WO2022057212A1 - 后备箱的控制方法及装置、车辆、电子设备和存储介质 - Google Patents

后备箱的控制方法及装置、车辆、电子设备和存储介质 Download PDF

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Publication number
WO2022057212A1
WO2022057212A1 PCT/CN2021/078704 CN2021078704W WO2022057212A1 WO 2022057212 A1 WO2022057212 A1 WO 2022057212A1 CN 2021078704 W CN2021078704 W CN 2021078704W WO 2022057212 A1 WO2022057212 A1 WO 2022057212A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
trunk
rear area
sensing data
target object
Prior art date
Application number
PCT/CN2021/078704
Other languages
English (en)
French (fr)
Inventor
陶莹
李轲
许亮
伍俊
范亦卿
祁凯悦
Original Assignee
上海商汤临港智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 上海商汤临港智能科技有限公司 filed Critical 上海商汤临港智能科技有限公司
Publication of WO2022057212A1 publication Critical patent/WO2022057212A1/zh
Priority to US17/841,831 priority Critical patent/US20220316260A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/0017—Devices integrating an element dedicated to another function
    • B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/0043—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means for integrated articles, i.e. not substantially protruding from the surrounding parts
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/80—User interfaces
    • E05Y2400/85—User input means
    • E05Y2400/856—Actuation thereof
    • E05Y2400/858—Actuation thereof by body parts, e.g. by feet
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/531—Doors
    • E05Y2900/532—Back doors or end doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/546—Tailboards, tailgates or sideboards opening upwards
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/548—Trunk lids

Definitions

  • the present disclosure relates to the technical field of vehicles, and in particular, to a control method and device for a trunk, a vehicle, an electronic device, and a storage medium.
  • the vehicle is one of the main means of transportation for people to travel, and the trunk of the vehicle is often used as an important storage space for the vehicle.
  • the trunk is usually closed by a remote control key or a manual method, which is less convenient.
  • the present disclosure provides a technical solution for controlling the trunk.
  • a method for controlling a trunk including:
  • the control method of the trunk including:
  • the trunk In response to the trunk of the vehicle being in an open state and the target object is not detected, the trunk is controlled to close.
  • the detecting the target object in the rear area of the vehicle according to the sensing data includes: detecting the target object within a preset distance range from the rear of the vehicle to the outside of the cabin according to the sensing data;
  • the controlling the trunk to be closed in response to the trunk of the vehicle being in an open state and the target object is not detected includes: in response to the trunk of the vehicle being in an open state and not being driven by the vehicle
  • the tail of the vehicle detects the target object within a preset distance outside the cabin, and controls the trunk to close.
  • controlling the trunk to close includes:
  • the trunk In response to the trunk of the vehicle being in an open state and the target object is not detected for a first preset time period, the trunk is controlled to close.
  • the target object includes a human object
  • the detecting the target object in the rear area of the vehicle according to the sensing data includes:
  • the acquiring the sensing data of the rear area of the vehicle includes: acquiring first image data of the rear area of the vehicle collected by the reversing camera;
  • the detecting the information of at least one human body part in the rear area of the vehicle according to the sensing data includes: detecting the information of at least one human body part in the rear area of the vehicle according to the first image data.
  • the detecting information of at least one human body part in the rear area of the vehicle according to the sensing data includes:
  • the reversing camera faces the ground, according to the first image data, detect human foot information and/or human leg information in the rear area of the vehicle;
  • the human body information and/or the face information of the rear area of the vehicle is detected according to the first image data.
  • the acquiring the sensing data of the rear area of the vehicle includes: acquiring second image data of the rear area of the vehicle collected by a first camera, wherein the first camera is installed on the inner side of the trunk door;
  • the detecting the information of at least one human body part in the rear region of the vehicle according to the sensing data includes: detecting the information of at least one human body part in the rear region of the vehicle according to the second image data.
  • the first camera is installed at the position of a high-mounted brake light on the trunk door.
  • the method further includes:
  • the first camera In response to the trunk being opened, the first camera is controlled to collect second image data of the rear area of the vehicle.
  • the sensing data includes radar sensing data
  • the radar sensing data In response to detecting the presence of an obstacle in the rear area of the vehicle according to the radar sensing data, determining that information of at least one human body part in the rear area of the vehicle is detected; and/or in response to the radar sensing data No obstacle is detected in the rear area of the vehicle, and it is determined that the information of at least one human body part in the rear area of the vehicle is not detected.
