WO2021212860A1 - 车门控制方法、车辆、系统、电子设备和存储介质 - Google Patents

车门控制方法、车辆、系统、电子设备和存储介质 Download PDF

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Publication number
WO2021212860A1
WO2021212860A1 PCT/CN2020/134304 CN2020134304W WO2021212860A1 WO 2021212860 A1 WO2021212860 A1 WO 2021212860A1 CN 2020134304 W CN2020134304 W CN 2020134304W WO 2021212860 A1 WO2021212860 A1 WO 2021212860A1
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WIPO (PCT)
Prior art keywords
vehicle
control unit
micro
processing chip
distance
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PCT/CN2020/134304
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English (en)
French (fr)
Inventor
周群艳
黎建平
黄程
曾珊优
李轲
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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Priority to KR1020217038721A priority Critical patent/KR20220002519A/ko
Priority to JP2021556981A priority patent/JP2022533885A/ja
Publication of WO2021212860A1 publication Critical patent/WO2021212860A1/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
    • B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
    • 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
    • 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
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/06—Physical realisation, i.e. hardware implementation of neural networks, neurons or parts of neurons
    • G06N3/063—Physical realisation, i.e. hardware implementation of neural networks, neurons or parts of neurons using electronic means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/20—Processor architectures; Processor configuration, e.g. pipelining
    • 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 vehicle door control method, vehicle, system, electronic device, and storage medium.
  • PEPS Passive Entry Passive Start, keyless entry and start
  • Its working principle is: 1. Bring the car key to the car (the car key must have electricity), when you press the car button or pull the door handle When the time, the car will receive the ignition signal or unlock signal, and send the signal to the low-frequency antenna; 2. After the low-frequency antenna receives the ignition signal or unlock signal, it will send a low-frequency trigger signal to the car key; 3. The car key receives the low-frequency trigger signal After that, a high-frequency unlocking signal is sent out; 4. The high-frequency receiver receives a high-frequency unlocking signal, and the entire vehicle is unlocked or ignited.
  • Door control technology is of great significance to users' cars.
  • the present disclosure provides a technical solution for vehicle door control.
  • a vehicle door control method is provided, the method is applied to a vehicle, the vehicle includes a vehicle body, a cabin domain controller, and a camera installed outside the cabin, the cabin domain controller It includes a video processing chip and a micro control unit that are connected to each other, the video processing chip is also connected to the camera, and the micro control unit is also connected to the vehicle body.
  • the method includes:
  • the video processing chip performs face recognition according to at least one image in the video stream to obtain a face recognition result of an object outside the cabin;
  • the video processing chip In response to the face recognition result being that the face recognition is successful, the video processing chip generates a door unlocking instruction and/or a door opening instruction, and sends the door unlocking instruction and/or the door opening instruction to the micro controller unit;
  • the micro-control unit controls the vehicle body to unlock the vehicle door and/or open the vehicle door according to the vehicle door unlocking instruction and/or the vehicle door opening instruction.
  • a vehicle includes a vehicle body, a cabin domain controller, and a camera installed outside the cabin, and the cabin domain controller includes a video processing chip and a microcomputer connected to each other.
  • a control unit, the video processing chip is also connected to the camera, and the micro control unit is also connected to the vehicle body;
  • the video processing chip is configured to: control the camera to collect a video stream; perform face recognition according to at least one image in the video stream to obtain a face recognition result of an object outside the cabin; and respond to the face
  • the recognition result is that the face recognition is successful, generating a door unlocking instruction and/or a door opening instruction, and sending the door unlocking instruction and/or the door opening instruction to the micro control unit;
  • the micro control unit is used to control the vehicle body to unlock and/or open the vehicle door according to the vehicle door unlocking instruction and/or the vehicle door opening instruction.
  • a vehicle door control system including a vehicle, a user terminal, and a server.
  • the vehicle includes a vehicle body, a vehicle cabin domain controller, a camera installed outside the vehicle cabin, and a telematics processor,
  • the cabin domain controller includes a video processing chip and a micro control unit connected to each other.
  • the video processing chip is also connected to the camera and the telematics processor, respectively, and the micro control unit is also connected to the vehicle body.
  • the server is connected to the telematics processor and the user terminal respectively;
  • the user terminal is configured to register the facial image and/or facial features of the user of the vehicle with the server;
  • the telematics processor is configured to obtain the facial image and/or facial features of the user of the vehicle from the server;
  • the video processing chip is configured to perform face recognition based on at least one image in the video stream collected by the camera and the facial image and/or facial features of the user of the vehicle to obtain an object outside the cabin According to the face recognition result, in response to the face recognition result being successful, a door unlocking instruction and/or a door opening instruction are generated, and the door unlocking instruction and/or the door opening instruction are sent to the micro control unit;
  • the micro control unit is configured to control the vehicle body to unlock and/or open the vehicle door according to the vehicle door unlocking instruction and/or the vehicle door opening instruction.
  • 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 video processing chip by controlling the camera to collect a video stream, the video processing chip performs face recognition based on at least one image in the video stream to obtain the face recognition result of the object outside the cabin, and the video processing chip
  • a door unlocking instruction and/or a door opening instruction are generated, and the door unlocking instruction and/or the door opening instruction are sent to the micro-control unit, and the micro-control unit is based on the door unlocking instruction And/or the vehicle door opening instruction is used to control the vehicle body to unlock the vehicle door and/or open the vehicle door, thereby achieving a face-sweeping driving door.
  • Fig. 1 shows a flowchart of a vehicle door control method 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 schematic diagram of a capacitor circuit provided by an embodiment of the present disclosure.
  • Fig. 4 shows a block diagram of a vehicle door control system provided by an embodiment of the present disclosure.
  • Fig. 5 shows a block diagram of a vehicle provided by an embodiment of the present disclosure.
  • FIG. 6 shows a block diagram of an electronic device 800 provided by an embodiment of the present disclosure.
  • FIG. 7 shows a block diagram of an electronic device 1900 provided by an embodiment of the present disclosure.
  • Fig. 1 shows a flowchart of a vehicle door control method provided by an embodiment of the present disclosure.
  • the execution subject of the vehicle door control method may be a vehicle door control device.
  • the vehicle door control method may be executed by an in-vehicle device or other processing device.
  • the door control method is applied to a vehicle.
  • the vehicle includes a vehicle body, a cabin domain controller, and a camera installed outside the cabin.
  • the cabin domain controller includes a video processing chip and a micro-control unit (MicroController) connected to each other. Unit, MCU), the video processing chip is also connected to the camera, and the micro control unit is also connected to the vehicle body.
  • the vehicle door control method may be implemented by a processor calling computer-readable instructions stored in a memory. As shown in Fig. 1, the vehicle door control method includes steps S11 to S14.
  • step S11 the camera is controlled to collect a video stream.
  • the micro-control unit may monitor the wake-up signal, and in response to detecting the wake-up signal, wake up the video processing chip, so that the video processing chip controls the camera to collect the video stream.
  • the wake-up signal may be a distance sensing signal from a distance sensor, or the wake-up signal may be a trigger action signal from a micro switch.
  • the vehicle further includes: a micro switch connected to the micro control unit; the controlling the camera to collect a video stream includes: the micro control unit responds to the micro control unit When the switch is touched, the video processing chip in the dormant state is awakened; the video processing chip after the awakening controls the camera to collect the video stream.
  • the micro switch is installed in at least one of the following positions: a door handle of at least one vehicle door, and a B-pillar of the vehicle.
  • the micro switch when it detects that it is touched, it can send a trigger action signal to the micro control unit.
  • the micro control unit may wake up the video processing chip in response to the trigger action signal.
  • the video processing chip may be in a sleep state to maintain low-power operation, so that the operating power consumption of the way of brushing the face and opening the door can be reduced.
  • the vehicle further includes: a distance sensor connected to the micro-control unit; the controlling the camera to collect a video stream includes: the micro-control unit controls the distance sensor to continuously obtain The distance between the object outside the cabin and the distance sensor; the micro-control unit wakes up the video processing chip in the dormant state in response to the distance sensor detecting that a person is approaching the vehicle; the wake-up The video processing chip controls the camera to collect video streams.
  • the distance sensor is installed in at least one of the following positions: a B-pillar of the vehicle, at least one door, at least one rearview mirror, and a cabin of the vehicle.
  • the video processing chip may be in a dormant state to maintain low-power operation, so that the operating power consumption of the way of brushing the face and driving the door can be reduced.
  • the distance sensor includes an infrared distance measuring sensor, which is connected to the micro-control unit.
  • the infrared ranging sensor can be used as a wake-up source.
  • the infrared ranging sensor By using the infrared ranging sensor as a wake-up source to wake up the camera used to unlock the door of the car, it can not only solve the inconvenience of carrying car keys or mobile phones and having to turn on Bluetooth, but also solve the power consumption of ultrasound Big problem.
  • 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 is not affected by the environment, so it has high feasibility and practicability.
  • the infrared distance measuring sensor can 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 vehicle door in the embodiment of the present disclosure may include a vehicle door through which people enter and exit (for example, the left front door, the right front door, the left rear door, and the right rear door), and may also include the 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 211 of the infrared ranging sensor 21 can emit infrared light at a preset frequency, when an object 22 (such as a user, pedestrian, obstacle, etc.) is close to the infrared ranging sensor 21 outside the cabin. At this time, the infrared light will be reflected back and received by the receiver 212 of the infrared ranging sensor 21. According to the propagation time of the infrared light, the distance from the object 22 outside the cabin to the infrared distance measuring sensor 21 can be calculated.
  • the distance between the object 22 outside the cabin and the infrared distance measuring sensor 21 infrared light propagation time/2 ⁇ The speed of light.
  • the infrared distance measuring sensor 21 can send the acquired distance to the micro control unit, and the micro control unit can store the distance information according to the time of receiving the distance from the infrared distance measuring sensor 21, that is, the distance information stored by the micro control unit can include the receiving time and the distance. Therefore, according to the distance information, the distance value acquired by the infrared ranging sensor 21 at each time can be determined.
  • the infrared distance measuring sensor may not send the distance information to the micro control unit.
  • 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.
  • this example uses an infrared ranging sensor to obtain the distance between the object outside the cabin and the infrared ranging sensor to wake up the video processing chip, thereby eliminating the need for the user to carry a Bluetooth-enabled mobile terminal (Such as mobile phones, etc.), and does not require the user to confirm on a mobile terminal with Bluetooth function, so the user experience can be improved.
  • infrared ranging sensors also have high ranging accuracy.
