of the human body in at least one image in the video stream can be detected, object detection is performed on the area corresponding to the bounding box, and the object detection result is obtained, and based on the object detection result, it is determined Objects outside the vehicle carry information.
  • the bounding box of the human body in the first image of the video stream can be detected; object detection is performed on the area corresponding to the bounding box in the first image.
  • the area corresponding to the bounding box may represent the area defined by the bounding box.
  • determining the object-carrying information of the object outside the vehicle may include: if the object detection result is that the object is detected, acquiring the distance between the object and the hand of the object outside the vehicle Based on the distance, determine the object carrying information of the object outside the vehicle.
  • the distance is less than the preset distance, it may be determined that the object carried information of the object outside the vehicle is a carried object.
  • the information carried by the object of the object outside the vehicle only the distance between the object and the hand of the object outside the vehicle may be considered, without considering the size of the object.
  • the determining the object-carrying information of the object outside the vehicle based on the object detection result may further include: if the object detection result is that the object is detected, acquiring the size of the object; Based on the distance, determining the object-carrying information of the object outside the vehicle includes: determining the object-carrying information of the object outside the vehicle based on the distance and the size.
  • the distance between the object and the hand of the object outside the vehicle and the size of the object can be considered at the same time.
  • the determining the object carrying information of the object outside the vehicle based on the distance and the size may include: if the distance is less than or equal to a preset distance, and the size is greater than or equal to a preset size, Then it is determined that the object carried information of the object outside the vehicle is a carried object.
  • the preset distance may be zero, or the preset distance may be set to be greater than zero.
  • the determining the object-carrying information of the object outside the vehicle based on the object detection result may include: if the object detection result is that the object is detected, acquiring the size of the object; The size of the object that determines the object outside the car carries information.
  • the size of the object when determining the information carried by the object of the object outside the vehicle, only the size of the object may be considered, without considering the distance between the object and the hand of the object outside the vehicle. For example, if the size is greater than the preset size, it is determined that the object carried information of the object outside the vehicle is a carried object.
  • the method further includes: performing object detection on at least one image in the video stream to determine the object carrying information of an object outside the vehicle; in response to the successful face recognition, controlling The unlocking and/or opening of at least one door of the vehicle includes: in response to successful face recognition and the object carrying information is an object carrying a preset category, controlling the trunk door of the vehicle to open.
  • the preset category may indicate the category of objects suitable for storage in the trunk.
  • the preset category may include trolley boxes and so on.
  • the trunk door can be automatically opened for the user when the user carries an object of a preset category, so that he can place objects in the trunk without the user needing to open the trunk door manually.
  • controlling at least one door of the vehicle to unlock and/or open may include: responding to successful face recognition and the object outside the vehicle is not For the driver, control the unlocking and/or opening of at least one non-driver's door of the vehicle. According to this implementation, it is possible to automatically unlock and/or open the door corresponding to the seat suitable for the non-driver.
  • the object outside the vehicle in response to the successful face recognition, the object outside the vehicle is not the driver, and the object outside the vehicle carries the object, control the opening of at least one non-driver's door of the vehicle .
  • the door corresponding to the seat suitable for the non-driver can be automatically opened for the non-driver.
  • controlling the opening of at least one door of the vehicle may include: acquiring state information of the vehicle door; if the state information of the vehicle door is not unlocked, controlling the vehicle door to be unlocked and opened; And/or, if the state information of the vehicle door is unlocked and not opened, control the vehicle door to open.
  • controlling the door to open may refer to controlling the door to pop open so that the user can enter the vehicle through an automatically opened door (such as a front door or a rear door), or through an automatically opened door (such as a trunk door or a rear door) Place items.
  • an automatically opened door such as a front door or a rear door
  • an automatically opened door such as a trunk door or a rear door
  • the method further includes: controlling the vehicle door to close, or controlling the vehicle door to close and lock when the conditions for automatic door closing are met.
  • controlling the vehicle door to close when the conditions for automatic door closing are met, or controlling the vehicle door to close and lock the safety of the vehicle can be improved.
  • the automatic door-closing condition may include: the time period for unlocking or opening the vehicle door reaches a preset time period.
  • the main control chip can send door unlocking instructions, opening instructions, and closing instructions to a body control module (BCM, Body Control Model) to control the door.
  • BCM Body Control Model
  • the method further includes one or both of the following: performing user registration based on the facial image collected by the image capture module; performing remotely based on the facial image collected or uploaded by the first terminal Register and send registration information to the vehicle, where the first terminal is a terminal corresponding to the vehicle owner, and the registration information includes collected or uploaded facial images.
  • the registration of the car owner based on the face image collected by the image acquisition module includes: when it is detected that the registration button on the touch screen is clicked, requesting the user to enter a password, and after the password verification is passed, starting the image acquisition module
  • the RGB camera acquires the face image, and registers it according to the acquired face image, and extracts the facial features in the face image as the pre-registered face features for subsequent face authentication based on the pre-registered face Feature for face comparison.
  • remote registration is performed based on the face image collected or uploaded by the first terminal, and the registration information is sent to the car, where the registration information includes the collected or uploaded face image.
  • a user such as a car owner
  • the face image collected by the first terminal may be the face image of the user (the owner), and the face image uploaded by the first terminal may be the user (the owner), the user's friend, or the courier, etc.
  • TSP cloud sends the registration request to the on-board T-Box (Telematics Box, telematics processor) of the door control device, and the on-board T-Box activates the facial recognition function according to the registration request, and the person carried in the registration request
  • the facial features in the face image are used as pre-registered facial features to perform face comparison based on the pre-registered facial features during subsequent face authentication.
  • the face image uploaded by the first terminal includes the face image sent by the second terminal to the first terminal, and the second terminal is a terminal corresponding to a temporary user; the registration information It also includes door-opening authority information corresponding to the uploaded face image.
  • the temporary user may be a courier or the like.
  • the car owner can set door opening authority information for temporary users such as couriers.
  • the method further includes: acquiring information about seat adjustments by a occupant of the vehicle; generating or updating the seat corresponding to the occupant according to the information about adjusting the seat by the occupant Preference information.
  • the seat preference information corresponding to the occupant may reflect the preference information of adjusting the seat when the occupant rides in the vehicle.
  • by generating or updating the seat preference information corresponding to the occupant the next time the occupant rides in the car, it can be automatically based on the seat preference information corresponding to the occupant.
  • the seat adjustment is performed to improve the riding experience of the occupants.
  • the generating or updating the seat preference information corresponding to the occupant according to the information about the seat adjustment of the occupant includes: according to the position information of the seat where the occupant is seated , And the seat adjustment information of the occupant, generating or updating seat preference information corresponding to the occupant.
  • the seat preference information corresponding to the occupant may not only be associated with the seat adjustment information of the occupant, but also may be associated with the position information of the seat where the occupant is seated, that is, The seat preference information corresponding to seats in different positions can be recorded for the occupants, so that the riding experience of the user can be further improved.
  • the method further includes: obtaining seat preference information corresponding to a passenger based on the result of face recognition; The seat where the person sits is adjusted.
  • the seat information is automatically adjusted for the occupants according to the seat preference information corresponding to the occupants without manual adjustment by the occupants, thereby improving the experience of the occupants in driving or riding. .
  • one or more of the height, front and rear, backrest and temperature of the seat can be adjusted.
  • the position information of the seat where the passenger is seated can be determined; according to the position information of the seat where the passenger is seated, and the seat preference information corresponding to the passenger, Adjust the seat on which the occupant sits.
  • the seat information is automatically adjusted for the occupant without manual adjustment by the occupant according to the position information of the seat where the occupant is seated and the seat preference information corresponding to the occupant , So as to improve the experience of driving or riding a car.
  • the distance between the object outside the vehicle and the infrared distance sensor is continuously acquired by the infrared distance sensor provided outside the vehicle, and the distance is gradually reduced in response to the distance, and the distance
  • the duration less than or equal to the first distance threshold reaches the first duration threshold, wakes up and controls the image acquisition module set in the car to collect a video stream, performs face recognition based on at least one image in the video stream, and
  • at least one door of the car is controlled to be unlocked and/or opened, so that the infrared range sensor can be used as a wake-up source to wake up the image acquisition module used for face unlocking the door, so that both
  • the infrared ranging sensor has accurate ranging and fast ranging speed, so the response speed can be improved.