  • the acquiring sensor data of the rear area of the vehicle includes:
  • the acquiring the sensing data of the rear area of the vehicle includes: acquiring third image data of the rear area of the vehicle collected by the OMS camera of the occupant monitoring system;
  • the detecting the target object in the rear area of the vehicle according to the sensing data includes: detecting human body information and/or face information in the rear area of the vehicle according to the third image data; Human body information or face information is detected in the rear area of the vehicle, and it is determined that the target object is detected.
  • the OMS camera is mounted on an interior rearview mirror of the vehicle and faces the rear of the vehicle.
  • the acquiring sensor data of the rear area of the vehicle includes:
  • Sensing data of a rear area of the vehicle is acquired in response to the trunk being in the open state for a duration reaching a second preset duration.
  • the method further includes:
  • the trunk is controlled to open.
  • the method further includes:
  • the trunk In response to receiving the closing request corresponding to the inquiry information, the trunk is controlled to close.
  • the method further includes:
  • the detecting the target object in the rear area of the vehicle according to the sensing data includes:
  • the sensing data it is detected whether a person object in the rear area of the vehicle includes the target object.
  • the method further includes:
  • the trunk is controlled to be opened in response to the trunk being in a closed state and a preset person object requesting to open the trunk is detected according to the sensing data of the rear area of the vehicle.
  • a control device for a trunk including:
  • a first acquisition module used for acquiring sensor data of the rear area of the vehicle
  • a first detection module configured to detect a target object in the rear area of the vehicle according to the sensing data
  • the first control module is configured to control the trunk to close in response to the trunk of the vehicle being in an open state and the target object is not detected.
  • the first detection module is used for: detecting a target object within a preset distance from the rear of the vehicle to the outside of the vehicle cabin according to the sensing data;
  • the first control module is used for: in response to the trunk of the vehicle is in an open state and the target object is not detected within a preset distance range from the rear of the vehicle to the outside of the vehicle cabin, control the The trunk is closed.
  • the first control module is used for:
  • the trunk In response to the trunk of the vehicle being in an open state and the target object is not detected for a first preset time period, the trunk is controlled to close.
  • the target object includes a human object
  • the first detection module is used for:
  • the first acquisition module is used for: acquiring the first image data of the rear area of the vehicle collected by the reversing camera;
  • the first detection module is configured to: detect information of at least one human body part in the rear area of the vehicle according to the first image data.
  • the first detection module is used for:
  • the reversing camera faces the ground, according to the first image data, detect human foot information and/or human leg information in the rear area of the vehicle;
  • the human body information and/or the face information of the rear area of the vehicle is detected according to the first image data.
  • the first acquisition module is used for: acquiring second image data of the rear area of the vehicle collected by a first camera, wherein the first camera is installed on the inner side of the trunk door;
  • the first detection module is configured to: detect information of at least one human body part in the rear area of the vehicle according to the second image data.
  • the first camera is installed at the position of a high-mounted brake light on the trunk door.
  • the apparatus further includes:
  • a second control module configured to control the first camera to collect second image data of the rear area of the vehicle in response to the trunk being opened.
  • the sensing data includes radar sensing data
  • the first detection module is used for:
  • the radar sensing data In response to detecting the presence of an obstacle in the rear area of the vehicle according to the radar sensing data, determining that information of at least one human body part in the rear area of the vehicle is detected; and/or in response to the radar sensing data No obstacle is detected in the rear area of the vehicle, and it is determined that the information of at least one human body part in the rear area of the vehicle is not detected.
  • the first obtaining module is used for:
  • the first acquisition module is used for: acquiring third image data of the rear area of the vehicle collected by the OMS camera of the occupant monitoring system;
  • the first detection module is used for: detecting human body information and/or face information in the rear area of the vehicle according to the third image data; in response to detecting the human body information or human face in the rear area of the vehicle information, it is determined that the target object is detected.
  • the OMS camera is mounted on an interior rearview mirror of the vehicle and faces the rear of the vehicle.
  • the first acquisition module is configured to acquire sensing data of the rear area of the vehicle in response to the duration of the trunk being in the open state reaching a second preset time period.