  • the micro-control unit controlling the distance sensor to continuously obtain the distance between the object outside the cabin and the distance sensor includes: the micro-control unit is in a sleep state or the vehicle is in a sleep state. When the vehicle is in a dormant state and the door is not unlocked, the distance sensor is controlled to continuously obtain the distance between the object outside the vehicle cabin and the distance sensor.
  • the sleep state of the vehicle may indicate a state in which all modules in the vehicle except the micro control unit and the distance sensor and/or the micro switch are in sleep.
  • the driver can usually control the door to unlock.
  • the distance between an object outside the cabin and the distance sensor can be continuously acquired through the distance sensor only when the vehicle is in a dormant state or in a dormant state and the door is not unlocked.
  • the distance sensor does not need to be used for distance measurement, thereby reducing power consumption.
  • the micro control unit wakes up the video processing chip in the dormant state in response to the distance sensor detecting that the person is approaching the vehicle, including: the micro control unit responds to the distance Gradually decrease, and the duration of the distance less than or equal to the first distance threshold reaches the first time threshold, and the video processing chip in the dormant state is awakened.
  • the micro-control unit can save the distance information, and determine whether the distance is gradually decreasing, and if the distance is gradually decreasing, it can determine whether the duration of the distance less than or equal to the first distance threshold reaches the preset first duration
  • the threshold value if it is, can be judged as intentional opening of the door, otherwise it can be judged as unintentional opening, such as pedestrians passing by, obstacles drifting by, etc. According to this example, it is possible to reduce the possibility of unlocking the door of the vehicle when the user unintentionally opens the door, and thereby it is possible to improve the safety of the vehicle.
  • the micro control unit wakes up the video processing chip in the dormant state in response to the distance sensor detecting that the person is approaching the vehicle, including: the micro control unit responds to the distance When the distance is gradually reduced, and the distance is maintained for a fixed duration when the distance is less than or equal to the second distance threshold, and the second time length threshold is reached, the video processing chip in the dormant state is awakened.
  • 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 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 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 micro-control unit can save the distance information, and determine whether the distance is gradually decreasing, and if the distance is gradually decreasing, it can determine whether the distance is maintained for a fixed duration while the distance is less than or equal to the second distance threshold.
  • the second duration threshold is reached, if it is, it can be judged as an intentional opening, otherwise it can be judged as an unintentional opening, such as a pedestrian passing by, an obstacle drifting by, and so on. According to this example, it is possible to reduce the possibility of unlocking the door of the vehicle when the user unintentionally opens the door, and thereby it is possible to improve the safety of the vehicle.
  • the micro-control unit wakes up the video processing chip in the dormant state in response to detecting that a person is approaching the vehicle, including: the micro-control unit responds to the gradually decreasing distance, And the distance is less than or equal to the third distance threshold, wake up the video processing chip in the dormant state; the video processing chip after the wake-up controls the camera to collect the video stream, including: the video processing after the wake-up The chip controls the camera to collect a video stream in response to the duration of the distance being less than or equal to the fourth distance threshold reaching the third time threshold, where the fourth distance threshold is less than the third distance threshold.
  • the fourth distance threshold may be the maximum allowable distance between the user and the vehicle when performing face recognition.
  • the third distance threshold may be determined according to the fourth distance threshold and the wake-up distance.
  • the third distance threshold may be equal to the sum of the fourth distance threshold and the wake-up distance, or the third distance threshold may be set slightly larger than the fourth distance threshold and the wake-up distance.
  • the wake-up distance may be equal to the product of the wake-up duration of the video processing chip and the average walking speed, and the wake-up duration of the video processing chip may represent the length of time required for the video processing chip to switch from a sleep state to a working state.
  • the video processing chip before the condition that “the distance is gradually reduced, and the distance is less than or equal to the third distance threshold” is satisfied, the video processing chip can be in a sleep state to maintain low-power operation, which can 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 distance threshold” is satisfied, the micro-control unit wakes up the video processing chip, which can Before the user arrives at the car door, make the video processing chip in a working state, so that when "the duration of the distance less than or equal to the fourth distance threshold reaches the third time threshold", that is, when it is determined that the user arrives at the car door, the camera collects the video stream After that, the awakened video processing chip can be used to recognize the face of the car door immediately, without the user having to wait for the video processing chip to be awakened after the user arrives at the door, thereby improving the efficiency of face recognition and improving the user experience.
  • the user has no perception during the wake-up process, which can further improve the user experience.
  • the camera may not collect video streams, which can not only reduce power consumption, but also reduce power consumption.
  • the possibility of accidental unlocking of the small car door can improve the safety of unlocking the car door. Therefore, this example can not only meet the requirements of low-power operation, but also meet the requirements of fast opening doors, thereby providing a solution that can better weigh the power saving of the video processing chip, user experience, and security. plan.
  • the micro-control unit wakes up the video processing chip in the dormant state in response to detecting that a person is approaching the vehicle, including: the micro-control unit responds to the gradually decreasing distance, And the distance is less than or equal to the fifth distance threshold, wake up the video processing chip in the dormant state; the video processing chip after the wake-up controls the camera to collect the video stream, including: the video processing after the wake-up The chip controls the camera to collect a video stream in response to the distance being less than or equal to the sixth distance threshold for a fixed duration of the distance reaching the fourth time threshold, wherein the sixth distance threshold is less than the first distance threshold. Five distance thresholds.
  • the fifth distance threshold may be equal to or not equal to the third distance threshold; the sixth distance threshold may be equal to or not equal to the fourth distance threshold.
  • the sixth distance threshold may be the maximum allowable distance between the user and the car when performing face recognition.
  • the fifth distance threshold may be determined according to the sixth distance threshold and the wake-up distance.
  • the fifth distance threshold may be equal to the sum of the sixth distance threshold and the wake-up distance, or the fifth distance threshold may be set slightly larger than the sixth distance threshold and the wake-up distance. The sum of distances.
  • the video processing chip before the condition that “the distance is gradually reduced, and the distance is less than or equal to the fifth distance threshold” is satisfied, the video processing chip can be in a dormant state to maintain low-power operation, thereby being able 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 fifth distance threshold" is met, the video processing chip is awakened, so that the user can reach the door Before, the video processing chip is put in a working state, so that “the distance is maintained for a fixed duration in the process when the distance is less than or equal to the sixth distance threshold reaches the fourth time threshold”, that is, it is determined when the user arrives at the door After the camera collects the video stream, it can immediately perform face recognition on the car door through the awakened video processing chip, without requiring the user to wait for the video processing chip to be awakened after the user arrives at the door, thereby improving the efficiency of face recognition and improving the user experience.
  • the user has no perception during the wake-up process, which can further improve the user experience.
  • the camera may not collect a video stream until the condition that "the distance remains fixed for a duration in the process when the distance is less than or equal to the sixth distance threshold reaches the fourth time threshold" is satisfied.
  • the power consumption can be reduced, and the possibility of unlocking the door by mistake can also be reduced, so that the safety of unlocking the door can be improved. Therefore, this example can not only meet the requirements of low-power operation, but also meet the requirements of fast opening doors, thereby providing a solution that can better weigh the power saving of the video processing chip, user experience, and security. plan.
  • the camera may be installed outside the vehicle cabin, and by controlling the camera installed outside the vehicle cabin to collect the video stream outside the cabin, it is possible to detect people outside the cabin based on the video stream outside the cabin.
  • the camera 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 camera can be installed 130 cm to 160 cm above the ground on the B-pillar, which is not limited here.
  • the camera may be installed on the two B-pillars and the trunk of the vehicle.
  • each B-pillar can be equipped with a camera facing the front passenger (driver or co-driver) boarding position and a camera facing the rear passenger boarding position.
  • the method further includes: if the face image is not collected within a preset time, or if the face image is not collected within a preset time, Through face recognition, the video processing chip is controlled to enter a sleep state.
  • This implementation method controls the video processing chip to enter the dormant state when the face image is not collected within a preset time after waking up the video processing chip, or controlling the video when the face recognition is not passed within the preset time after waking up the video processing chip
  • the processing chip enters a sleep state, which can reduce power consumption.
  • step S12 the video processing chip performs face recognition according to at least one image in the video stream to obtain a face recognition result of an object outside the cabin.
  • the camera can send the collected video stream to the video processing chip, and the video processing chip can perform face recognition based on at least one image in the video stream to obtain the face recognition of the object outside the cabin result.
  • the face recognition includes face authentication; the video processing chip performs face recognition according to at least one image in the video stream, including: the video processing chip performs face recognition according to the video stream At least one image in and pre-registered facial features are used for face authentication.
  • the pre-registered facial features may include facial features of the owner and/or borrower of the vehicle.
  • 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 vehicle owner or the borrower's facial features.
  • the camera may include a ToF (Time of Flight) camera
  • the face recognition may include living body detection, so that the image collected by the ToF camera may be used to realize 3D (3Dimensions).
  • Face recognition improve the security of face recognition.
  • the method further includes: obtaining from a server or a terminal of the vehicle owner The facial image and/or facial features of the owner and/or borrower of the vehicle, wherein the facial image and/or facial features of the owner and/or the borrower pass through the terminal of the owner of the vehicle in advance Added to the user information of the vehicle, and/or, the facial image and/or facial features of the borrower are registered with the server through the terminal of the borrower of the vehicle in advance; the video processing The chip performs face recognition based on at least one image in the video stream, including: based on at least one image in the video stream and the face image and/or face of the owner and/or borrower of the vehicle Features for face recognition.
  • the owner of the vehicle can log in to the system through a terminal App (Application). After the login is successful, the owner can manage the information of the user of the vehicle (for example, add, delete, query, and authority management). Etc.), wherein the user of the vehicle may include the owner of the vehicle and or the borrower of the vehicle. Accordingly, the information of the user of the vehicle may include the information of the owner and/or the Information about the borrower of the vehicle.
  • the server can upload the borrower’s face image and/or the face extracted from the face image
  • the features are sent to the on-board T-Box (Telematics Box, telematics processor), and the on-board T-Box can use the facial features in the face image as pre-registered facial features to be based on the pre-registration in subsequent face authentication Compare the facial features of.
  • the terminal of the vehicle owner may communicate with the domain controller in a wired or wireless manner, and import the facial image of the borrowed person and/or the facial features extracted from the facial image to the domain controller.
  • the borrower of the shared vehicle can log in to the system through the terminal App. After the login is successful, the borrower of the shared vehicle can select a car and register through the face to obtain the right to use.
  • the server can manage user accounts and passwords, allowing users to log in with the correct accounts and passwords, thereby managing user logins.
  • the back-end database of the server can manage the storage of user information (including facial images and/or facial features, as well as permission information of borrowers).