  • the infrared ranging sensor has a low price and
  • the writing order of the steps does not mean a strict execution order but constitutes any limitation on the implementation process.
  • the specific execution order of each step should be based on its function and possibility.
  • the inner logic is determined.
  • the present disclosure also provides a vehicle door unlocking device, system, electronic equipment, computer-readable storage medium, and program, all of which can be used to implement any of the vehicle door unlocking methods provided in the present disclosure.
  • vehicle door unlocking device system, electronic equipment, computer-readable storage medium, and program, all of which can be used to implement any of the vehicle door unlocking methods provided in the present disclosure.
  • Fig. 3 shows a block diagram of a vehicle door unlocking system provided by an embodiment of the present disclosure.
  • the door unlocking system includes an infrared distance measuring sensor 31, a main control chip 32, a face recognition module 33, and an image acquisition module 34; the main control chip 32 and the infrared distance measuring sensor are respectively 31 is connected to the face recognition module 33, and the image acquisition module 34 is connected to the face recognition module 33; the infrared distance measurement sensor 31 is used to continuously acquire objects outside the vehicle and the infrared measurement The distance from the sensor 31; the main control chip 32 responds to the distance gradually decreasing, and the duration of the distance less than or equal to the first distance threshold reaches the first time threshold, or, in response to the distance Gradually decrease, and when the distance is less than or equal to the second distance threshold, the distance is maintained for a fixed duration to reach the second time threshold, wake up the face recognition module 33, and pass the face recognition The module 33 wakes up the image capture module 34; the image capture module 34 is used to capture a
  • Fig. 4 shows a block diagram of a vehicle door unlocking device provided by an embodiment of the present disclosure.
  • the vehicle door unlocking device includes: an acquiring module 41, configured to continuously acquire the distance between an object outside the vehicle and the infrared ranging sensor through an infrared ranging sensor disposed outside the vehicle's exterior; and waking up
  • the module 42 is configured to wake up and control the image acquisition module installed in the vehicle to collect the video stream in response to the distance gradually decreasing, and the duration of the distance being less than or equal to the first distance threshold reaches the first time threshold.
  • the distance in response to the distance being gradually reduced, and in the process that the distance is less than or equal to the second distance threshold, the distance is maintained for a fixed duration to reach the second time threshold, wake up and control the image acquisition module Capture video stream; face recognition module 43, used to perform face recognition based on at least one image in the video stream; control module 44, used to control the unlocking of at least one door of the car in response to successful face recognition And/or open.
  • the acquiring module 41 is used to continuously acquire the exterior of the vehicle through an infrared distance measuring sensor arranged outside the exterior of the vehicle when the vehicle is in a dormant state or in a dormant state and the door is not unlocked. The distance between the object and the infrared ranging sensor.
  • the wake-up module 42 is configured to: in response to the distance gradually decreasing, and the duration of the distance less than or equal to the first distance threshold reaches the first time threshold, the wake-up is set at all The face recognition module of the vehicle; the awakened face recognition module controls the image acquisition module to collect a video stream; or, in response to the distance being gradually reduced, and when the distance is less than or equal to the first In the process of the second distance threshold, the distance is maintained for a fixed duration and reaches the second time threshold, and the face recognition module installed in the car is awakened; the awakened face recognition module controls the image acquisition module Capture video stream.
  • the first distance threshold includes a first predetermined distance value and a second predetermined distance value, and the first predetermined distance value is greater than the second predetermined distance value; the wake-up module 42 uses In response to: in response to the distance gradually decreasing, and the distance is less than or equal to the first predetermined distance value, wake up the face recognition module provided in the vehicle; in response to the distance being less than or equal to the first 2.
  • the duration of the predetermined distance value reaches the first time threshold, and the awakened face recognition module controls the image acquisition module to collect the video stream; or, the second distance threshold includes the third predetermined distance value and the first time threshold; Four predetermined distance values, wherein the third predetermined distance value is greater than the fourth predetermined distance value; the wake-up module 42 is configured to: respond to the distance gradually decreasing, and the distance is less than or equal to the first Three predetermined distance values, wake up the face recognition module installed in the car; in response to the distance being less than or equal to the fourth predetermined distance value, the distance is maintained for a fixed duration to reach the second time length threshold, The awakened face recognition module controls the image acquisition module to acquire a video stream.
  • the device further includes: a sleep module, configured to control the person if the face image is not collected within a preset time, or if the face recognition is not passed within the preset time
  • the face recognition module enters a sleep state.
  • the distance between the object outside the vehicle and the infrared distance sensor is continuously acquired by the infrared distance sensor provided outside the vehicle, and the distance is gradually reduced in response to the distance, and the distance
  • the duration less than or equal to the first distance threshold reaches the first duration threshold, wakes up and controls the image acquisition module set in the car to collect a video stream, performs face recognition based on at least one image in the video stream, and
  • at least one door of the car is controlled to be unlocked and/or opened, so that the infrared range sensor can be used as a wake-up source to wake up the image acquisition module used for face unlocking the door, so that both
  • the infrared ranging sensor has accurate ranging and fast ranging speed, so the response speed can be improved.
  • the infrared ranging sensor has a low price and
  • the functions or modules contained in the device provided in the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments.
  • the functions or modules contained in the device provided in the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments.
  • the embodiments of the present disclosure also provide a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the foregoing method when executed by a processor.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium, or may be a volatile computer-readable storage medium.
  • the embodiment of the present disclosure also provides a computer program, including computer readable code, when the computer readable code is executed in an electronic device, the processor in the electronic device is executed to implement the above method.
  • the embodiments of the present disclosure also provide another computer program product, which is used to store computer-readable instructions, and when the instructions are executed, the computer executes the operation of the door unlocking method provided by any of the foregoing embodiments.
  • An embodiment of the present disclosure also provides an electronic device, including: one or more processors; a memory for storing executable instructions; wherein the one or more processors are configured to call the executable stored in the memory Instructions to perform the above method.
  • the electronic device can be provided as a terminal, server or other form of device.
  • the terminal may be a vehicle-mounted device or other processing device.
  • FIG. 5 shows a block diagram of an electronic device 800 provided by an embodiment of the present disclosure.
  • the electronic device 800 may be a vehicle-mounted device, a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and other terminals.
  • the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, and a sensor component 814 , And communication component 816.
  • the processing component 802 generally controls the overall operations of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • the processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method.
  • the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components.
  • the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.
  • the memory 804 is configured to store various types of data to support operations in the electronic device 800. Examples of these data include instructions for any application or method to operate on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc.
  • the memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic Disk or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable and Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Magnetic Disk Magnetic Disk or Optical Disk.
  • the power supply component 806 provides power for various components of the electronic device 800.
  • the power supply component 806 may include a power management system, one or more power supplies, and other components associated with the generation, management, and distribution of power for the electronic device 800.
  • the multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user.
  • the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touch, sliding, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation.
  • the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 810 is configured to output and/or input audio signals.
  • the audio component 810 includes a microphone (MIC), and when the electronic device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal.
  • the received audio signal may be further stored in the memory 804 or transmitted via the communication component 816.
  • the audio component 810 further includes a speaker for outputting audio signals.
  • the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module.
  • the above-mentioned peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: home button, volume button, start button, and lock button.
  • the sensor component 814 includes one or more sensors for providing the electronic device 800 with various aspects of state evaluation.
  • the sensor component 814 can detect the on/off status of the electronic device 800 and the relative positioning of the components.
  • the component is the display and the keypad of the electronic device 800.
  • the sensor component 814 can also detect the electronic device 800 or the electronic device 800.
  • the position of the component changes, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration/deceleration of the electronic device 800, and the temperature change of the electronic device 800.
  • the sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact.
  • the sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • the communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices.
  • the electronic device 800 can access a wireless network based on a communication standard, such as Wi-Fi, 2G, 3G, 4G/LTE, 5G, or a combination thereof.
  • the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication.