  • the apparatus further includes:
  • a fifth control module configured to control the trunk to open in response to detecting a target object in the rear area of the vehicle according to the sensing data during the closing process of the trunk.
  • the apparatus further includes:
  • a second acquisition module configured to acquire image data of the driving area of the vehicle collected by the DMS camera of the driver monitoring system
  • a second detection module configured to detect whether the driver is seated in the driving area according to the image data of the driving area
  • a sending module configured to send query information for asking whether to close the trunk in response to detecting that the driver is seated in the driving area and the trunk is in an open state
  • a third control module configured to control the trunk to close in response to receiving a closing request corresponding to the inquiry information.
  • the device further includes: a determining module, configured to determine a person object requesting to open the trunk as a target object in response to detecting that the trunk is changed from a closed state to an open state;
  • the first detection module is configured to: detect, according to the sensing data, whether a person object in the rear area of the vehicle includes the target object.
  • the apparatus further includes:
  • the fourth control module is configured to control the trunk to open in response to the trunk being in a closed state and detecting a request of a preset person object to open the trunk according to the sensor data of the rear area of the vehicle.
  • a vehicle comprising: a sensor for collecting sensing data of a rear area of the vehicle; a controller for obtaining the sensing data from the sensor, according to the sensing data, detect a target object in the rear area of the vehicle, and control the trunk of the vehicle to close in response to the trunk of the vehicle being in an open state and the target object is not detected.
  • the senor includes a radar and/or a camera
  • the camera includes at least one of a reversing camera, a first camera, and an OMS camera
  • the first camera is installed inside the trunk door on the side.
  • an electronic device comprising: one or more processors; a memory for storing executable instructions; wherein the one or more processors are configured to invoke the memory storage executable instructions to perform the above method.
  • a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the above method when executed by a processor.
  • a computer program comprising computer readable code, which when the computer readable code is executed in an electronic device, is executed by a processor in the electronic device for implementing the above method.
  • the sensing data of the rear area of the vehicle is acquired, and according to the sensing data, the target object in the rear area of the vehicle is detected, and in response to the trunk of the vehicle is in an open state and is not
  • the target object is detected, and the trunk is controlled to close, so that the trunk can be automatically closed based on the sensor data of the rear area of the vehicle, and the non-contact trunk door can be closed, that is, the trunk can be closed without user contact.
  • the trunk is automatically closed under the premise of the trunk door, which can improve the convenience of closing the trunk.
  • the embodiments of the present disclosure to automatically close the trunk, it can bring greater convenience to the user.
  • the trunk of the vehicle to close in response to the trunk of the vehicle being in an open state and the target object is not detected, it is possible to improve the safety of trunk control and greatly reduce the risk of trunk door clipping. the possibility of injury to the user.
  • using the embodiments of the present disclosure to realize the automatic closing of the trunk also helps to strengthen the protection of property safety in the vehicle cabin (including the trunk).
  • FIG. 1 shows a flowchart of a method for controlling a trunk provided by an embodiment of the present disclosure.
  • FIG. 2 shows a schematic diagram of the location of sensors in an embodiment of the present disclosure.
  • FIG. 3 shows a block diagram of a control apparatus for a trunk provided by an embodiment of the present disclosure.
  • FIG. 4 shows a block diagram of an electronic device 800 provided by an embodiment of the present disclosure.
  • FIG. 5 shows a block diagram of an electronic device 1900 provided by an embodiment of the present disclosure.
  • FIG. 1 shows a flowchart of a method for controlling a trunk provided by an embodiment of the present disclosure.
  • the executive body of the control method of the trunk may be a control device of the trunk.
  • the control method of the trunk may be executed by a terminal device or a server or other processing device.
  • the terminal device may be a vehicle-mounted device, a user equipment (User Equipment, UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, or a wearable devices, etc.
  • UE user equipment
  • PDA Personal Digital Assistant
  • the in-vehicle device may be a controller, a domain controller or an in-vehicle machine in the cabin, or may be an OMS (Occupant Monitoring System, occupant monitoring system) or a DMS (Driver Monitor System, driver monitoring system), etc. used for execution A device host for data processing operations such as images, etc.
  • the control method of the trunk can be implemented by the processor calling computer-readable instructions stored in the memory. As shown in Fig. 1 , the control method of the trunk includes steps S11 to S13.