  • the server can also realize the storage, query, addition, deletion and permission setting of the user information of the vehicle according to the user's instructions. According to this implementation manner, information management of the user of the vehicle can be realized, so that when the vehicle owner and/or borrower subsequently uses the vehicle, the vehicle door can be unlocked through the face of the vehicle.
  • the server may be a TSP (Telematics Service Provider, car remote service provider) cloud.
  • TSP Telematics Service Provider, car remote service provider
  • the video processing chip performs face recognition based on at least one image in the video stream to obtain the identity information of the object outside the vehicle cabin, and obtain the identity information of the object outside the vehicle cabin.
  • the identity information belongs to the borrower of the vehicle
  • the borrowing time information of the object outside the cabin is acquired, and the face recognition result is determined according to the borrowing time of the object outside the cabin.
  • the face recognition result is that the object outside the cabin belongs to the borrower of the vehicle, and it is determined that the current time does not belong to the vehicle according to the borrowing time information of the object outside the cabin.
  • the borrowing time of objects outside the cabin can be refused to be unlocked.
  • the safety of the vehicle can be further improved.
  • the car owner can set the borrowing time for the borrower. For example, in an application scenario where a friend of a car owner borrows a vehicle from the car owner, the car owner can set the borrowing time for the friend to two days, and can set a specific borrowing time range.
  • the vehicle owner can set a borrowing time for the temporary borrower. For example, after the courier contacts the car owner, the car owner can set the borrowing time for the courier to be 13:00-14:00 on February 22, 2020.
  • the server can determine the borrowing time of the borrower according to the borrowing time set by the borrower of the shared vehicle.
  • the video processing chip in response to the face recognition result being that the face recognition is successful, the video processing chip generates a door unlocking instruction and/or a door opening instruction, including: acquiring that the object outside the vehicle cabin has a door open The information of the authorized door; according to the information of the door for which the object outside the cabin has the door-opening authorization, a door unlocking instruction and/or a door opening instruction are generated.
  • the information of the doors for which the object outside the cabin has the door opening authority may be all doors or trunk doors.
  • the doors of the owner or the owner’s family or friends with the permission to open can be all doors
  • the doors of the shared vehicle with the permission to open the doors can be all doors
  • the doors of the temporary borrower such as couriers or property staff can be the doors with the permission to open the doors. It is the trunk door.
  • the vehicle owner can set the door information for other personnel with the permission to open the door.
  • step S13 in response to the face recognition result being that the face recognition is successful, the video processing chip generates a door unlocking instruction and/or a door opening instruction, and sends the door unlocking instruction and/or the door opening instruction To the micro control unit.
  • the vehicle door unlocking instruction may be used to control the unlocking of the vehicle door
  • the vehicle door opening instruction may be used to control the opening of the vehicle door
  • the vehicle door unlocking instruction and/or the vehicle door opening instruction may be used to control the unlocking and/or opening of the vehicle door of the driver's seat.
  • the vehicle door unlocking instruction and/or the vehicle door opening instruction may be used to control the unlocking and/or opening of the vehicle door corresponding to the camera that collects the video stream, for example, if the vehicle door If the status information of the vehicle door is not unlocked, the door is controlled to be unlocked or the door is controlled to be unlocked and opened; if the status information of the vehicle door is unlocked and not opened, the door is controlled to open, which can automatically be based on face recognition The user opens the door instead of manually pulling the door, which improves the convenience of using the vehicle.
  • the door corresponding to the camera that collects the video stream may be determined according to the position of the camera.
  • the door corresponding to the camera that collects the video stream may be the left front door; if the video stream passes through The camera installed on the left B-pillar and facing the rear passenger boarding position is collected, then the door corresponding to the camera that collects the video stream may be the left rear door; if the video stream is installed on the right B-pillar and It is collected by the camera facing the front passenger boarding position, then the door corresponding to the camera collecting the video stream may be the right front door; if the video stream is installed on the right B-pillar and facing the rear passenger The door of the camera that captures the video stream can be the right rear door; if the video stream is captured by the camera installed on the trunk door, the camera that captures the video stream corresponds to The door of the car can be the trunk door.
  • the video processing chip in response to the face recognition result being that the face recognition is successful, the video processing chip generates a door unlocking instruction and/or a door opening instruction, which may include: the video processing chip obtains the state of the vehicle door Information; if the state information of the vehicle door is not unlocked, generate a door unlock instruction and a door open instruction; and/or, if the state information of the vehicle door is unlocked and not opened, generate a door open instruction.
  • the state information of the vehicle door may be unlocked, unlocked and not opened, or opened.
  • the door opening instruction can be used to control the door to bounce, so that the user can enter the car through an automatically opened door (such as the front door or the rear door), or through an automatically opened door (such as the trunk door or the rear door). ) Place items. By controlling the door to open automatically, the user does not need to pull the door manually after the door is unlocked.
  • step S14 the micro-control unit controls the vehicle body to unlock the vehicle door and/or open the vehicle door according to the vehicle door unlocking instruction and/or the vehicle door opening instruction.
  • the micro-control unit may send the door unlocking instruction and/or the door opening instruction to the vehicle body via a Controller Area Network (CAN) bus, so as to control the The vehicle body unlocks the door and/or opens the door.
  • CAN Controller Area Network
  • the embodiments of the present disclosure can be applied to the borrowing scene of private vehicles, for example, the owner of the private vehicle lends the car to friends, relatives, etc.; the embodiments of the present disclosure can also be applied to the borrowing scene of shared vehicles, thereby being able to improve shared car products Operational efficiency. Of course, the embodiments of the present disclosure can also be applied to the scenario where the owner uses his own car.
  • the video processing chip includes: a neural network processing unit storing a plurality of neural network models; the video processing chip performs face recognition according to at least one image in the video stream, Obtaining the face recognition result of the object outside the vehicle cabin includes: the video processing chip runs at least one neural network model of the plurality of neural network models through the neural network processing unit to perform according to the information in the video stream Face recognition is performed on at least one image, and the result of the face recognition of the object outside the cabin is obtained.
  • the vehicle body includes: a body control module connected to the micro control unit; the micro control unit controls the vehicle door unlocking instruction and/or the vehicle door opening instruction Unlocking and/or opening the door of the vehicle body includes: the micro-control unit sends the door unlocking instruction and/or the door opening instruction to the vehicle body control module through the controller area network bus; the vehicle body control module According to the vehicle door unlocking instruction and/or the vehicle door opening instruction, the vehicle door is unlocked and/or the vehicle door is opened.
  • the micro control unit may control the body control module based on at least one of CAN and CAN-FD (Controller Area Network with Flexible Data-rate, Controller Area Network with Flexible Data Transmission Rate).
  • CAN and CAN-FD Controller Area Network with Flexible Data Transmission Rate
  • the vehicle body further includes a power supply circuit
  • the power supply circuit is respectively connected to the video processing chip and the micro control unit
  • the cabin domain controller further includes a capacitor circuit
  • the capacitor circuit is respectively connected to the video processing chip and the micro control unit
  • the method further includes: in response to the power circuit being in an abnormal power-down state, the micro control unit controls the capacitor circuit to discharge
  • the video processing chip provides power; the video processing chip stores at least part of the video data from the camera acquired before the power circuit is in an abnormal power-down state in the memory during the discharging process of the capacitor circuit middle.
  • the micro-control unit responds to the abnormal power-down state of the vehicle's power circuit, and controls the discharge of the capacitor circuit of the cabin domain controller to supply power to the video processing chip.
  • the video processing chip stores at least part of the video data from the camera obtained before the power circuit is in the abnormal power-down state, and stores it in the memory, so that the capacitor can be used when the power circuit is in the abnormal power-down state.
  • the circuit provides the power required for video data storage for the video processing chip, and the video data during this period of time often plays an important role in the analysis of abnormal power failure.
  • the micro-control unit can determine the working state of the power circuit by monitoring the voltage of the power circuit.
  • the abnormal working state of the power circuit for example, abnormal power-down state
  • the process of discharging the capacitor circuit at least part of the video data from the camera mounted on the vehicle acquired by the video processing chip before the power circuit is in an abnormal power-down state is stored in a nonvolatile In the sexual memory, the video data before the abnormal power failure can be saved, which can provide the video data basis for the subsequent abnormal power failure analysis.
  • FIG. 3 shows a schematic diagram of a capacitor circuit provided by an embodiment of the present disclosure.
  • the capacitor circuit includes a first switch circuit, a second switch circuit, a first capacitor, and a second capacitor, wherein the capacity of the first capacitor is greater than the capacity of the second capacitor, and the first capacitor
  • the first end of a switch circuit is connected to the power supply circuit, the enable end of the first switch circuit is connected to the micro-control unit, and the second end of the first switch circuit is connected to the second switch circuit.
  • the first end is connected, one end of the first capacitor is grounded, the other end is connected to the second end of the first switch circuit and the first end of the second switch circuit, and the enable end of the second switch circuit Connected to the micro control unit, one end of the second capacitor is grounded, the other end is connected to the enable end of the second switch circuit, and the second end of the second switch circuit is connected to the video processing chip.
  • the micro-control unit responds to monitoring that the power circuit is in an abnormal power-down state, and controls the capacitor circuit to discharge, including: the micro-control unit responds to monitoring that the power circuit is in The abnormal power-down state keeps the enable terminal of the first switch circuit and the enable terminal of the second switch circuit in the capacitor circuit in an effective state.
  • the micro-control unit in response to monitoring that the power supply circuit is in an abnormal power-down state, keeps the enable terminal of the first switch circuit and the enable terminal of the second switch circuit in the capacitor circuit in an effective state Therefore, the discharge of the capacitor circuit can be controlled, so that the video processing chip can be supplied with power, so that the video processing chip can store at least part of the video data obtained from the camera before the power circuit is in an abnormal power-down state.
  • the method further includes at least one of the following: the micro-control unit controls the capacitor circuit to charge or not discharge in response to monitoring that the power circuit is in a normal power-off state;
  • the control unit controls the capacitor circuit not to charge during the system startup of the vehicle, and controls the capacitor circuit to charge after the system startup is completed.
  • the system can quickly enter the sleep state without causing the system to delay sleep due to the discharge of the capacitor circuit;
  • the capacitor circuit will not be charged to cause voltage fluctuations and/or system startup time prolonged. After the system is started up, the capacitor circuit is controlled to charge, so as to prepare for abnormal power failure.
  • the micro-control unit controls the capacitor circuit to charge or not discharge, including: the micro-control unit responds to monitoring that the power supply circuit is in a normal state.
  • the electrical state controls the enable terminal of the first switch circuit and the enable terminal of the second switch circuit in the capacitor circuit to be in an invalid state.