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field-available A programmable gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • ASIC application-specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field-available A programmable gate array
  • controller microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • a non-volatile computer-readable storage medium such as the memory 804 including computer program instructions, which can be executed by the processor 820 of the electronic device 800 to complete the foregoing method.
  • FIG. 6 shows a block diagram of an electronic device 1900 provided by an embodiment of the present disclosure.
  • the electronic device 1900 may be provided as a server. 6
  • the electronic device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by the memory 1932, for storing instructions executable by the processing component 1922, such as application programs.
  • the application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions.
  • the processing component 1922 is configured to execute instructions to perform the above-described methods.
  • the electronic device 1900 may also include a power supply component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input output (I/O) interface 1958 .
  • the electronic device 1900 can operate based on an operating system stored in the memory 1932, such as Windows Mac OS Or similar.
  • a non-volatile computer-readable storage medium is also provided, such as the memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the electronic device 1900 to complete the foregoing method.
  • the present disclosure may be a system, method and/or computer program product.
  • the computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the present disclosure.
  • the computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • flash memory flash memory
  • SRAM static random access memory
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disk
  • memory stick floppy disk
  • mechanical encoding device such as a printer with instructions stored thereon
  • the computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.
  • the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • the network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .
  • the computer program instructions used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages.
  • Source code or object code written in any combination, the programming language includes object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages.
  • Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect to the user's computer) connect).
  • LAN local area network
  • WAN wide area network
  • an electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions.
  • the computer-readable program instructions are executed to realize various aspects of the present disclosure.
  • These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner, so that the computer-readable medium storing the instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more components for realizing the specified logical function.
  • Executable instructions may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.
  • the computer program product can be specifically implemented by hardware, software, or a combination thereof.
  • the computer program product is specifically embodied as a computer storage medium.
  • the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc. Wait.
  • SDK software development kit

Abstract

一种车门解锁方法、装置、系统、电子设备和存储介质。该方法包括：通过设置于车的室外部的红外测距传感器（31）持续获取车外的对象与红外测距传感器（31）之间的距离；响应于距离逐渐减小，且距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于车的图像采集模组（33）采集视频流；或者，响应于距离逐渐减小，且在距离小于或等于第二距离阈值的过程中距离维持固定的持续时长达到第二时长阈值，唤醒并控制图像采集模组（33）采集视频流；基于视频流中的至少一张图像进行人脸识别；响应于人脸识别成功，控制车的至少一车门解锁和/或打开，由此能够将红外测距传感器作为唤醒源，来唤醒用于人脸解锁车门的图像采集模组，从而既能够解决随身携带车钥匙或者携带手机且必须开启蓝牙的不便利的问题，又能够解决超声波方式的功耗大的问题。

Description

车门解锁方法、装置、系统、电子设备和存储介质
本申请要求在2020年2月19日提交中国专利局、申请号为202010101756.0、申请名称为“车门解锁方法、装置、系统、电子设备和存储介质”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
本公开涉及车辆技术领域，尤其涉及一种车门解锁方法、装置、系统、电子设备和存储介质。
背景技术
随着人工智能技术的发展，计算机视觉被广泛应用于汽车电子中，其中，智能座舱就是一个典型应用。对于智能座舱而言，其中很重要的一个研发方向是解锁车门的方式。
发明内容
本公开提供了一种车门解锁技术方案。
根据本公开的一方面，提供了一种车门解锁方法，包括：
通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离；
响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流；或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流；
基于所述视频流中的至少一张图像进行人脸识别；
响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开。
在一种可能的实现方式中，所述通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离，包括：
在所述车处于休眠状态或处于休眠且车门未解锁状态时，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离。
在一种可能的实现方式中，所述响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，包括：
响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒设置于所述车的人脸识别模组；