  • step S11 sensor data of the rear area of the vehicle is acquired.
  • the vehicle in the embodiment of the present disclosure may be at least one type of vehicle among a private car, a shared car, an online car-hailing, and a taxi.
  • the sensing data of the rear area of the vehicle may be collected by a sensor, and the sensing data of the rear area of the vehicle may be acquired from the sensor.
  • the sensor may be a sensor for sensing information of the vehicle, which may usually be installed on the vehicle.
  • the number of the sensors may be one or more.
  • the sensor may include at least one of a camera, a radar, a distance sensor, and the like.
  • the cameras may include one or more cameras mounted on the exterior and/or interior of the vehicle.
  • the camera may include a rear-mounted camera of the vehicle.
  • the camera installed at the rear of the vehicle may include a reversing camera installed at the rear of the vehicle, or may include other cameras installed at the rear of the vehicle.
  • the camera may further include a camera installed on the inner side of the trunk.
  • the camera may further include an OMS camera and/or a DMS camera, and the like.
  • the radar may be used to measure the distance between the radar and obstacles in front of the radar.
  • the radar may include a parking radar installed at the rear of the vehicle, or may include other radars installed at the rear of the vehicle.
  • the distance sensor may be used to measure the distance between the distance sensor and an obstacle in front of the distance sensor.
  • the distance sensor may include at least one of an ultrasonic distance sensor, an infrared distance sensor, and the like.
  • the sensing data of the rear area of the vehicle may include at least one of image data, radar sensing data, distance sensing data, and the like of the rear area of the vehicle.
  • the image data of the rear area of the vehicle may include image data and/or video data of the rear area of the vehicle.
  • the above-mentioned sensing data may be acquired through a connection established with a sensor for sensing information of the rear area of the vehicle.
  • step S12 a target object in the rear area of the vehicle is detected according to the sensing data.
  • the target object may refer to a detected object.
  • the target objects may include objects of preset types and/or objects of non-preset types.
  • the object of the preset type may include at least one of a human object, an animal object, and the like.
  • the objects of non-preset types may refer to any type of obstacles.
  • the preset distance from the rear of the vehicle to the outside of the vehicle may be detected according to at least one of radar sensing data, distance sensing data and image data of the rear area of the vehicle
  • the target object within the scope may be detected according to the image data of the rear area of the vehicle.
  • a detection result of “the target object in the rear area of the vehicle is detected” or “not detected” can be obtained. The detection result of the target object in the rear area of the vehicle”.
  • the detection of the target object in the rear area of the vehicle may indicate that the target object is detected in the rear area of the vehicle; the target object not detected in the rear area of the vehicle may indicate that the target object is located at the rear of the vehicle The target object was not detected in the area.
  • the detection result of the target object may be determined based on the feature of the detected target object and the feature extracted from the sensor data of the rear area of the vehicle.
  • the features of the target object may be its shape, size, color, texture and other features, and/or may be obtained by extracting features from two-dimensional or three-dimensional data of the target object using a feature extraction model.
  • step S13 in response to the trunk of the vehicle being in an open state and the target object is not detected, the trunk is controlled to be closed.
  • a trunk closing instruction may be generated, and the trunk closing instruction may be sent to the body control module, so that the body control module can send the trunk closing instruction to the body control module according to the The trunk closing instruction controls the trunk to close.
  • a trunk closing instruction may be generated, and the trunk closing instruction may be sent to a trunk control circuit to pass the trunk The control circuit controls the trunk to close according to the trunk closing instruction.
  • the trunk of the vehicle when the trunk of the vehicle is in an open state and the target object is detected, the trunk may be kept in an open state.
  • the sensing data of the rear area of the vehicle is acquired, and according to the sensing data, the target object in the rear area of the vehicle is detected, and in response to the trunk of the vehicle is in an open state and is not
  • the target object is detected, and the trunk is controlled to close, so that the trunk can be automatically closed based on the sensor data of the rear area of the vehicle, and the non-contact trunk door can be closed, that is, the trunk can be closed without user contact.
  • the trunk is automatically closed under the premise of the trunk door, which can improve the convenience of closing the trunk.
  • the embodiments of the present disclosure to automatically close the trunk, it can bring greater convenience to the user.