  • the micro-control unit controls the enable terminal of the first switch circuit and the enable terminal of the second switch circuit to be in an inactive state, so that The first capacitor and the second capacitor are neither charged nor discharged, so that the system can quickly enter the sleep state without causing the system to delay sleep due to the discharge of the first capacitor and the second capacitor.
  • the micro control unit controls the capacitor circuit not to charge during the system startup of the vehicle, and controls the capacitor circuit to charge after the system startup is completed, including: the micro During the system startup of the vehicle, the control unit keeps the enable terminal of the first switch circuit and the enable terminal of the second switch circuit in the capacitor circuit in an inactive state, and after the system startup is completed, Control the enable terminal of the first switch circuit and the enable terminal of the second switch circuit to be in a valid state.
  • the enabling terminal of the first switching circuit and the enabling terminal of the second switching circuit are kept in an inactive state during the system startup of the vehicle through the micro-control unit, that is, when the system is started During the process, the first capacitor and the second capacitor are not charged, so that voltage fluctuations and/or system startup time will not be prolonged due to the need to charge the first capacitor and the second capacitor.
  • 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.
  • the vehicle door is controlled to close when the automatic door closing condition is satisfied, or the vehicle door is controlled to be closed and locked, thereby improving the safety of the vehicle.
  • the automatic door-closing condition may include: the time period for unlocking or opening the vehicle door reaches a preset time period.
  • the method further includes: in response to the face recognition failure, sending unlock failure information to the server.
  • the server can save a record of unlocking failures, so that subsequent vehicle owners can query the unlocking history of the vehicle through the records saved on the server.
  • the unlocking failure information may include at least one image collected during this face recognition process.
  • the unlocking failure information may also include the time and/or location information of the current face recognition.
  • the server may send the unlocking failure information to the vehicle owner's terminal, so that the vehicle owner can discover the attacked situation in time.
  • the method further includes: in response to successful facial recognition, sending unlock success information to the server.
  • the server may save a record of successful unlocking, so that subsequent vehicle owners can query the unlocking history of the vehicle through the record saved on the server. For example, after the car is stolen, you can view the information of the stolen car through the records saved on the server.
  • the unlocking success information may include at least one image collected during this face recognition process.
  • the unlocking success information may also include the time and/or location information of the current unlocking.
  • the video processing chip by controlling the camera to collect a video stream, performs face recognition based on at least one image in the video stream to obtain a face recognition result of an object outside the cabin, and In response to the face recognition result being that the face recognition is successful, at least one door of the vehicle is controlled to be unlocked and/or opened, so that the face can be brushed to open the door.
  • the non-contact unlocking of the car door is realized through face recognition, which is comfortable in interaction, convenient in operation, high in safety, strong in durability, and highly practical.
  • 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 door control systems, vehicles, electronic equipment, computer-readable storage media, and programs, all of which can be used to implement any of the door control methods provided in the present disclosure.
  • door control systems, vehicles, electronic equipment, computer-readable storage media, and programs all of which can be used to implement any of the door control methods provided in the present disclosure.
  • Fig. 4 shows a block diagram of a vehicle door control system provided by an embodiment of the present disclosure.
  • the door control system includes a vehicle 100, a user terminal 200, and a server 300.
  • the vehicle 100 includes a vehicle body, a cabin domain controller, a camera installed outside the cabin, and a telematics processor.
  • the cabin domain controller includes a video processing chip and a micro control unit connected to each other.
  • the video processing chip is also connected to the camera and the telematics processor, respectively, and the micro control unit is also connected to the vehicle body.
  • the server is connected to the telematics processor and the user terminal respectively;
  • the user terminal 200 is used to register the face image and/or person of the user of the vehicle with the server 300 Facial features;
  • the telematics processor is used to obtain the facial image and/or facial features of the user of the vehicle 100 from the server 300;
  • the video processing chip is used to collect according to the camera At least one image in the video stream of the vehicle and the facial image and/or facial features of the user of the vehicle perform face recognition to obtain the face recognition result of the object outside the cabin, in response to the face recognition
  • the result is that the face recognition is successful, the door unlocking instruction and/or the door opening instruction are generated, and the door unlocking instruction and/or the door opening instruction are sent to the micro control unit;
  • the micro control unit is used for The vehicle door unlocking instruction and/or the vehicle door opening instruction are used to control the vehicle body to unlock the vehicle door and/or open the vehicle door.
  • the vehicle door control system provided by the embodiments of the present disclosure can realize the face of the vehicle user to open the door, thereby facilitating the opening of the door.
  • Fig. 5 shows a block diagram of a vehicle provided by an embodiment of the present disclosure.
  • the vehicle includes a vehicle body 110, a cabin domain controller 120, and a camera 130 installed outside the cabin.
  • the cabin domain controller 120 includes a video processing chip 121 and a micro-control unit connected to each other. 122.
  • the video processing chip 121 is also connected to the camera 130, and the micro-control unit 122 is also connected to the vehicle body 110; the video processing chip 121 is used to: control the camera 130 to collect video streams; Perform face recognition on at least one image in the video stream to obtain a face recognition result of an object outside the cabin; in response to the face recognition result that the face recognition is successful, generate a door unlocking instruction and/or a door opening instruction , And send the door unlocking instruction and/or the door opening instruction to the micro-control unit 122; the micro-control unit 122 is used to: control the vehicle door unlocking instruction and/or the vehicle door opening instruction
  • the vehicle body 110 unlocks the vehicle door and/or opens the vehicle door.
  • the video processing chip 121 includes: a neural network processing unit storing multiple neural network models; the video processing chip 121 is configured to run the multiple neural network processing units through the neural network processing unit. At least one neural network model of the three neural network models is used to perform face recognition according to at least one image in the video stream to obtain a face recognition result of an object outside the cabin.
  • the vehicle body 110 includes: a body control module connected to the micro control unit 122; the micro control unit 122 is used to: unlock the vehicle door via a controller area network bus And/or the vehicle door opening instruction is sent to the vehicle body control module; the vehicle body control module is used for: the vehicle door unlock instruction and/or the vehicle door open instruction, unlock the vehicle door and/or open the vehicle door.
  • the vehicle further includes: a micro switch connected to the micro control unit 122; the micro control unit 122 is configured to wake up in sleep mode in response to the micro switch being touched
  • the video processing chip 121 is in the state; the video processing chip 121 is used to control the camera 130 to collect a video stream after waking up.
  • the vehicle further includes: a distance sensor connected to the micro-control unit 122; the micro-control unit 122 is used to control the distance sensor to continuously acquire objects and all objects outside the cabin. The distance between the distance sensors; in response to the distance sensor detecting that a person is approaching the vehicle, wake up the video processing chip 121 in the dormant state; the video processing chip 121 is used to: after waking up, control the The camera 130 captures a video stream.
  • the distance sensor includes an infrared distance measuring sensor, which is connected to the micro-control unit 122.
  • the micro-control unit 122 is used to control the distance sensor to continuously acquire objects outside the vehicle cabin and the Distance between the sensors.
  • the micro-control unit 122 is configured to: 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 wake-up is in sleep mode.
  • the video processing chip 121 in a state; and/or, in response to the distance gradually decreasing, and the distance is maintained for a fixed duration in the process that the distance is less than or equal to the second distance threshold, reaching the second time threshold , Wake up the video processing chip 121 in the dormant state.
  • the micro-control unit 122 is configured to: in response to the distance gradually decreasing, and the distance is less than or equal to a third distance threshold, wake up the video processing chip 121 in the dormant state
  • the video processing chip 121 is configured to: after waking up, in response to the duration of the distance being less than or equal to the fourth distance threshold reaching the third duration threshold, controlling the camera 130 to capture a video stream, wherein the fourth The distance threshold is less than the third distance threshold.
  • the micro-control unit 122 is configured to: in response to the distance gradually decreasing, and the distance is less than or equal to a fifth distance threshold, wake up the video processing chip 121 in a sleep state
  • the video processing chip 121 is configured to: after waking up, in response to the distance being less than or equal to the sixth distance threshold, the distance is maintained for a fixed duration to reach the fourth time threshold, and the camera 130 is controlled to capture video Flow, wherein the sixth distance threshold is less than the fifth distance threshold.
  • the vehicle body 110 further includes a power supply circuit which is respectively connected to the video processing chip 121 and the micro control unit 122
  • the vehicle cabin domain controller 120 further includes The capacitor circuit is respectively connected to the video processing chip 121 and the micro-control unit 122; the micro-control unit 122 is also used to control the capacitor in response to the power supply circuit being in an abnormal power-down state
  • the circuit is discharged to supply power to the video processing chip 121; the video processing chip 121 is also used to: in the process of discharging the capacitor circuit, collect data from all sources before the power circuit is in an abnormal power-down state. At least part of the video data of the camera 130 is stored in the memory.
  • the micro-control unit 122 is also used for at least one of the following: in response to monitoring that the power supply circuit is in a normal power-off state, controlling the capacitor circuit to charge or not to discharge; During the startup of the system of the vehicle, the capacitor circuit is controlled not to be charged, and after the system startup is completed, the capacitor circuit is controlled to be charged.
  • the capacitor circuit includes a first switch circuit, a second switch circuit, a first capacitor, and a second capacitor, wherein the capacity of the first capacitor is greater than the capacity of the second capacitor,
  • the first end of the first switch circuit is connected to the power supply circuit, the enable end of the first switch circuit is connected to the micro-control unit, and the second end of the first switch circuit is connected to the second
  • the first end of the switch circuit is connected, one end of the first capacitor is grounded, and the other end is connected to the second end of the first switch circuit and the first end of the second switch circuit.
  • the enable terminal is connected to the micro-control unit, one end of the second capacitor is grounded, and the other terminal is connected to the enable terminal of the second switch circuit.
  • the second terminal of the second switch circuit is connected to the video processing unit. Chip connection; the micro-control unit 122 is also used for at least one of the following: in response to monitoring that the power supply circuit is in an abnormal power-down state, maintaining the enable terminal of the first switch circuit and the second switch in the capacitor circuit The enable terminal of the circuit is in an active state; in response to monitoring that the power supply circuit is in a normal power-off state, the enable terminal of the first switch circuit and the enable terminal of the second switch circuit in the capacitor circuit are controlled to be in an inactive state; During the startup of the system of the vehicle, keep the enable terminal of the first switch circuit and the enable terminal of the second switch circuit in the capacitor circuit in an inactive state, and after the system startup is completed, control the The enable terminal of the first switch circuit and the enable terminal of the second switch circuit are in a valid state.