经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；
或者，
所述响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流，包括：
响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒设置于所述车的人脸识别模组；
经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
在一种可能的实现方式中，所述第一距离阈值包括第一预定距离值和第二预定距离值，所述第一预定距离值大于所述第二预定距离值；
所述响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，包括：
响应于所述距离逐渐减小，且所述距离小于或等于所述第一预定距离值，唤醒设置于所述车的人脸识别模组；
响应于所述距离小于或等于所述第二预定距离值的持续时长达到第一时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；
或者，
所述第二距离阈值包括第三预定距离值和第四预定距离值，其中，所述第三预定距离值大于所述第四预定距离值；
所述响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流，包括：
响应于所述距离逐渐减小，且所述距离小于或等于所述第三预定距离值，唤醒设置于所述车的人脸识别模组；
响应于所述距离小于或等于所述第四预定距离值的过程中所述距离维持固定的持续时长达到第二时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
在一种可能的实现方式中，在所述唤醒设置于所述车的人脸识别模组之后，所述方法还包括：
若在预设时间内未采集到人脸图像，或者在预设时间内未通过人脸识别，则控制所述人脸识别模组进入休眠状态。
根据本公开的一方面，提供了一种车门解锁装置，包括：
获取模块，用于通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离；
唤醒模块，用于响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流；或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流；
人脸识别模块，用于基于所述视频流中的至少一张图像进行人脸识别；
控制模块，用于响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开。
在一种可能的实现方式中，所述获取模块用于：
在所述车处于休眠状态或处于休眠且车门未解锁状态时，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离。
在一种可能的实现方式中，所述唤醒模块用于：
响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒设置于所述车的人脸识别模组；
经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；
或者，
响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒设置于所述车的人脸识别模组；
经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
在一种可能的实现方式中，所述第一距离阈值包括第一预定距离值和第二预定距离值，所述第一预定距离值大于所述第二预定距离值；
所述唤醒模块用于：
响应于所述距离逐渐减小，且所述距离小于或等于所述第一预定距离值，唤醒设置于所述车的人脸识别模组；
响应于所述距离小于或等于所述第二预定距离值的持续时长达到第一时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；
或者，
所述第二距离阈值包括第三预定距离值和第四预定距离值，其中，所述第三预定距离值大于所述第四预定距离值；
所述唤醒模块用于：
响应于所述距离逐渐减小，且所述距离小于或等于所述第三预定距离值，唤醒设置于所述车的人脸识别模组；
响应于所述距离小于或等于所述第四预定距离值的过程中所述距离维持固定的持续时长达到第二时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
在一种可能的实现方式中，所述装置还包括：
休眠模块，用于若在预设时间内未采集到人脸图像，或者在预设时间内未通过人脸识别，则控制所述人脸识别模组进入休眠状态。
根据本公开的一方面，提供了一种车门解锁系统，包括红外测距传感器、主控芯片、人脸识别模组和图像采集模组；所述主控芯片分别与所述红外测距传感器和所述人脸识别模组连接，所述图像采集模组与所述人脸识别模组连接；所述红外测距传感器用于持续获取车外的对象与所述红外测距传感器之间的距离；所述主控芯片响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒所述人脸识别模组，并通过所述人脸识别模组唤醒所述图像采集模组；所述图像采集模组用于采集视频流；所述人脸识别模组基于所述视频流中的至少一张图像进行人脸识别；所述主控芯片响应于人脸识别成功，向车身控制模块发送车门解锁指令。
根据本公开的一方面，提供了一种电子设备，包括：一个或多个处理器；用于存储可执行指令的存储器；其中，所述一个或多个处理器被配置为调用所述存储器存储的可执行指令，以执行上述方法。
根据本公开的一方面，提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。
根据本公开的一方面，提供了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现上述方法。
在本公开实施例中，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离，响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，基于所述视频流中的至少一张图像进行人脸识别，并响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开，由此能够将红外测距传感器作为唤醒源，来唤醒用于人脸解锁车门的图像采集模组，从而既能够解决随身携带车钥匙或者携带手机且必须开启蓝牙的不便利的问题，又能够解决超声波方式的功耗大的问题。其中，红外测距传感器测距精准，且测距速度快，因此能够提高响应速度。另外，红外测距传感器的价格低，且不受环境影响，具有较高的可行性和实用性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，而非限制本公开。
根据下面参考附图对示例性实施例的详细说明，本公开的其它特征及方面将变得清楚。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。
图1示出本公开实施例提供的车门解锁方法的流程图。
图2示出本公开实施例中红外测距传感器的测距原理的示意图。
图3示出本公开实施例提供的车门解锁系统的框图。
图4示出本公开实施例提供的车门解锁装置的框图。
图5示出本公开实施例提供的一种电子设备800的框图。
图6示出本公开实施例提供的一种电子设备1900的框图。
具体实施方式
以下将参考附图详细说明本公开的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中术语“至少一种”表示多种中的任意一种或多种中的至少两种的任意组合，例如，包括A、B、C中的至少一种，可以表示包括从A、B和C构成的集合中选择的任意一个或多个元素。
另外，为了更好地说明本公开，在下文的具体实施方式中给出了众多的具体细节。本领域技术人 员应当理解，没有某些具体细节，本公开同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本公开的主旨。
图1示出本公开实施例提供的车门解锁方法的流程图。所述车门解锁方法的执行主体可以是车门解锁装置。例如，所述车门解锁方法可以由车载设备或其它处理设备执行。在一些可能的实现方式中，所述车门解锁方法可以通过处理器调用存储器中存储的计算机可读指令的方式来实现。如图1所示，所述车门解锁方法包括步骤S11至步骤S14。
在步骤S11中，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离。
在一种可能的实现方式中，所述红外测距传感器可以安装在以下至少一个位置上：所述车的B柱、至少一个车门、至少一个后视镜。本公开实施例中的车门可以包括人进出的车门(例如左前门、右前门、左后门、右后门)，也可以包括车的后备箱门等。
图2示出本公开实施例中红外测距传感器的测距原理的示意图。在本公开实施例中，红外测距传感器的发射器可以按照预先设定的频率发射红外光，当车外有对象(例如用户、行人、障碍物等)靠近红外测距传感器时，红外光会反射回来，被红外测距传感器的接收器接收。根据红外光传播的时间，可以计算出车外的对象到红外测距传感器的距离，例如，车外的对象与红外测距传感器之间的距离＝红外光传播时间/2×光速。红外测距传感器可以将获取的距离发送给主控芯片，主控芯片可以根据从红外测距传感器接收距离的时间保存距离信息，即，主控芯片保存的距离信息可以包括接收时间与距离的对应的关系，从而，根据距离信息，可以确定各个时刻红外测距传感器获取的距离值。其中，主控芯片可以是MCU(MicroController Unit，微控制单元)等。
在本公开实施例中，若车外没有对象，则红外测距传感器的发射器发出的红外光将不会反射回来，在这种情况下，红外测距传感器将测量不到距离值，或者，红外测距传感器获取的距离值为空。在红外测距传感器测量不到距离值或者红外测距传感器获取的距离值为空的情况下，红外测距传感器可以不向主控芯片发送距离信息。
红外测距传感器的功耗较低，通常为uA级别，而超声波雷达的功耗较高，通常为mA级别。因此，与超声波雷达相比，红外测距传感器能够大大降低功耗。与通过蓝牙唤醒摄像头采集图像以进行人脸识别的方式相比，本公开实施例采用红外测距传感器获取车外的对象与所述红外测距传感器之间的距离以唤醒图像采集模组，由此无需用户随身携带具有蓝牙功能的移动终端(例如手机等)，且无需用户在具有蓝牙功能的移动终端进行确认，因此能够改善用户体验。与此同时，红外测距传感器也具有较高的测距精度。
在一种可能的实现方式中，所述通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离，包括：在所述车处于休眠状态或处于休眠且车门未解锁状态时，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离。