  • the trunk of the vehicle to close in response to the trunk of the vehicle being in an open state and the target object is not detected, it is possible to improve the safety of trunk control and greatly reduce the risk of trunk door clipping. the possibility of injury to the user.
  • using the embodiments of the present disclosure to realize the automatic closing of the trunk also helps to strengthen the protection of property safety in the vehicle cabin (including the trunk).
  • the detecting the target object in the rear area of the vehicle according to the sensing data includes: detecting the target object from the rear of the vehicle to the outside of the vehicle cabin according to the sensing data.
  • a target object within a preset distance range; the controlling the trunk to be closed in response to the trunk of the vehicle being in an open state and the target object is not detected includes: in response to the trunk of the vehicle being opened state, and the target object is not detected within a preset distance range from the rear of the vehicle to the outside of the vehicle cabin, and the trunk is controlled to be closed.
  • the preset distance range may be 0-80 cm.
  • those skilled in the art can also flexibly set the preset distance range according to actual application scenario requirements, which is not limited here.
  • the interference of the target object outside the preset distance range on the control of the trunk can be reduced, thereby The possibility of erroneous control of the trunk can be reduced.
  • the sensing data may include radar sensing data collected by a radar installed at the rear of the vehicle; the sensing data may be used to detect the direction from the rear of the vehicle to the vehicle according to the sensing data.
  • the target object within a preset distance range outside the cabin may include: detecting, according to the radar sensing data, a target object with a distance from the radar within the preset distance range; The target object whose distance between the radars is within the preset distance range determines that the target object is detected within the preset distance range from the rear of the vehicle to the outside of the vehicle cabin; For the target object whose distance between the radars is within the preset distance range, it is determined that the target object is not detected within the preset distance range from the rear of the vehicle to the outside of the vehicle cabin.
  • the radar installed at the rear of the vehicle may be a reversing radar, so that the automatic control function of the trunk can be assisted by using the reversing radar.
  • the sensing data may include distance sensing data collected by a distance sensor installed at the rear of the vehicle; the sensing data may be detected by the rear of the vehicle according to the sensing data.
  • Moving to a target object within a preset distance range outside the vehicle cabin may include: detecting, according to the distance sensing data, a target object whose distance from the distance sensor is within the preset distance range; responding to the detection To a target object whose distance from the distance sensor is within the preset distance range, it is determined that the target object is detected within a preset distance range from the rear of the vehicle to the outside of the vehicle cabin; A target object whose distance from the distance sensor is within the preset distance range is detected, and it is determined that the target object is not detected within a preset distance range from the rear of the vehicle to the outside of the vehicle cabin.
  • the preset distance range from the rear of the vehicle to the outside of the vehicle cabin may be a preset distance range from the trunk lid of the vehicle to the rear of the vehicle, and the preset distance range may be, for example, 0-80 cm.
  • the sensor data collected by the radar or distance sensor installed at the rear of the vehicle can accurately perceive the obstacles in the rear area of the vehicle, thereby obtaining a more accurate detection result of the target object.
  • the controlling the trunk to be closed in response to the trunk of the vehicle being in an open state and the target object is not detected includes: in response to the trunk of the vehicle being opened state and the target object is not detected within the first preset time period, the trunk is controlled to be closed.
  • the first preset duration may be 5 seconds.
  • those skilled in the art can also flexibly set the first preset duration according to actual application scenario requirements, which is not limited here.
  • the fact that the target object is not detected within the first preset period of time may indicate that the duration of time that the target object is not detected reaches the first preset period of time.
  • the trunk can be kept in an open state.
  • the efficiency and accuracy of trunk control can be improved, and the unintended consequences can be reduced. Trunk control operations that are necessary or not required by the user. For example, after the driver controls the trunk to open in the cabin, it may take a short time for an occupant who needs to go to the trunk to get an item to reach the rear area of the vehicle. In this implementation manner, by setting the first preset duration, it is possible to effectively deal with the situation that the occupant does not reach the rear area of the vehicle temporarily or leaves the rear area of the vehicle for a short time.
  • the target object includes a human object
  • the detecting the target object in the rear area of the vehicle according to the sensing data includes: detecting the vehicle according to the sensing data information of at least one human body part in the rear region of the vehicle; in response to detecting the information of the at least one human body part in the rear region of the vehicle, determining a human object detected in the rear region of the vehicle; and/or in response to the detection of the human object in the rear region of the vehicle;
  • the information of the at least one human body part is not detected in the rear area of the vehicle, and it is determined that no human object in the rear area of the vehicle is detected.