  • 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 control method provided by any of the above-mentioned 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.
  • FIG. 6 shows a block diagram of an electronic device 800 provided by an embodiment of the present disclosure.
  • the electronic device 800 may be 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. 7 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.
  • the electronic device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a 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.
  • 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 access the Internet). 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.
  • FPGA field programmable gate array
  • PDA programmable logic array
  • 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

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Abstract

一种车门控制方法、车辆、系统、电子设备和存储介质。该方法应用于车辆，车辆包括车主体（110）、车舱域控制器（120）和安装在车舱外的摄像头（130），车舱域控制器（120）包括相互连接的视频处理芯片（121）和微控制单元（122），视频处理芯片（121）还与摄像头（130）连接，微控制单元（122）还与车主体（110）连接，该方法包括：控制摄像头（130）采集视频流；视频处理芯片（121）根据视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果；视频处理芯片（121）响应于人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将车门解锁指令和/或车门打开指令发送给微控制单元（122）；微控制单元（122）根据车门解锁指令和/或车门打开指令，控制车主体解锁车门和/或打开车门，由此可以实现刷脸开车门。

Description

车门控制方法、车辆、系统、电子设备和存储介质
本申请要求在2020年4月24日提交中国专利局、申请号为202010334140.8、申请名称为“车门控制方法、车辆、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，尤其涉及一种车门控制方法、车辆、系统、电子设备和存储介质。
背景技术
目前，已经存在PEPS(Passive Entry Passive Start，无钥匙进入及启动)系统，其工作原理是：1.携带车钥匙走到汽车附近(车钥匙必须要有电)，当按压汽车按钮或拉门把手时，汽车会收到点火信号或开锁信号，并发送信号给低频天线；2.低频天线接收到点火信号或开锁信号后，会向车钥匙发出低频触发信号；3.车钥匙接收到低频触发信号后，发出高频解锁信号；4.高频接收器收到高频解锁信号，整辆车完成解锁或点火。车门控制技术对于用户用车具有重要意义。
发明内容
本公开提供了一种车门控制技术方案。
根据本公开的一方面，提供了一种车门控制方法，所述方法应用于车辆，所述车辆包括车主体、车舱域控制器和安装在车舱外的摄像头，所述车舱域控制器包括相互连接的视频处理芯片和微控制单元，所述视频处理芯片还与所述摄像头连接，所述微控制单元还与所述车主体连接，所述方法包括：
控制所述摄像头采集视频流；
所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果；
所述视频处理芯片响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元；
所述微控制单元根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门。
根据本公开的一方面，提供了一种车辆，所述车辆包括车主体、车舱域控制器和安装在车舱外的摄像头，所述车舱域控制器包括相互连接的视频处理芯片和微控制单元，所述视频处理芯片还与所述摄像头连接，所述微控制单元还与所述车主体连接；
所述视频处理芯片用于：控制所述摄像头采集视频流；根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果；响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元；
所述微控制单元用于：根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门。
根据本公开的一方面，提供了一种车门控制系统，包括车辆、用户终端和服务端，所述车辆包括车主体、车舱域控制器、安装在车舱外的摄像头和远程信息处理器，所述车舱域控制器包括相互连接的视频处理芯片和微控制单元，所述视频处理芯片还分别与所述摄像头、所述远程信息处理器连接，所述微控制单元还与所述车主体连接，所述服务端分别与所述远程信息处理器和所述用户终端连接；
所述用户终端，用于向所述服务端注册所述车辆的使用人的人脸图像和/或人脸特征；
所述远程信息处理器，用于从所述服务端获取所述车辆的使用人的人脸图像和/或人脸特征；
所述视频处理芯片，用于根据所述摄像头采集的视频流中的至少一张图像以及所述车辆的使用人的人脸图像和/或人脸特征进行人脸识别，得到车舱外的对象的人脸识别结果，响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元；
所述微控制单元，用于根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门。
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，通过控制所述摄像头采集视频流，视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果，视频处理芯片响应于人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将车门解锁指令和/或所述车门打开指令发送给微控制单元，微控制单元根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门，由此可以实现刷脸开车门。
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控制方法的流程图。
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电容电路的一示意图。
图4示出本公开实施例提供的车门控制系统的框图。
图5示出了本公开实施例提供的车辆的框图。
图6示出本公开实施例提供的一种电子设备800的框图。
图7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控制方法的流程图。所述车门控制方法的执行主体可以是车门控制装置。例如，所述车门控制方法可以由车载设备或其它处理设备执行。所述车门控制方法应用于车辆，所述车辆包括车主体、车舱域控制器和安装在车舱外的摄像头，所述车舱域控制器包括相互连接的视频处理芯片和微控制单元(MicroController Unit，MCU)，所述视频处理芯片还与所述摄像头连接，所述微控制单元还与所述车主体连接。在一些可能的实现方式中，所述车门控制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，所述车门控制方法包括步骤S11至步骤S14。
在步骤S11中，控制所述摄像头采集视频流。
在本公开实施例中，微控制单元可以监测唤醒信号，并响应于监测到唤醒信号，唤醒视频处理芯片，以由视频处理芯片控制所述摄像头采集视频流。例如，所述唤醒信号可以是来自于距离传感器的距离传感信号，或者，所述唤醒信号可以是来自于微动开关的触发动作信号。
在一种可能的实现方式中，所述车辆还包括：微动开关，与所述微控制单元连接；所述控制所述摄像头采集视频流，包括：所述微控制单元响应于所述微动开关被触摸，唤醒处于休眠状态的所述视频处理芯片；唤醒后的所述视频处理芯片控制所述摄像头采集视频流。
作为该实现方式的一个示例，所述微动开关安装在以下至少一个位置上：至少一个车门的门把手、所述车辆的B柱。
作为该实现方式的一个示例，所述微动开关在检测到被触摸时，可以向微控制单元发送触发动作信号。所述微控制单元可以响应于所述触发动作信号，唤醒所述视频处理芯片。
在该实现方式中，在所述微动开关被触摸之前，所述视频处理芯片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，所述车辆还包括：距离传感器，与所述微控制单元连接；所述控制所述摄像头采集视频流，包括：所述微控制单元控制所述距离传感器持续获取车舱外的对象与所述距离 传感器之间的距离；所述微控制单元响应于所述距离传感器检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片；唤醒后的所述视频处理芯片控制所述摄像头采集视频流。
作为该实现方式的一个示例，所述距离传感器安装在以下至少一个位置上：所述车辆的B柱、至少一个车门、至少一个后视镜、所述车辆的车舱内。
在该实现方式中，在检测到人接近所述车辆之前，视频处理芯片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。
作为该实现方式的一个示例，所述距离传感器包括：红外测距传感器，与所述微控制单元连接。
在该示例中，可以将红外测距传感器作为唤醒源。通过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摄像头，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。其中，所述红外测距传感器可以安装在以下至少一个位置上：所述车辆的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)，也可以包括车辆的后备箱门等。
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21的发射器211可以按照预先设定的频率发射红外光，当车舱外有对象22(例如用户、行人、障碍物等)靠近红外测距传感器21时，红外光会反射回来，被红外测距传感器21的接收器212接收。根据红外光传播的时间，可以计算出车舱外的对象22到红外测距传感器21的距离，例如，车舱外的对象22与红外测距传感器21之间的距离＝红外光传播时间/2×光速。红外测距传感器21可以将获取的距离发送给微控制单元，微控制单元可以根据从红外测距传感器21接收距离的时间保存距离信息，即，微控制单元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21获取的距离值。
在该示例中，若车舱外没有对象，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微控制单元发送距离信息。
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。与通过蓝牙唤醒方式相比，该示例采用红外测距传感器获取车舱外的对象与所述红外测距传感器之间的距离以唤醒视频处理芯片，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。
作为该实现方式的一个示例，所述微控制单元控制所述距离传感器持续获取车舱外的对象与所述距离传感器之间的距离，包括：所述微控制单元在所述车辆处于休眠状态或处于休眠且车门未解锁状态时，控制所述距离传感器持续获取车舱外的对象与所述距离传感器之间的距离。
在该示例中，车辆的休眠状态可以表示车辆中除微控制单元以及距离传感器和/或微动开关以外的模块均休眠的状态。在车辆不处于休眠状态时，车内通常有驾驶员，因此，在车辆不处于休眠状态 时，通常可以由驾驶员操作来控制车门解锁。在该示例中，可以仅在所述车辆处于休眠状态或处于休眠且车门未解锁状态时，通过距离传感器持续获取车舱外的对象与所述距离传感器之间的距离，而在所述车辆不处于休眠状态或处于休眠但车门非未解锁状态时，无需通过距离传感器测距，由此能够降低功耗。
当然，在另一示例中，不仅可以在所述车辆处于休眠状态或处于休眠且车门未解锁状态时，通过距离传感器持续获取车舱外的对象与所述距离传感器之间的距离，还可以在所述车辆不处于休眠状态或处于休眠但车门非未解锁状态时，也通过距离传感器持续获取车舱外的对象与所述距离传感器之间的距离。
作为该实现方式的一个示例，所述微控制单元响应于所述距离传感器检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片，包括：所述微控制单元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，唤醒处于休眠状态的所述视频处理芯片。
在该示例中，微控制单元可以保存距离信息，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，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。根据该示例，能够降低在用户无意开门的情况下解锁车门的可能性，从而能够提高车辆的安全性。