在该实现方式中，车的休眠状态可以表示车中除红外测距传感器和主控芯片以外的模块均休眠的状态。在车不处于休眠状态时，车内通常有驾驶员，因此，在车不处于休眠状态时，通常可以由驾驶员操作来控制车门解锁。在该实现方式中，可以仅在所述车处于休眠状态或处于休眠且车门未解锁状态时，通过红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离，而在所述车不处 于休眠状态或处于休眠但车门非未解锁状态时，无需通过红外测距传感器测距，由此能够降低功耗。
当然，在另一种可能的实现方式中，不仅可以在所述车处于休眠状态或处于休眠且车门未解锁状态时，通过红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离，还可以在所述车不处于休眠状态或处于休眠但车门非未解锁状态时，也通过红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离。
在步骤S12中，响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流；或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流。
其中，第二距离阈值可以等于第一距离阈值，也可以不等于第一距离阈值；第二时长阈值可以等于第一时长阈值，也可以不等于第一时长阈值。
在一个示例中，在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，可以指在所述距离小于或等于第二距离阈值的过程中，所述距离维持相同的持续时长达到第二时长阈值。在另一个示例中，在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，可以指所述距离在任一时间段的离散程度小于或等于预设值，该时间段中的距离均小于或等于第二距离阈值，且该时间段的长度大于或等于第二时长阈值。其中，离散程度可以采用标准差或者方差等来衡量，例如，可以将标准差作为离散程度。
在本公开实施例中，主控芯片可以保存距离信息，并且判断距离是否逐渐减小，如果距离逐渐减小，则可以判断距离小于或等于第一距离阈值的持续时长是否达到预先设定的第一时长阈值，或者可以判断距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长是否达到第二时长阈值，若是，则可以判定为有意开门，否则可以判定为无意开门，例如可能是行人路过、障碍物飘过等情况。根据本公开实施例，能够降低在用户无意开门的情况下解锁车门的可能性，从而能够提高车的安全性。
在一种可能的实现方式中，所述响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，包括：响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒设置于所述车的人脸识别模组；经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。在该实现方式中，在满足“所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值”的条件之前，人脸识别模组可以处于休眠状态以保持低功耗运行，从而能够降低刷脸开车门方式的运行功耗。
在一种可能的实现方式中，所述响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流，包括：响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒设置于所述车的人脸识别模组；经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。在该实现方式中，在满足“所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值”的条件之前，人脸识别模组可以处于休眠状态以保持低功耗运行，从而能够降低刷脸开车门方式的运行功耗。
在另一种可能的实现方式中，所述第一距离阈值包括第一预定距离值和第二预定距离值，所述第一预定距离值大于所述第二预定距离值；所述响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，包括：响应于所述距离逐渐减小，且所述距离小于或等于所述第一预定距离值，唤醒设置于所述车的人脸识别模组；响应于所述距离小于或等于所述第二预定距离值的持续时长达到第一时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
其中，第二预定距离值可以为进行人脸识别时用户与车之间的最大允许距离值。第一预定距离值可以根据第二预定距离值与唤醒距离确定，例如，第一预定距离值可以等于第二预定距离值与唤醒距离之和，或者，第一预定距离值可以设置于稍大于第二预定距离值与唤醒距离之和。其中，唤醒距离可以等于人脸识别模组的唤醒时长与平均步行速度的乘积，人脸识别模组的唤醒时长可以表示人脸识别模组由休眠状态转换为工作状态所需的时间长度。
在该实现方式中，在满足“所述距离逐渐减小，且所述距离小于或等于所述第一预定距离值”的条件之前，人脸识别模组可以处于休眠状态以保持低功耗运行，从而能够降低刷脸开车门方式的运行功耗；当满足“所述距离逐渐减小，且所述距离小于或等于所述第一预定距离值”的条件时，唤醒人脸识别模组，由此能够在用户到达车门前，使人脸识别模组处于可工作状态，从而在“所述距离小于或等于所述第二预定距离值的持续时长达到第一时长阈值”，即判定用户到达车门时，图像采集模组采集视频流后能够立即通过已唤醒的人脸识别模组进行人脸识别开车门，而无需在用户到达车门后让用户等待人脸识别模组被唤醒，进而能够提高人脸识别效率，改善用户体验。另外，唤醒过程用户无感知，从而能够进一步提高用户体验。该实现方式中，在满足“所述距离小于或等于所述第二预定距离值的持续时长达到第一时长阈值”的条件之前，图像采集模组可以不采集视频流，由此不仅能够降低功耗，还能够减小车门误解锁的可能性，从而能够提高车门解锁的安全性。因此，该实现方式既能满足低功耗运行的要求，也能满足快速开车门的要求，从而提供了一种能够较好地权衡人脸识别模组功耗节省、用户体验和安全性等各方面的解决方案。
在另一种可能的实现方式中，所述第二距离阈值包括第三预定距离值和第四预定距离值，其中，所述第三预定距离值大于所述第四预定距离值；所述响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流，包括：响应于所述距离逐渐减小，且所述距离小于或等于所述第三预定距离值，唤醒设置于所述车的人脸识别模组；响应于所述距离小于或等于所述第四预定距离值的过程中所述距离维持固定的持续时长达到第二时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
其中，第三预定距离值可以等于第一预定距离值，也可以不等于第一预定距离值；第四预定距离值可以等于第二预定距离值，也可以不等于第二预定距离值。第四预定距离值可以为进行人脸识别时用户与车之间的最大允许距离值。第三预定距离值可以根据第四预定距离值与唤醒距离确定，例如，第三预定距离值可以等于第四预定距离值与唤醒距离之和，或者，第三预定距离值可以设置于稍大于第四预定距离值与唤醒距离之和。
在该实现方式中，在满足“所述距离逐渐减小，且所述距离小于或等于所述第三预定距离值”的条 件之前，人脸识别模组可以处于休眠状态以保持低功耗运行，从而能够降低刷脸开车门方式的运行功耗；当满足“所述距离逐渐减小，且所述距离小于或等于所述第三预定距离值”的条件时，唤醒人脸识别模组，由此能够在用户到达车门前，使人脸识别模组处于可工作状态，从而在“所述距离小于或等于所述第四预定距离值的过程中所述距离维持固定的持续时长达到第二时长阈值”，即判定用户到达车门时，图像采集模组采集视频流后能够立即通过已唤醒的人脸识别模组进行人脸识别开车门，而无需在用户到达车门后让用户等待人脸识别模组被唤醒，进而能够提高人脸识别效率，改善用户体验。另外，唤醒过程用户无感知，从而能够进一步提高用户体验。该实现方式中，在满足“所述距离小于或等于所述第四预定距离值的过程中所述距离维持固定的持续时长达到第二时长阈值”的条件之前，图像采集模组可以不采集视频流，由此不仅能够降低功耗，还能够减小车门误解锁的可能性，从而能够提高车门解锁的安全性。因此，该实现方式既能满足低功耗运行的要求，也能满足快速开车门的要求，从而提供了一种能够较好地权衡人脸识别模组功耗节省、用户体验和安全性等各方面的解决方案。
在本公开实施例中，图像采集模组可以安装在车的室外部，通过控制设置于车的室外部的图像采集模组采集车外的视频流，由此能够基于车外的视频流检测车外的人的上车意图。在一种可能的实现方式中，图像采集模组可以安装在以下至少一个位置上：所述车的B柱、至少一个车门、至少一个后视镜。例如，图像采集模组可以安装在B柱上离地130cm至160cm处，在此不作限定。在一个示例中，图像采集模组可以安装在车的两根B柱和后备箱上。其中，每根B柱上可以安装朝向前排乘车人员(驾驶员或副驾驶员)上车位置的图像采集模组和朝向后排乘车人员上车位置的图像采集模组。
在一种可能的实现方式中，在所述唤醒设置于所述车的人脸识别模组之后，所述方法还包括：若在预设时间内未采集到人脸图像，或者在预设时间内未通过人脸识别，则控制所述人脸识别模组进入休眠状态。该实现方式通过在唤醒人脸识别模组后预设时间内未采集到人脸图像时，控制人脸识别模组进入休眠状态，或者在唤醒人脸识别模组后预设时间内未通过人脸识别时，控制人脸识别模组进入休眠状态，由此能够降低功耗。
在步骤S13中，基于所述视频流中的至少一张图像进行人脸识别。
例如，可以基于所述视频流中的第一图像进行人脸识别，得到人脸识别结果。其中，所述第一图像可以包含人脸的至少一部分。第一图像可以为从视频流中选取的图像，其中，可以通过多种方式从视频流中选取图像。在一个具体例子中，第一图像为从视频流中选取的满足预设质量条件的图像，该预设质量条件可以包括下列中的一种或任意组合：是否包含人脸、人脸是否位于图像的中心区域、人脸是否完整地包含在图像中、人脸在图像中所占比例、人脸的状态(例如人脸角度)、图像清晰度、图像曝光度，等等，本公开实施例对此不做限定。
在一种可能的实现方式中，所述人脸识别包括人脸认证；所述基于所述视频流中的至少一张图像进行人脸识别，包括：基于所述视频流中的至少一张图像和预注册的人脸特征进行人脸认证。在该实现方式中，人脸认证用于提取采集的图像中的人脸特征，将采集的图像中的人脸特征与预注册的人脸特征进行比对，判断是否属于同一个人的人脸特征，例如可以判断采集的图像中的人脸特征是否属于车主或者临时用户(例如车主的朋友或者快递员等)的人脸特征。
在一种可能的实现方式中，所述人脸识别还包括活体检测；所述基于所述视频流中的至少一张图像进行人脸识别，包括：经所述图像采集模组中的深度传感器采集所述视频流中的第一图像对应的第 一深度图；基于所述第一图像和所述第一深度图进行活体检测。在该实现方式中，活体检测用于验证是否是活体，例如可以用于验证是否是人体。其中，第一深度图和第一图像相对应。例如，第一深度图和第一图像分别为深度传感器和图像传感器针对同一场景采集到的，或者，第一深度图和第一图像为深度传感器和图像传感器在同一时刻针对同一目标区域采集到的，但本公开实施例对此不做限定。其中，图像传感器可以为RGB传感器或红外传感器等。深度传感器表示用于采集深度信息的传感器。本公开实施例不对深度传感器的工作原理和工作波段进行限定。例如，深度传感器可以为双目红外传感器、TOF传感器或者结构光传感器等。