  • the at least one human body part may include at least one of a human foot, a human leg, a human body, a human face, and the like.
  • the human body may refer to at least a part of a person's torso, arms and hands.
  • the trunk in response to the trunk of the vehicle being in an open state and no human object is detected, the trunk can be controlled to close, thereby reducing the possibility of user injury due to the trunk door being pinched to the user, Improves the safety of the trunk control.
  • the acquiring sensor data of the rear area of the vehicle includes: acquiring first image data of the rear area of the vehicle collected by a reversing camera; and detecting the vehicle according to the sensor data
  • the information of at least one human body part in the rear area of the vehicle includes: detecting the information of at least one human body part in the rear area of the vehicle according to the first image data.
  • the reversing camera may be mounted at the rear of the vehicle and face outside the cabin, for example towards the rear of the vehicle.
  • the number of the reversing cameras may be one or more.
  • the reversing camera can be oriented towards the ground (for example, facing diagonally downward), or facing away from the ground (eg, facing diagonally upward), or facing directly behind the vehicle, and can also be oriented in an adjustable direction (for example, a rotatable camera) , which is not limited here.
  • the first image data represents the image data of the rear area of the vehicle collected by the reversing camera.
  • the information of at least one human body part in the rear area of the vehicle is detected based on the image data of the rear area of the vehicle collected by the reversing camera, so that the target object detection in the rear area of the vehicle can be performed based on the method of computer vision. Improve the accuracy of target object detection without the need for additional sensors.
  • the detecting, according to the sensing data, the information of at least one human body part in the rear area of the vehicle includes: when the reversing camera faces the ground, according to the first image data, Detecting human foot information and/or human leg information in the rear area of the vehicle; and/or detecting the rear of the vehicle according to the first image data when the reversing camera is facing a direction away from the ground Body information and/or face information of the area.
  • the orientation of the reversing camera may be adjustable or not. When the orientation of the reversing camera is adjustable, the orientation of the reversing camera can be adjusted automatically, or the orientation of the reversing camera can be adjusted manually.
  • the information of different human body parts is detected according to the different orientations of the reversing camera. Specifically, when the reversing camera is facing the ground, according to the first image data, the person in the rear area of the vehicle is detected. Foot information and/or human leg information, and/or, when the reversing camera faces a direction away from the ground, detect human body information and/or human face in the rear area of the vehicle according to the first image data Therefore, whether there is a human object in the rear area of the vehicle can be accurately detected.
  • the reversing camera is a camera with an adjustable direction
  • the method further includes: in response to detecting that the trunk is changed from a closed state to an open state, controlling the reversing camera to rotate to a direction away from the ground and/or, in response to detecting that the trunk is changed from an open state to a closed state, controlling the reversing camera to rotate to a direction toward the ground.
  • the reversing camera can be controlled to face the person in the trunk, that is, the reversing camera can be controlled to face away from the ground, so as to detect whether the person in the trunk has been detected based on the image collected by the reversing camera.
  • the driver may start the vehicle. This is to control the reversing camera to face the ground, which can realize the perception of the ground behind the vehicle, help the driver to accurately know the situation of the ground behind the vehicle, and improve safety.
  • Adjusting the orientation according to the opening and closing state of the trunk can realize more vehicle control functions without adding additional hardware, and improve the automatic control ability of the vehicle.
  • the acquiring sensor data of the rear area of the vehicle includes: acquiring second image data of the rear area of the vehicle collected by a first camera, wherein the first camera is installed in a trunk the inner surface of the door; the detecting the information of at least one human body part in the rear area of the vehicle according to the sensing data includes: detecting at least one part of the rear area of the vehicle according to the second image data Information on body parts.
  • the second image data represents the image data of the rear area of the vehicle collected by the first camera.
  • the first camera is mounted on the inner side of the trunk door, whereby the first camera can be directed towards the rear area of the vehicle when the trunk door is open.
  • This example detects the information of at least one human body part in the rear area of the vehicle based on the image data of the rear area of the vehicle collected by the first camera installed on the inner side of the trunk door, thereby enabling a computer vision-based method
  • the target object detection in the rear area of the vehicle can improve the accuracy of the target object detection.