作为该实现方式的一个示例，所述微控制单元响应于所述距离传感器检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片，包括：所述微控制单元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，唤醒处于休眠状态的所述视频处理芯片。
在一个例子中，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。在另一个例子中，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。
在该示例中，微控制单元可以保存距离信息，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。根据该示例，能够降低在用户无意开门的情况下解锁车门的可能性，从而能够提高车辆的安全性。
作为该实现方式的一个示例，所述微控制单元响应于检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片，包括：所述微控制单元响应于所述距离逐渐减小，且所述距离小于或等于第三距离阈值，唤醒处于休眠状态的所述视频处理芯片；所述唤醒后的所述视频处理芯片控制所述摄像头采集视频流，包括：唤醒后的所述视频处理芯片响应于所述距离小于或等于第四距离阈值的持续时长达到第三时长阈值，控制所述摄像头采集视频流，其中，所述第四距离阈值小于所述第三距离阈值。
其中，第四距离阈值可以为进行人脸识别时用户与车辆之间的最大允许距离值。第三距离阈值可 以根据第四距离阈值与唤醒距离确定，例如，第三距离阈值可以等于第四距离阈值与唤醒距离之和，或者，第三距离阈值可以设置为稍大于第四距离阈值与唤醒距离之和。其中，唤醒距离可以等于视频处理芯片的唤醒时长与平均步行速度的乘积，视频处理芯片的唤醒时长可以表示视频处理芯片由休眠状态转换为工作状态所需的时间长度。
在该示例中，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距离阈值”的条件之前，视频处理芯片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距离阈值”的条件时，微控制单元唤醒视频处理芯片，由此能够在用户到达车门前，使视频处理芯片处于可工作状态，从而在“所述距离小于或等于所述第四距离阈值的持续时长达到第三时长阈值”，即判定用户到达车门时，摄像头采集视频流后能够立即通过已唤醒的视频处理芯片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视频处理芯片被唤醒，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。该示例中，在满足“所述距离小于或等于所述第四距离阈值的持续时长达到第三时长阈值”的条件之前，摄像头可以不采集视频流，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，该示例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视频处理芯片功耗节省、用户体验和安全性等各方面的解决方案。
作为该实现方式的一个示例，所述微控制单元响应于检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片，包括：所述微控制单元响应于所述距离逐渐减小，且所述距离小于或等于第五距离阈值，唤醒处于休眠状态的所述视频处理芯片；所述唤醒后的所述视频处理芯片控制所述摄像头采集视频流，包括：唤醒后的所述视频处理芯片响应于所述距离小于或等于第六距离阈值的过程中所述距离维持固定的持续时长达到第四时长阈值，控制所述摄像头采集视频流，其中，所述第六距离阈值小于所述第五距离阈值。
其中，第五距离阈值可以等于第三距离阈值，也可以不等于第三距离阈值；第六距离阈值可以等于第四距离阈值，也可以不等于第四距离阈值。第六距离阈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。第五距离阈值可以根据第六距离阈值与唤醒距离确定，例如，第五距离阈值可以等于第六距离阈值与唤醒距离之和，或者，第五距离阈值可以设置为稍大于第六距离阈值与唤醒距离之和。
在该示例中，在满足“所述距离逐渐减小，且所述距离小于或等于所述第五距离阈值”的条件之前，视频处理芯片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五距离阈值”的条件时，唤醒视频处理芯片，由此能够在用户到达车门前，使视频处理芯片处于可工作状态，从而在“所述距离小于或等于所述第六距离阈值的过程中所述距离维持固定的持续时长达到第四时长阈值”，即判定用户到达车门时，摄像头采集视频流后能够立即通过已唤醒的视频处理芯片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视频处理芯片被唤醒，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。该示例中，在满足“所述距离小于或等于所述第六距离阈值的过程中所述距离维持固定的持续时长达到第四时长阈值”的条件之前，摄像头可以不采集视频流， 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，该示例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视频处理芯片功耗节省、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，摄像头可以安装在车辆的室外部，通过控制设置于车辆的室外部的摄像头采集车舱外的视频流，由此能够基于车舱外的视频流检测车舱外的人的上车意图。在一种可能的实现方式中，摄像头可以安装在以下至少一个位置上：所述车辆的B柱、至少一个车门、至少一个后视镜。例如，摄像头可以安装在B柱上离地130cm至160cm处，在此不作限定。在一个示例中，摄像头可以安装在车辆的两根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)上车位置的摄像头和朝向后排乘车人员上车位置的摄像头。
在一种可能的实现方式中，在所述唤醒处于休眠状态的所述视频处理芯片之后，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，则控制所述视频处理芯片进入休眠状态。该实现方式通过在唤醒视频处理芯片后预设时间内未采集到人脸图像时，控制视频处理芯片进入休眠状态，或者在唤醒视频处理芯片后预设时间内未通过人脸识别时，控制视频处理芯片进入休眠状态，由此能够降低功耗。
在步骤S12中，所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果。
在本公开实施例中，摄像头可以将采集的视频流发送给视频处理芯片，视频处理芯片可以基于所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果。
在一种可能的实现方式中，所述人脸识别包括人脸认证；所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，包括：视频处理芯片根据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。其中，预注册的人脸特征可以包括所述车辆的车主和/或借用人的人脸特征。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借用人的人脸特征。
在一种可能的实现方式中，所述摄像头可以包括ToF(Time of Flight，飞行时间)摄像头，所述人脸识别可以包括活体检测，由此可以利用ToF摄像头采集的图像实现3D(3Dimensions，三维)人脸识别，提高人脸识别的安全性。
在一种可能的实现方式中，在所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别之前，所述方法还包括：从服务端或者所述车辆的车主的终端获取所述车辆的车主和/或借用人的人脸图像和/或人脸特征，其中，所述车主和/或借用人的人脸图像和/或人脸特征预先通过所述车辆的车主的终端添加至所述车辆的使用人信息中，和/或，所述借用人的人脸图像和/或人脸特征预先通过所述车辆的借用人的终端向所述服务端注册；所述视频处理芯片根据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以及所述车辆的车主和/或借用人的人脸图像和/或人脸特征进行人脸识别。
在该实现方式中，所述车辆的车主可以通过终端App(Application，应用)登录系统，登录成功后，车主可以对所述车辆的使用人员的信息进行管理(例如添加、删除、查询、权限管理等)，其中， 所述车辆的使用人员可以包括所述车辆的车主本人和或所述车辆的借用人，相应地，所述车辆的使用人员的信息可以包括车主本人的信息和/或所述车辆的借用人信息。例如，车主把车辆借给他人使用时，可以通过终端App，将借用人的人脸图像上传至服务端，服务端可以将借用人的人脸图像和/或从人脸图像中提取的人脸特征发送至车载T-Box(Telematics Box，远程信息处理器)，车载T-Box可以将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。或者，车主的终端可以通过有线或者无线的方式与域控制器进行通信，将借用人的人脸图像和/或从人脸图像中提取的人脸特征导入域控制器。共享车辆的借用人可以通过终端App登录系统，登录成功后，共享车辆的借用人可以选择一辆车，并通过人脸注册，获得使用权。服务端可以管理用户账号和密码，允许用户通过正确的账号和密码进行登录，从而对用户登录进行管理。服务端的后台数据库可以对用户信息(包括人脸图像和/或人脸特征，还可以包括借用人的权限信息)的存储进行管理。服务端还可以根据用户的指令实现车辆的使用人员信息的存储、查询、添加、删除和权限设置。根据该实现方式，能够实现车辆的使用人员的信息管理，以在后续车主和/或借用人使用所述车时，能够通过人脸进行车门解锁。
作为该实现方式的一个示例，所述服务端可以为TSP(Telematics Service Provider，汽车远程服务提供商)云端。
在一种可能的实现方式中，所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的身份信息，并在所述车舱外的对象的身份信息属于所述车辆的借用人的情况下，获取所述车舱外的对象的借用时间信息，根据车舱外的对象的借用时间，确定人脸识别结果。
在该实现方式中，若所述人脸识别结果为所述车舱外的对象属于所述车辆的借用人，且根据所述车舱外的对象的借用时间信息确定当前时间不属于所述车舱外的对象的借用时间，则可以拒绝解锁。在该实现方式中，通过根据借用人的借用时间进行车门控制，从而能够进一步提高车辆的安全性。
在私家车借用的应用场景中，车主可以为借用人设置借用时间。例如，在车主的朋友向车主借车辆的应用场景中，车主可以为朋友设置借用时长为两天，并可以设置具体的借用时间范围。在车辆的借用人为临时借用人的应用场景中，例如临时借用人为快递员、物业工作人员时，车主可以为临时借用人设置借用时间。例如，在快递员联系车主后，车主可以为快递员设置借用时间为2020年2月22日13:00-14:00。在共享车辆的借用场景中，服务端可以根据共享车辆的借用人设置的借用时间，确定借用人的借用时间。
在一种可能的实现方式中，所述视频处理芯片响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，包括：获取所述车舱外的对象具有开门权限的车门的信息；根据所述车舱外的对象具有开门权限的车门的信息，生成车门解锁指令和/或车门打开指令。
例如，所述车舱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，共享车辆的借用人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等临时借用人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。
在步骤S13中，所述视频处理芯片响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元。
其中，所述车门解锁指令可以用于控制车门解锁，所述车门打开指令可以用于控制车门打开。
在一种可能的实现方式中，所述车门解锁指令和/或所述车门打开指令可以用于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，可以所述车门解锁指令和/或所述车门打开指令可以用于控制采集所述视频流的摄像头对应的车门解锁和/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，提高用车辆的便捷性。其中，采集所述视频流的摄像头对应的车门可以根据所述摄像头的位置确定。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摄像头采集得到的，则采集所述视频流的摄像头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摄像头采集得到的，则采集所述视频流的摄像头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摄像头采集得到的，则采集所述视频流的摄像头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摄像头采集得到的，则采集所述视频流的摄像头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摄像头采集得到的，则采集所述视频流的摄像头对应的车门可以是后备箱门。