在一种可能的实现方式中，所述人脸识别还包括权限认证；所述基于所述视频流中的至少一张图像进行人脸识别，包括：基于所述视频流中的至少一张图像获取所述车外的对象的开门权限信息；基于所述车外的对象的开门权限信息进行权限认证。根据该实现方式，可以为不同的用户设置不同的开门权限信息，从而能够提高车的安全性。
作为该实现方式的一个示例，所述车外的对象的开门权限信息包括以下一项或多项：所述车外的对象具有开门权限的车门的信息、所述车外的对象具有开门权限的时间、所述车外的对象对应的开门权限次数。
例如，所述车外的对象具有开门权限的车门的信息可以为所有车门或者后备箱门。例如，车主或者车主的家人、朋友具有开门权限的车门可以是所有车门，快递员或者物业工作人员具有开门权限的车门可以是后备箱门。其中，车主可以为其他人员设置具有开门权限的车门的信息。
例如，车外的对象具有开门权限的时间可以是所有时间，或者可以是预设时间段。例如，车主或者车主的家人具有开门权限的时间可以是所有时间。车主可以为其他人员设置具有开门权限的时间。例如，在车主的朋友向车主借车的应用场景中，车主可以为朋友设置具有开门权限的时间为两天。又如，在快递员联系车主后，车主可以为快递员设置具有开门权限的时间为2020年1月20日13:00-14:00。
例如，车外的对象对应的开门权限次数可以是不限次数或者有限次数。例如，车主或者车主的家人、朋友对应的开门权限次数可以是不限次数。又如，快递员对应的开门权限次数可以是有限次数，例如1次。
在步骤S14中，响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开。
在一种可能的实现方式中，可以响应于人脸识别成功，控制驾驶座的车门解锁和/或打开。
在另一种可能的实现方式中，可以响应于人脸识别成功，控制采集所述视频流的图像采集模组对应的车门解锁和/或打开，例如，若所述车门的状态信息为未解锁，则控制所述车门解锁或者控制车门解锁并打开；若所述车门的状态信息为已解锁且未打开，则控制所述车门打开，由此能够基于人脸识别自动为用户开车门，而无需用户手动拉开车门，提高用车的便捷性。其中，采集所述视频流的图像采集模组对应的车门可以根据所述图像采集模组的位置确定。例如，若视频流是通过安装在左侧B柱且朝向前排乘车人员上车位置的图像采集模组采集得到的，则采集所述视频流的图像采集模组对应的车门可以是左前门；若视频流是通过安装在左侧B柱且朝向后排乘车人员上车位置的图像采集模组采集得到的，则采集所述视频流的图像采集模组对应的车门可以是左后门；若视频流是通过安装在右侧B柱且朝向前排乘车人员上车位置的图像采集模组采集得到的，则采集所述视频流的图像采集模组对应的车门可以是右前门；若视频流是通过安装在右侧B柱且朝向后排乘车人员上车位置的图像采集 模组采集得到的，则采集所述视频流的图像采集模组对应的车门可以是右后门；若视频流是通过安装在后备箱门上的图像采集模组采集得到的，则采集所述视频流的图像采集模组对应的车门可以是后备箱门。
在一种可能的实现方式中，在所述基于所述视频流中的至少一张图像进行人脸识之后，所述方法还包括：响应于人脸识别失败，激活设置于所述车的密码解锁模块以启动密码解锁流程。在该实现方式中，密码解锁是人脸识别解锁的备选方案。人脸识别失败的原因可以包括活体检测结果为人为假体、人脸认证失败、图像采集失败(例如摄像头故障)和识别次数超过预定次数等中的至少一项。当人不通过人脸识别时，启动密码解锁流程。例如，可以通过B柱上的触摸屏获取用户输入的密码。在一个示例中，在连续输入M次错误的密码后，密码解锁将失效，例如，M等于5。
在一种可能的实现方式中，所述方法还包括：对所述视频流中的至少一张图像进行物体检测，确定车外的对象的物体携带信息；所述响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开，包括：响应于人脸识别成功，且所述物体携带信息为携带物体，控制所述车的至少一车门打开。
其中，车外的对象的物体携带信息可以表示车外的对象携带的物体的信息。例如，物体携带信息可以表示是否携带物体；又如，物体携带信息可以表示携带的物体的类别。
在该实现方式中，可以采用物体检测网络对视频流中的至少一张图像进行物体检测，其中，物体检测网络可以基于深度学习架构。在该实现方式中，可以不对物体检测网络能够识别的物体的类别进行限定，本领域技术人员可以根据实际应用场景需求灵活设置物体检测网络所能够识别的物体的类别。例如，物体检测网络能够识别的物体的类别包括雨伞、拉杆箱、小推车、婴儿车、手提包、购物袋等。通过采用物体检测网络对视频流中的至少一张图像进行物体检测，能够提高物体检测的准确性和速度。
根据该实现方式，在用户不方便开车门(例如用户携带手提包、购物袋、拉杆箱、雨伞等物品)时，自动为用户弹开车门(例如车的左前门、右前门、左后门、右后门、后备箱门)，由此在用户手提物品或者下雨等场景中，能够大大方便用户上车以及向后备箱放置物品。采用该实现方式，在用户接近车辆时，无需刻意做动作(如触摸按钮或做手势)，就能够自动触发人脸识别流程，从而能够自动为用户打开车门，而无需用户腾出手来解锁或打开车门，从而能够提高用户上车以及向后备箱放置物品的体验。
在该实现方式中，可以检测所述视频流中的至少一张图像中人体的边界框，对所述边界框对应的区域进行物体检测，得到物体检测结果，并基于所述物体检测结果，确定车外的对象的物体携带信息。例如，可以检测所述视频流的第一图像中人体的边界框；对所述第一图像中所述边界框对应的区域进行物体检测。其中，所述边界框对应的区域可以表示所述边界框限定的区域。在该实现方式中，通过检测视频流中的至少一张图像中人体的边界框，并对所述边界框对应的区域进行物体检测，由此能够减少视频流中的图像中的背景部分对物体检测产生的干扰，从而能够提高物体检测的准确性。
其中，基于所述物体检测结果，确定车外的对象的物体携带信息，可以包括：若所述物体检测结果为检测到物体，则获取所述物体与所述车外的对象的手部之间的距离；基于所述距离，确定所述车外的对象的物体携带信息。
在一个示例中，若所述距离小于预设距离，则可以确定所述车外的对象的物体携带信息为携带物体。在这个例子中，在确定车外的对象的物体携带信息时，可以仅考虑物体与车外的对象的手部之间 的距离，而无需考虑物体的尺寸。
在另一个示例中，所述基于所述物体检测结果，确定车外的对象的物体携带信息，还可以包括：若所述物体检测结果为检测到物体，则获取所述物体的尺寸；所述基于所述距离，确定所述车外的对象的物体携带信息，包括：基于所述距离和所述尺寸，确定所述车外的对象的物体携带信息。在这个例子中，在确定车外的对象的物体携带信息时，可以同时考虑物体与车外的对象的手部之间的距离以及物体的尺寸。
其中，所述基于所述距离和所述尺寸，确定所述车外的对象的物体携带信息，可以包括：若所述距离小于或等于预设距离，且所述尺寸大于或等于预设尺寸，则确定所述车外的对象的物体携带信息为携带物体。
在该示例中，预设距离可以为0，或者预设距离可以设置为大于0。
在另一个示例中，所述基于所述物体检测结果，确定车外的对象的物体携带信息，可以包括：若所述物体检测结果为检测到物体，则获取所述物体的尺寸；基于所述尺寸，确定车外的对象的物体携带信息。在这个例子中，在确定车外的对象的物体携带信息时，可以仅考虑物体的尺寸，而无需考虑物体与车外的对象的手部之间的距离。例如，若所述尺寸大于预设尺寸，则确定所述车外的对象的物体携带信息为携带物体。
在一种可能的实现方式中，所述方法还包括：对所述视频流中的至少一张图像进行物体检测，确定车外的对象的物体携带信息；所述响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开，包括：响应于人脸识别成功，且所述物体携带信息为携带预设类别的物体，控制所述车的后备箱门打开。其中，预设类别可以表示适合放在后备箱的物体的类别。例如，预设类别可以包括拉杆箱等。根据该实现方式，能够在用户携带预设类别的物体时，自动为用户打开后备箱门，方便其向后备箱放置物体，而无需用户手动打开后备箱门。
在一种可能的实现方式中，所述响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开，可以包括：响应于人脸识别成功，且所述车外的对象不为驾驶员，控制所述车的至少一非驾驶座车门解锁和/或打开。根据该实现方式，能够自动为非驾驶员解锁和/或打开适合其乘坐的座位对应的车门。
在一种可能的实现方式中，可以响应于人脸识别成功，所述车外的对象不为驾驶员，且所述车外的对象携带物体，控制所述车的至少一非驾驶座车门打开。根据该实现方式，能够自动为非驾驶员打开适合其乘坐的座位对应的车门。
在一种可能的实现方式中，控制所述车的至少一车门打开，可以包括：获取所述车门的状态信息；若所述车门的状态信息为未解锁，则控制所述车门解锁并打开；和/或，若所述车门的状态信息为已解锁且未打开，则控制所述车门打开。
其中，所述车门的状态信息可以为未解锁、已解锁且未打开、已打开。在该实现方式中，控制车门打开可以指控制车门弹开，以使用户可以通过自动打开的车门(例如前门或者后门)进入车内，或者可以通过自动打开的车门(例如后备箱门或者后门)放置物品。通过控制车门自动打开，由此在车门解锁后，无需用户手动拉开车门。
在一种可能的实现方式中，所述方法还包括：在满足自动关门条件的情况下，控制所述车门关闭，或者，控制所述车门关闭并上锁。在该实现方式中，通过在满足自动关门条件的情况下，控制所述车 门关闭，或者，控制所述车门关闭并上锁，由此能够提高车的安全。在一个示例中，所述自动关门条件可以包括：车门解锁或打开的时长达到预设时长。
在一种可能的实现方式中，可以通过主控芯片向车身控制模块(BCM，Body Control Model)发送车门解锁指令、打开指令和关闭指令，以对车门进行控制。
在一种可能的实现方式中，所述方法还包括以下一项或两项：根据所述图像采集模组采集的人脸图像进行用户注册；根据第一终端采集或上传的人脸图像进行远程注册，并将注册信息发送到所述车上，其中，所述第一终端为车主对应的终端，所述注册信息包括采集或上传的人脸图像。
在一个示例中，根据图像采集模组采集的人脸图像进行车主注册，包括：在检测到触摸屏上的注册按钮被点击时，请求用户输入密码，在密码验证通过后，启动图像采集模组中的RGB摄像头获取人脸图像，并根据获取的人脸图像进行注册，提取该人脸图像中的人脸特征作为预注册的人脸特征，以在后续人脸认证时基于该预注册的人脸特征进行人脸比对。