在一种可能的实现方式中，所述视频处理芯片响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，可以包括：视频处理芯片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，则生成车门解锁指令和车门打开指令；和/或，若所述车门的状态信息为已解锁且未打开，则生成车门打开指令。
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，车门打开指令可以用于控制车门弹开，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。
在步骤S14中，所述微控制单元根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门。
在本公开实施例中，所述微控制单元可以经控制器局域网络(Controller Area Network，CAN)总线向所述车主体发送所述车门解锁指令和/或所述车门打开指令，以控制所述车主体解锁车门和/或打开车门。
本公开实施例可以应用于私家车辆的借用场景中，例如，私家车辆的车主将车借给朋友、亲戚等；本公开实施例也可以应用于共享车辆的借用场景中，从而能够提高共享车产品的运营效率。当然，本公开实施例也可以应用于车主自己用车的场景中。
在一种可能的实现方式中，所述视频处理芯片包括：神经网络处理单元，存储有多个神经网络模型；所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果，包括：所述视频处理芯片通过所述神经网络处理单元运行所述多个神经网络模型中的至少一个神经网络模型，以根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果。
在该实现方式中，通过采用神经网络处理单元对所述视频流中的至少一张图像进行人脸识别，由此能够提高人脸识别的速度和准确性。
在一种可能的实现方式中，所述车主体包括：车身控制模块，与所述微控制单元连接；所述微控制单元根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门，包括：所述微控制单元通过控制器局域网络总线将所述车门解锁指令和/或所述车门打开指令发送给所述车身控制模块；所述车身控制模块根据所述车门解锁指令和/或所述车门打开指令，解锁车门和/或打开车门。
在该实现方式中，微控制单元可以基于CAN、CAN-FD(Controller Area Network with Flexible Data-rate，灵活数据传输率的控制器局域网络)中的至少之一对车身控制模块进行控制。
在一种可能的实现方式中，所述车主体还包括电源电路，所述电源电路分别与所述视频处理芯片和所述微控制单元连接，所述车舱域控制器还包括电容电路，所述电容电路分别与所述视频处理芯片和所述微控制单元连接，所述方法还包括：所述微控制单元响应于所述电源电路处于异常掉电状态，控制所述电容电路放电，以向所述视频处理芯片供电；所述视频处理芯片在所述电容电路处于放电的过程中，将在所述电源电路处于异常掉电状态之前获取的来自所述摄像头的至少部分视频数据，存储到存储器中。
在该实现方式中，通过微控制单元响应于车辆的电源电路处于异常掉电状态，控制车舱域控制器的电容电路放电，以向所述视频处理芯片供电，在所述电容电路处于放电的过程中，所述视频处理芯片将在所述电源电路处于异常掉电状态之前获取的来自摄像头的至少部分视频数据，存储到存储器中，由此在电源电路处于异常掉电状态时，可以利用电容电路为视频处理芯片提供视频数据存储所需的电量，这段时间的视频数据往往对异常掉电分析具有重要作用。
作为该实现方式的一个示例，微控制单元可以通过监测电源电路的电压，确定电源电路的工作状态。通过监测车辆的电源电路的工作状态，由此能够及时发现电源电路的异常工作状态(例如异常掉电状态)。通过在所述电容电路处于放电的过程中，将所述视频处理芯片在所述电源电路处于异常掉电状态之前获取的来自安装在所述车辆上的摄像头的至少部分视频数据存储到非易失性存储器中，由此能够保存异常掉电前的视频数据，从而能够为后续进行异常掉电分析提供视频数据基础。
图3示出本公开实施例提供的电容电路的一示意图。如图3所示，所述电容电路包括第一开关电路、第二开关电路、第一电容和第二电容，其中，所述第一电容的容量大于所述第二电容的容量，所述第一开关电路的第一端与所述电源电路连接，所述第一开关电路的使能端与所述微控制单元连接，所述第一开关电路的第二端与所述第二开关电路的第一端连接，所述第一电容的一端接地，另一端与所述第一开关电路的第二端和所述第二开关电路的第一端连接，所述第二开关电路的使能端与所述微控制单元连接，所述第二电容的一端接地，另一端与所述第二开关电路的使能端连接，所述第二开关电路的第二端与所述视频处理芯片连接。
作为该实现方式的一个示例，所述微控制单元响应于监测到所述电源电路处于异常掉电状态，控制所述电容电路放电，包括：所述微控制单元响应于监测到所述电源电路处于异常掉电状态，保持所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于有效状态。
在该示例中，通过微控制单元响应于监测到所述电源电路处于异常掉电状态，保持所述电容电路 中的第一开关电路的使能端和第二开关电路的使能端处于有效状态，由此能够控制电容电路放电，从而能够为视频处理芯片供电，使视频处理芯片能够对电源电路处于异常掉电状态之前获取的来自摄像头的至少部分视频数据进行存储。
作为该实现方式的一个示例，所述方法还包括以下至少之一：所述微控制单元响应于监测到所述电源电路处于正常下电状态，控制所述电容电路充电或不放电；所述微控制单元在所述车辆的系统启动的过程中，控制所述电容电路不充电，并在所述系统启动完成后，控制所述电容电路充电。
在该示例中，通过响应于监测到所述电源电路处于正常下电状态，控制所述电容电路不放电，由此能够使系统快速进入休眠状态，而不会因为电容电路放电导致系统延迟休眠；通过在所述车辆的系统启动的过程中，控制所述电容电路不充电，从而不会因为要给电容电路充电而导致电压波动和/或系统启动时间延长。在系统启动完成后，控制所述电容电路充电，由此能够为异常掉电做准备。
在一个例子中，所述微控制单元响应于监测到所述电源电路处于正常下电状态，控制所述电容电路充电或不放电，包括：所述微控制单元响应于监测到电源电路处于正常下电状态，控制所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于无效状态。
在这个例子中，通过微控制单元响应于监测到所述电源电路处于正常下电状态，控制所述第一开关电路的使能端和所述第二开关电路的使能端处于无效状态，使第一电容和第二电容既不充电也不放电，由此能够使系统快速进入休眠状态，而不会因为第一电容和第二电容放电导致系统延迟休眠。
在一个例子中，所述微控制单元在所述车辆的系统启动的过程中，控制所述电容电路不充电，并在所述系统启动完成后，控制所述电容电路充电，包括：所述微控制单元在所述车辆的系统启动的过程中，保持所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于无效状态，并在所述系统启动完成后，控制所述第一开关电路的使能端和所述第二开关电路的使能端处于有效状态。
在这个例子中，通过微控制单元在车辆的系统启动的过程中，保持所述第一开关电路的使能端和所述第二开关电路的使能端处于无效状态，即，在系统启动的过程中，第一电容和第二电容不充电，从而不会因为要给第一电容和第二电容充电而导致电压波动和/或系统启动时间延长。
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，由此能够提高车辆的安全。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，在所述得到车舱外的对象的人脸识别结果之后，所述方法还包括：响应于人脸识别失败，向服务端发送解锁失败信息。在该实现方式中，服务端可以保存解锁失败的记录，以便后续车主可以通过服务端保存的记录查询车辆的解锁历史。
在该实现方式中，所述解锁失败信息可以包括本次人脸识别过程中采集的至少一张图像。所述解锁失败信息还可以包括本次人脸识别的时间和/或地点信息。
在该实现方式中，服务端在接收到所述解锁失败信息之后，可以向车主终端发送所述解锁失败信息，以便车主及时发现被攻击的情况。
在一种可能的实现方式中，在所述得到车舱外的对象的人脸识别结果之后，所述方法还包括：响应于人脸识别成功，向服务端发送解锁成功信息。在实现方式中，服务端可以保存解锁成功的记录， 以便后续车主可以通过服务端保存的记录查询车辆的解锁历史。例如，在车被盗后，可以通过服务端保存的记录查看盗车者的信息。
在该实现方式中，所述解锁成功信息可以包括本次人脸识别过程中采集的至少一张图像。所述解锁成功信息还可以包括本次解锁的时间和/或地点信息。
在本公开实施例中，通过控制所述摄像头采集视频流，所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果，并响应于所述人脸识别结果为人脸识别成功，控制所述车辆的至少一车门解锁和/或打开，由此可以实现刷脸开车门。通过人脸识别实现车门的非接触方式的解锁，交互舒适，操作便捷，且安全性高，耐用性强，具有很高的实用性。
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控制系统、车辆、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控制方法，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4示出本公开实施例提供的车门控制系统的框图。如图4所示，所述车门控制系统包括车辆100、用户终端200和服务端300，所述车辆100包括车主体、车舱域控制器、安装在车舱外的摄像头和远程信息处理器，所述车舱域控制器包括相互连接的视频处理芯片和微控制单元，所述视频处理芯片还分别与所述摄像头、所述远程信息处理器连接，所述微控制单元还与所述车主体连接，所述服务端分别与所述远程信息处理器和所述用户终端连接；所述用户终端200，用于向所述服务端300注册所述车辆的使用人的人脸图像和/或人脸特征；所述远程信息处理器，用于从所述服务端300获取所述车辆100的使用人的人脸图像和/或人脸特征；所述视频处理芯片，用于根据所述摄像头采集的视频流中的至少一张图像以及所述车辆的使用人的人脸图像和/或人脸特征进行人脸识别，得到车舱外的对象的人脸识别结果，响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元；所述微控制单元，用于根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门。
本公开实施例提供的车门控制系统可以为车辆的使用人实现刷脸开车门，从而方便开车门。
图5示出了本公开实施例提供的车辆的框图。如图5所示，所述车辆包括车主体110、车舱域控制器120和安装在车舱外的摄像头130，所述车舱域控制器120包括相互连接的视频处理芯片121和微控制单元122，所述视频处理芯片121还与所述摄像头130连接，所述微控制单元122还与所述车主体110连接；所述视频处理芯片121用于：控制所述摄像头130采集视频流；根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果；响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元122；所述微控制单元122用于：根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体110解锁车门和/或打开车门。
在一种可能的实现方式中，所述视频处理芯片121包括：神经网络处理单元，存储有多个神经网络模型；所述视频处理芯片121用于：通过所述神经网络处理单元运行所述多个神经网络模型中的至少一个神经网络模型，以根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果。
在一种可能的实现方式中，所述车主体110包括：车身控制模块，与所述微控制单元122连接；所述微控制单元122用于：经控制器局域网络总线将所述车门解锁指令和/或所述车门打开指令发送给所述车身控制模块；所述车身控制模块用于：所述车门解锁指令和/或所述车门打开指令，解锁车门和/或打开车门。
在一种可能的实现方式中，所述车辆还包括：微动开关，与所述微控制单元122连接；所述微控制单元122用于：响应于所述微动开关被触摸，唤醒处于休眠状态的所述视频处理芯片121；所述视频处理芯片121用于：在唤醒后，控制所述摄像头130采集视频流。
在一种可能的实现方式中，所述车辆还包括：距离传感器，与所述微控制单元122连接；所述微控制单元122用于：控制所述距离传感器持续获取车舱外的对象与所述距离传感器之间的距离；响应于所述距离传感器检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片121；所述视频处理芯片121用于：在唤醒后，控制所述摄像头130采集视频流。
在一种可能的实现方式中，所述距离传感器包括：红外测距传感器，与所述微控制单元122连接。
在一种可能的实现方式中，所述微控制单元122用于：在所述车辆处于休眠状态或处于休眠且车门未解锁状态时，控制所述距离传感器持续获取车舱外的对象与所述距离传感器之间的距离。
在一种可能的实现方式中，所述微控制单元122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，唤醒处于休眠状态的所述视频处理芯片121；和/或，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，唤醒处于休眠状态的所述视频处理芯片121。