在一个示例中，根据第一终端采集或上传的人脸图像进行远程注册，并将注册信息发送到车上，其中，注册信息包括采集或上传的人脸图像。在该示例中，用户(例如车主)可以通过手机App(Application，应用)向TSP(Telematics Service Provider，汽车远程服务提供商)云端发送注册请求，其中，注册请求可以携带第一终端采集或上传的人脸图像，例如，第一终端采集的人脸图像可以是用户自己(车主)的人脸图像，第一终端上传的人脸图像可以是用户自己(车主)、用户的朋友或者快递员等的人脸图像；TSP云端将注册请求发送给车门控制装置的车载T-Box(Telematics Box，远程信息处理器)，车载T-Box根据注册请求激活人脸识别功能，并将注册请求中携带的人脸图像中的人脸特征作为预注册的人脸特征，以在后续人脸认证时基于该预注册的人脸特征进行人脸比对。
作为该实现方式的一个示例，所述第一终端上传的人脸图像包括第二终端向所述第一终端发送的人脸图像，所述第二终端为临时用户对应的终端；所述注册信息还包括所述上传的人脸图像对应的开门权限信息。例如，临时用户可以为快递员等。在该示例中，车主可以为快递员等临时用户设置开门权限信息。
在一种可能的实现方式中，所述方法还包括：获取所述车的乘坐人员调节座椅的信息；根据所述乘坐人员调节座椅的信息，生成或者更新所述乘坐人员对应的座椅偏好信息。其中，所述乘坐人员对应的座椅偏好信息可以反映所述乘坐人员乘坐所述车时调节座椅的偏好信息。在该实现方式中，通过生成或者更新所述乘坐人员对应的座椅偏好信息，由此在所述乘车人员下次乘坐所述车时，能够根据所述乘坐人员对应的座椅偏好信息自动进行座椅调节，以提高所述乘坐人员的乘车体验。
在一种可能的实现方式中，所述根据所述乘坐人员调节座椅的信息，生成或者更新所述乘坐人员对应的座椅偏好信息，包括：根据所述乘坐人员落座的座椅的位置信息，以及所述乘坐人员调节座椅的信息，生成或者更新所述乘坐人员对应的座椅偏好信息。在该实现方式中，所述乘坐人员对应的座椅偏好信息不仅可以与所述乘坐人员调节座椅的信息相关联，还可以与所述乘坐人员落座的座椅的位置信息相关联，即，可以为乘车人员记录不同位置的座椅对应的座椅偏好信息，从而能够提高进一步提高用户的乘车体验。
在一种可能的实现方式中，所述方法还包括：基于人脸识别结果，获取乘车人员对应的座椅偏好信息；根据所述乘车人员对应的座椅偏好信息，对所述乘车人员落座的座椅进行调节。在该实现方式 中，通过根据所述乘车人员对应的座椅偏好信息，自动为乘车人员调节座椅信息，而无需乘车人员手动调节，从而能够提高乘车人员驾车或乘车的体验。
在一个示例中，可以调节座椅的高低、前后、靠背和温度等中的一项或多项。
作为该实现方式的一个示例，可以确定所述乘车人员落座的座椅的位置信息；根据所述乘车人员落座的座椅的位置信息，以及所述乘车人员对应的座椅偏好信息，对所述乘车人员落座的座椅进行调节。在该示例中，通过根据所述乘车人员落座的座椅的位置信息，以及所述乘车人员对应的座椅偏好信息，自动为乘车人员调节座椅信息，而无需乘车人员手动调节，从而能够提高乘车人员驾车或乘车的体验。
在其他可能的实现方式中，还可以基于所述人脸识别结果，获取乘车人员对应的其他个性化信息，例如灯光信息、温度信息、空调风力信息、音乐信息等，并根据获取的个性化信息进行自动设置。
在本公开实施例中，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离，响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，基于所述视频流中的至少一张图像进行人脸识别，并响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开，由此能够将红外测距传感器作为唤醒源，来唤醒用于人脸解锁车门的图像采集模组，从而既能够解决随身携带车钥匙或者携带手机且必须开启蓝牙的不便利的问题，又能够解决超声波方式的功耗大的问题。其中，红外测距传感器测距精准，且测距速度快，因此能够提高响应速度。另外，红外测距传感器的价格低，且不受环境影响，具有较高的可行性和实用性。
可以理解，本公开提及的上述各个方法实施例，在不违背原理逻辑的情况下，均可以彼此相互结合形成结合后的实施例，限于篇幅，本公开不再赘述。
本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的撰写顺序并不意味着严格的执行顺序而对实施过程构成任何限定，各步骤的具体执行顺序应当以其功能和可能的内在逻辑确定。
此外，本公开还提供了车门解锁装置、系统、电子设备、计算机可读存储介质、程序，上述均可用来实现本公开提供的任一种车门解锁方法，相应技术方案和描述和参见方法部分的相应记载，不再赘述。
图3示出本公开实施例提供的车门解锁系统的框图。如图3所示，所述车门解锁系统包括红外测距传感器31、主控芯片32、人脸识别模组33和图像采集模组34；所述主控芯片32分别与所述红外测距传感器31和所述人脸识别模组33连接，所述图像采集模组34与所述人脸识别模组33连接；所述红外测距传感器31用于持续获取车外的对象与所述红外测距传感器31之间的距离；所述主控芯片32响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒所述人脸识别模组33，并通过所述人脸识别模组33唤醒所述图像采集模组34；所述图像采集模组34用于采集视频流；所述人脸识别模组33基于所述视频流中的至少一张图像进行人脸识别；所述主控芯片32响应于人脸识别成功，向车身控制模块发送车门解锁指令。
图4示出本公开实施例提供的车门解锁装置的框图。如图4所示，所述车门解锁装置包括：获取模 块41，用于通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离；唤醒模块42，用于响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流；或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流；人脸识别模块43，用于基于所述视频流中的至少一张图像进行人脸识别；控制模块44，用于响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开。
在一种可能的实现方式中，所述获取模块41用于：在所述车处于休眠状态或处于休眠且车门未解锁状态时，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离。
在一种可能的实现方式中，所述唤醒模块42用于：响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒设置于所述车的人脸识别模组；经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒设置于所述车的人脸识别模组；经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
在一种可能的实现方式中，所述第一距离阈值包括第一预定距离值和第二预定距离值，所述第一预定距离值大于所述第二预定距离值；所述唤醒模块42用于：响应于所述距离逐渐减小，且所述距离小于或等于所述第一预定距离值，唤醒设置于所述车的人脸识别模组；响应于所述距离小于或等于所述第二预定距离值的持续时长达到第一时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；或者，所述第二距离阈值包括第三预定距离值和第四预定距离值，其中，所述第三预定距离值大于所述第四预定距离值；所述唤醒模块42用于：响应于所述距离逐渐减小，且所述距离小于或等于所述第三预定距离值，唤醒设置于所述车的人脸识别模组；响应于所述距离小于或等于所述第四预定距离值的过程中所述距离维持固定的持续时长达到第二时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
在一种可能的实现方式中，所述装置还包括：休眠模块，用于若在预设时间内未采集到人脸图像，或者在预设时间内未通过人脸识别，则控制所述人脸识别模组进入休眠状态。
在本公开实施例中，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离，响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，基于所述视频流中的至少一张图像进行人脸识别，并响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开，由此能够将红外测距传感器作为唤醒源，来唤醒用于人脸解锁车门的图像采集模组，从而既能够解决随身携带车钥匙或者携带手机且必须开启蓝牙的不便利的问题，又能够解决超声波方式的功耗大的问题。其中，红外测距传感器测距精准，且测距速度快，因此能够提高响应速度。另外，红外测距传感器的价格低，且不受环境影响，具有较高的可行性和实用性。
在一些实施例中，本公开实施例提供的装置具有的功能或包含的模块可以用于执行上文方法实施例描述的方法，其具体实现可以参照上文方法实施例的描述，为了简洁，这里不再赘述。
本公开实施例还提供一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。其中，所述计算机可读存储介质可以是非易失性计算机可读存储介质，或者可以是易失性计算机可读存储介质。
本公开实施例还提出一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现上述方法。
本公开实施例还提供了另一种计算机程序产品，用于存储计算机可读指令，指令被执行时使得计算机执行上述任一实施例提供的车门解锁方法的操作。
本公开实施例还提供一种电子设备，包括：一个或多个处理器；用于存储可执行指令的存储器；其中，所述一个或多个处理器被配置为调用所述存储器存储的可执行指令，以执行上述方法。
电子设备可以被提供为终端、服务器或其它形态的设备。例如，所述终端可以是车载设备或其它处理设备。
图5示出本公开实施例提供的一种电子设备800的框图。例如，电子设备800可以是车载设备，移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等终端。
参照图5，电子设备800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，多媒体组件808，音频组件810，输入/输出(I/O)的接口812，传感器组件814，以及通信组件816。
处理组件802通常控制电子设备800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。
存储器804被配置为存储各种类型的数据以支持在电子设备800的操作。这些数据的示例包括用于在电子设备800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件806为电子设备800的各种组件提供电力。电源组件806可以包括电源管理系统，一个或多个电源，及其他与为电子设备800生成、管理和分配电力相关联的组件。
多媒体组件808包括在所述电子设备800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当电子设备800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当 电子设备800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。
I/O接口812为处理组件802和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件814包括一个或多个传感器，用于为电子设备800提供各个方面的状态评估。例如，传感器组件814可以检测到电子设备800的打开/关闭状态，组件的相对定位，例如所述组件为电子设备800的显示器和小键盘，传感器组件814还可以检测电子设备800或电子设备800一个组件的位置改变，用户与电子设备800接触的存在或不存在，电子设备800方位或加速/减速和电子设备800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件816被配置为便于电子设备800和其他设备之间有线或无线方式的通信。电子设备800可以接入基于通信标准的无线网络，如Wi-Fi、2G、3G、4G/LTE、5G或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，电子设备800可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器804，上述计算机程序指令可由电子设备800的处理器820执行以完成上述方法。
图6示出本公开实施例提供的一种电子设备1900的框图。例如，电子设备1900可以被提供为一服务器。参照图6，电子设备1900包括处理组件1922，其进一步包括一个或多个处理器，以及由存储器1932所代表的存储器资源，用于存储可由处理组件1922的执行的指令，例如应用程序。存储器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理组件1922被配置为执行指令，以执行上述方法。
电子设备1900还可以包括一个电源组件1926被配置为执行电子设备1900的电源管理，一个有线或无线网络接口1950被配置为将电子设备1900连接到网络，和一个输入输出(I/O)接口1958。电子设备1900可以操作基于存储在存储器1932的操作系统，例如Windows
Figure PCTCN2020134272-appb-000001
Mac OS
Figure PCTCN2020134272-appb-000002
Figure PCTCN2020134272-appb-000003
或类似。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器1932，上述计算机程序指令可由电子设备1900的处理组件1922执行以完成上述方法。
本公开可以是系统、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质， 其上载有用于使处理器实现本公开的各个方面的计算机可读程序指令。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。
这里参照根据本公开实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本公开的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从 而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本公开的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
该计算机程序产品可以具体通过硬件、软件或其结合的方式实现。在一个可选实施例中，所述计算机程序产品具体体现为计算机存储介质，在另一个可选实施例中，计算机程序产品具体体现为软件产品，例如软件开发包(Software Development Kit，SDK)等等。
以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (11)

  1. 一种车门解锁方法，其特征在于，包括：
    通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离；
    响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流；或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流；
    基于所述视频流中的至少一张图像进行人脸识别；
    响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开。
  2. 根据权利要求1所述的方法，其特征在于，所述通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离，包括：
    在所述车处于休眠状态或处于休眠且车门未解锁状态时，通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离。
  3. 根据权利要求1或2所述的方法，其特征在于，
    所述响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，包括：
    响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒设置于所述车的人脸识别模组；
    经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；
    或者，
    所述响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流，包括：
    响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒设置于所述车的人脸识别模组；
    经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
  4. 根据权利要求1或2所述的方法，其特征在于，所述第一距离阈值包括第一预定距离值和第二预定距离值，所述第一预定距离值大于所述第二预定距离值；
    所述响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流，包括：
    响应于所述距离逐渐减小，且所述距离小于或等于所述第一预定距离值，唤醒设置于所述车的人脸识别模组；
    响应于所述距离小于或等于所述第二预定距离值的持续时长达到第一时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；
    或者，
    所述第二距离阈值包括第三预定距离值和第四预定距离值，其中，所述第三预定距离值大于所述第四预定距离值；
    所述响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流，包括：
    响应于所述距离逐渐减小，且所述距离小于或等于所述第三预定距离值，唤醒设置于所述车的人脸识别模组；
    响应于所述距离小于或等于所述第四预定距离值的过程中所述距离维持固定的持续时长达到第二时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
  5. 根据权利要求3或4所述的方法，其特征在于，在所述唤醒设置于所述车的人脸识别模组之后，所述方法还包括：
    若在预设时间内未采集到人脸图像，或者在预设时间内未通过人脸识别，则控制所述人脸识别模组进入休眠状态。
  6. 一种车门解锁装置，其特征在于，包括：
    获取模块，用于通过设置于车的室外部的红外测距传感器持续获取车外的对象与所述红外测距传感器之间的距离；
    唤醒模块，用于响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，唤醒并控制设置于所述车的图像采集模组采集视频流；或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒并控制所述图像采集模组采集视频流；
    人脸识别模块，用于基于所述视频流中的至少一张图像进行人脸识别；
    控制模块，用于响应于人脸识别成功，控制所述车的至少一车门解锁和/或打开。
  7. 根据权利要求6所述的装置，其特征在于，所述第一距离阈值包括第一预定距离值和第二预定距离值，所述第一预定距离值大于所述第二预定距离值；
    所述唤醒模块用于：
    响应于所述距离逐渐减小，且所述距离小于或等于所述第一预定距离值，唤醒设置于所述车的人脸识别模组；
    响应于所述距离小于或等于所述第二预定距离值的持续时长达到第一时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流；
    或者，
    所述第二距离阈值包括第三预定距离值和第四预定距离值，其中，所述第三预定距离值大于所述第四预定距离值；
    所述唤醒模块用于：
    响应于所述距离逐渐减小，且所述距离小于或等于所述第三预定距离值，唤醒设置于所述车的人脸识别模组；
    响应于所述距离小于或等于所述第四预定距离值的过程中所述距离维持固定的持续时长达到第二时长阈值，经唤醒的所述人脸识别模组控制所述图像采集模组采集视频流。
  8. 一种车门解锁系统，其特征在于，包括红外测距传感器、主控芯片、人脸识别模组和图像采集模组；所述主控芯片分别与所述红外测距传感器和所述人脸识别模组连接，所述图像采集模组与所 述人脸识别模组连接；所述红外测距传感器用于持续获取车外的对象与所述红外测距传感器之间的距离；所述主控芯片响应于所述距离逐渐减小，且所述距离小于或等于第一距离阈值的持续时长达到第一时长阈值，或者，响应于所述距离逐渐减小，且在所述距离小于或等于第二距离阈值的过程中所述距离维持固定的持续时长达到第二时长阈值，唤醒所述人脸识别模组，并通过所述人脸识别模组唤醒所述图像采集模组；所述图像采集模组用于采集视频流；所述人脸识别模组基于所述视频流中的至少一张图像进行人脸识别；所述主控芯片响应于人脸识别成功，向车身控制模块发送车门解锁指令。
  9. 一种电子设备，其特征在于，包括：
    一个或多个处理器；
    用于存储可执行指令的存储器；
    其中，所述一个或多个处理器被配置为调用所述存储器存储的可执行指令，以执行权利要求1至5中任意一项所述的方法。
  10. 一种计算机可读存储介质，其上存储有计算机程序指令，其特征在于，所述计算机程序指令被处理器执行时实现权利要求1至5中任意一项所述的方法。
  11. 一种计算机程序，包括计算机可读代码，其特征在于，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现权利要求1至5中的任一权利要求所述的方法。
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