在一种可能的实现方式中，所述微控制单元122用于：响应于所述距离逐渐减小，且所述距离小于或等于第三距离阈值，唤醒处于休眠状态的所述视频处理芯片121；所述视频处理芯片121用于：在唤醒后，响应于所述距离小于或等于第四距离阈值的持续时长达到第三时长阈值，控制所述摄像头130采集视频流，其中，所述第四距离阈值小于所述第三距离阈值。
在一种可能的实现方式中，所述微控制单元122用于：响应于所述距离逐渐减小，且所述距离小于或等于第五距离阈值，唤醒处于休眠状态的所述视频处理芯片121；所述视频处理芯片121用于：在唤醒后，响应于所述距离小于或等于第六距离阈值的过程中所述距离维持固定的持续时长达到第四时长阈值，控制所述摄像头130采集视频流，其中，所述第六距离阈值小于所述第五距离阈值。
在一种可能的实现方式中，所述车主体110还包括电源电路，所述电源电路分别与所述视频处理芯片121和所述微控制单元122连接，所述车舱域控制器120还包括电容电路，所述电容电路分别与所述视频处理芯片121和所述微控制单元122连接；所述微控制单元122还用于：响应于所述电源电路处于异常掉电状态，控制所述电容电路放电，以向所述视频处理芯片121供电；所述视频处理芯片121还用于：在所述电容电路处于放电的过程中，将在所述电源电路处于异常掉电状态之前获取的来自所述摄像头130的至少部分视频数据，存储到存储器中。
在一种可能的实现方式中，所述微控制单元122还用于以下至少之一：响应于监测到所述电源电路处于正常下电状态，控制所述电容电路充电或不放电；在所述车辆的系统启动的过程中，控制所述电容电路不充电，并在所述系统启动完成后，控制所述电容电路充电。
在一种可能的实现方式中，所述电容电路包括第一开关电路、第二开关电路、第一电容和第二电容，其中，所述第一电容的容量大于所述第二电容的容量，所述第一开关电路的第一端与所述电源电路连接，所述第一开关电路的使能端与所述微控制单元连接，所述第一开关电路的第二端与所述第二开关电路的第一端连接，所述第一电容的一端接地，另一端与所述第一开关电路的第二端和所述第二开关电路的第一端连接，所述第二开关电路的使能端与所述微控制单元连接，所述第二电容的一端接地，另一端与所述第二开关电路的使能端连接，所述第二开关电路的第二端与所述视频处理芯片连接；所述微控制单元122还用于以下至少之一：响应于监测到所述电源电路处于异常掉电状态，保持所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于有效状态；响应于监测到电源电路处于正常下电状态，控制所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于无效状态；在所述车辆的系统启动的过程中，保持所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于无效状态，并在所述系统启动完成后，控制所述第一开关电路的使能端和所述第二开关电路的使能端处于有效状态。
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控制方法的操作。
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。
图6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6，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7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7，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 PCTCN2020134304-appb-000001
Mac OS
Figure PCTCN2020134304-appb-000002
Figure PCTCN2020134304-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 (18)

  1. 一种车门控制方法，其特征在于，所述方法应用于车辆，所述车辆包括车主体、车舱域控制器和安装在车舱外的摄像头，所述车舱域控制器包括相互连接的视频处理芯片和微控制单元，所述视频处理芯片还与所述摄像头连接，所述微控制单元还与所述车主体连接，所述方法包括：
    控制所述摄像头采集视频流；
    所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果；
    所述视频处理芯片响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元；
    所述微控制单元根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门。
  2. 根据权利要求1所述的方法，其特征在于，
    所述视频处理芯片包括：神经网络处理单元，存储有多个神经网络模型；
    所述视频处理芯片根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果，包括：所述视频处理芯片通过所述神经网络处理单元运行所述多个神经网络模型中的至少一个神经网络模型，以根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果。
  3. 根据权利要求1或2所述的方法，其特征在于，
    所述车主体包括：车身控制模块，与所述微控制单元连接；
    所述微控制单元根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门，包括：所述微控制单元通过控制器局域网络总线将所述车门解锁指令和/或所述车门打开指令发送给所述车身控制模块；所述车身控制模块根据所述车门解锁指令和/或所述车门打开指令，解锁车门和/或打开车门。
  4. 根据权利要求1至3中任意一项所述的方法，其特征在于，
    所述车辆还包括：微动开关，与所述微控制单元连接；
    所述控制所述摄像头采集视频流，包括：所述微控制单元响应于所述微动开关被触摸，唤醒处于休眠状态的所述视频处理芯片；唤醒后的所述视频处理芯片控制所述摄像头采集视频流。
  5. 根据权利要求1至4中任意一项所述的方法，其特征在于，
    所述车辆还包括：距离传感器，与所述微控制单元连接；
    所述控制所述摄像头采集视频流，包括：所述微控制单元控制所述距离传感器持续获取车舱外的对象与所述距离传感器之间的距离；所述微控制单元响应于所述距离传感器检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片；唤醒后的所述视频处理芯片控制所述摄像头采集视频流。
  6. 根据权利要求5所述的方法，其特征在于，所述距离传感器包括：红外测距传感器，与所述微控制单元连接。
  7. 根据权利要求5或6所述的方法，其特征在于，所述微控制单元控制所述距离传感器持续获取车舱外的对象与所述距离传感器之间的距离，包括：
    所述微控制单元在所述车辆处于休眠状态或处于休眠且车门未解锁状态时，控制所述距离传感器 持续获取车舱外的对象与所述距离传感器之间的距离。
  8. 根据权利要求5至7中任意一项所述的方法，其特征在于，所述微控制单元响应于所述距离传感器检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片，包括：
    所述微控制单元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，唤醒处于休眠状态的所述视频处理芯片；
    和/或，
    所述微控制单元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，唤醒处于休眠状态的所述视频处理芯片。
  9. 根据权利要求5至7中任意一项所述的方法，其特征在于，
    所述微控制单元响应于检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片，包括：所述微控制单元响应于所述距离逐渐减小，且所述距离小于或等于第三距离阈值，唤醒处于休眠状态的所述视频处理芯片；
    所述唤醒后的所述视频处理芯片控制所述摄像头采集视频流，包括：唤醒后的所述视频处理芯片响应于所述距离小于或等于第四距离阈值的持续时长达到第三时长阈值，控制所述摄像头采集视频流，其中，所述第四距离阈值小于所述第三距离阈值。
  10. 根据权利要求5至7中任意一项所述的方法，其特征在于，
    所述微控制单元响应于检测到人接近所述车辆，唤醒处于休眠状态的所述视频处理芯片，包括：所述微控制单元响应于所述距离逐渐减小，且所述距离小于或等于第五距离阈值，唤醒处于休眠状态的所述视频处理芯片；
    所述唤醒后的所述视频处理芯片控制所述摄像头采集视频流，包括：唤醒后的所述视频处理芯片响应于所述距离小于或等于第六距离阈值的过程中所述距离维持固定的持续时长达到第四时长阈值，控制所述摄像头采集视频流，其中，所述第六距离阈值小于所述第五距离阈值。
  11. 根据权利要求1至10中任意一项所述的方法，其特征在于，所述车主体还包括电源电路，所述电源电路分别与所述视频处理芯片和所述微控制单元连接，所述车舱域控制器还包括电容电路，所述电容电路分别与所述视频处理芯片和所述微控制单元连接，所述方法还包括：
    所述微控制单元响应于所述电源电路处于异常掉电状态，控制所述电容电路放电，以向所述视频处理芯片供电；
    所述视频处理芯片在所述电容电路处于放电的过程中，将在所述电源电路处于异常掉电状态之前获取的来自所述摄像头的至少部分视频数据，存储到存储器中。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括以下至少之一：
    所述微控制单元响应于监测到所述电源电路处于正常下电状态，控制所述电容电路充电或不放电；
    所述微控制单元在所述车辆的系统启动的过程中，控制所述电容电路不充电，并在所述系统启动完成后，控制所述电容电路充电。
  13. 根据权利要求11或12所述的方法，其特征在于，
    所述电容电路包括第一开关电路、第二开关电路、第一电容和第二电容，其中，所述第一电容的容量大于所述第二电容的容量，所述第一开关电路的第一端与所述电源电路连接，所述第一开关电路 的使能端与所述微控制单元连接，所述第一开关电路的第二端与所述第二开关电路的第一端连接，所述第一电容的一端接地，另一端与所述第一开关电路的第二端和所述第二开关电路的第一端连接，所述第二开关电路的使能端与所述微控制单元连接，所述第二电容的一端接地，另一端与所述第二开关电路的使能端连接，所述第二开关电路的第二端与所述视频处理芯片连接；
    所述微控制单元响应于监测到所述电源电路处于异常掉电状态，控制所述电容电路放电，包括：所述微控制单元响应于监测到所述电源电路处于异常掉电状态，保持所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于有效状态；和/或，所述微控制单元响应于监测到所述电源电路处于正常下电状态，控制所述电容电路充电或不放电，包括：所述微控制单元响应于监测到电源电路处于正常下电状态，控制所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于无效状态；和/或，所述微控制单元在所述车辆的系统启动的过程中，控制所述电容电路不充电，并在所述系统启动完成后，控制所述电容电路充电，包括：所述微控制单元在所述车辆的系统启动的过程中，保持所述电容电路中的第一开关电路的使能端和第二开关电路的使能端处于无效状态，并在所述系统启动完成后，控制所述第一开关电路的使能端和所述第二开关电路的使能端处于有效状态。
  14. 一种车辆，其特征在于，所述车辆包括车主体、车舱域控制器和安装在车舱外的摄像头，所述车舱域控制器包括相互连接的视频处理芯片和微控制单元，所述视频处理芯片还与所述摄像头连接，所述微控制单元还与所述车主体连接；
    所述视频处理芯片用于：控制所述摄像头采集视频流；根据所述视频流中的至少一张图像进行人脸识别，得到车舱外的对象的人脸识别结果；响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元；
    所述微控制单元用于：根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门。
  15. 一种车门控制系统，其特征在于，包括车辆、用户终端和服务端，所述车辆包括车主体、车舱域控制器、安装在车舱外的摄像头和远程信息处理器，所述车舱域控制器包括相互连接的视频处理芯片和微控制单元，所述视频处理芯片还分别与所述摄像头、所述远程信息处理器连接，所述微控制单元还与所述车主体连接，所述服务端分别与所述远程信息处理器和所述用户终端连接；
    所述用户终端，用于向所述服务端注册所述车辆的使用人的人脸图像和/或人脸特征；
    所述远程信息处理器，用于从所述服务端获取所述车辆的使用人的人脸图像和/或人脸特征；
    所述视频处理芯片，用于根据所述摄像头采集的视频流中的至少一张图像以及所述车辆的使用人的人脸图像和/或人脸特征进行人脸识别，得到车舱外的对象的人脸识别结果，响应于所述人脸识别结果为人脸识别成功，生成车门解锁指令和/或车门打开指令，并将所述车门解锁指令和/或所述车门打开指令发送给所述微控制单元；
    所述微控制单元，用于根据所述车门解锁指令和/或所述车门打开指令，控制所述车主体解锁车门和/或打开车门。
  16. 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13中任意一项所述的方法。
  17. 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13中任意一项所述的方法。
  18. 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13中的任一权利要求所述的方法。
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