  • the first camera may be mounted on the inner side of the trunk door near the roof of the vehicle.
  • the first camera is installed at the position of the high-mounted brake light on the trunk door, so that the image data of the rear area of the vehicle can be collected with a better viewing angle after the trunk door is opened, and
  • the position of the high-position brake light has a reserved hole position, which is convenient for the wiring of the connecting wire of the first camera.
  • the method further includes: in response to the trunk being opened, controlling the first camera to collect second image data of the rear area of the vehicle.
  • the first camera may not need to collect image data, thereby saving the power consumption of the entire vehicle.
  • the first camera can be controlled to collect the image data of the rear area of the vehicle in time after the trunk is opened, thereby The trunk can be controlled in time according to the image data of the rear area of the vehicle collected by the first camera.
  • the sensory data includes radar sensory data collected by radar. Wherein, the number of the radars may be one or more.
  • Obstacle detection can, for example, use feature extraction and matching. By detecting whether there is an obstacle in the rear area of the vehicle based on the radar sensing data of the rear area of the vehicle collected by the radar, the detection result of the information of at least one human body part in the rear area of the vehicle can be determined, thereby improving the performance of the vehicle. The accuracy of object detection for the rear region of the vehicle.
  • the acquiring the sensing data of the rear area of the vehicle includes: acquiring the radar sensing data of the rear area of the vehicle collected by the parking radar.
  • the target object detection is performed on the rear area of the vehicle based on the radar sensing data of the rear area of the vehicle collected by the reversing radar, so that the existing radar of the vehicle can be used to detect the target object in the rear area of the vehicle. There is no need to add additional radar, which can save costs.
  • the acquiring the sensing data of the rear area of the vehicle includes: acquiring third image data of the rear area of the vehicle collected by the OMS camera of the occupant monitoring system; and according to the sensing data, Detecting the target object in the rear area of the vehicle includes: detecting human body information and/or face information in the rear area of the vehicle according to the third image data; in response to detecting the human body in the rear area of the vehicle information or face information, it is determined that the target object is detected.
  • the third image data represents the image data of the rear area of the vehicle collected by the OMS camera.
  • the human body information and/or human face information in the rear area of the vehicle in response to detecting human body information and/or human face information whose size is within a preset size range according to the third image data, it may be determined that the human body information and/or the human face information in the rear area of the vehicle is detected. and/or, in response to not detecting human body information and/or face information whose size is within a preset size range according to the third image data, determining that the rear area of the vehicle is not detected. Human body information and/or face information.
  • the human body information and/or face information located in a preset image coordinate area and/or a preset spatial coordinate area in response to detecting human body information and/or face information located in a preset image coordinate area and/or a preset spatial coordinate area according to the third image data, it may be determined that the detected the human body information and/or the face information of the rear area of the vehicle; and/or, in response to the third image data, the human body information and/or the human body information located in the preset image coordinate area and/or the preset spatial coordinate area are not detected.
  • face information it is determined that the human body information and/or the face information of the rear area of the vehicle is not detected.
  • the above-mentioned preset size range and preset image coordinate area may be calculated in advance according to the distance between the OMS camera and the rear of the vehicle, and the average size information of the human body or the average size information of the human face.
  • the human body information and/or face information of the rear area of the vehicle based on the image data of the rear area of the vehicle collected by the OMS camera, it is possible to perform computer vision-based methods for the rear area of the vehicle. It can improve the accuracy of target object detection without adding additional sensors.
  • the OMS camera is mounted on an interior rear view mirror of the vehicle and faces the rear of the vehicle.
  • image data of the rear area of the vehicle can be obtained, so that the image data collected by the OMS camera can be based on The target object detection in the rear area of the vehicle can be performed accurately.
  • the OMS camera can also be installed at any position in the vehicle, as long as it faces the rear of the vehicle and can obtain image data of the rear area of the vehicle.
  • FIG. 2 shows a schematic diagram of the location of sensors in an embodiment of the present disclosure.
  • the sensors may include cameras and radars.
  • the cameras may include a reversing camera installed at the bottom end of the rear of the vehicle (position A), a first camera installed on the inner side of the trunk (such as a high-mounted brake light, shown at position B), and a rearview mirror position (position B).
  • C) the OMS camera, the radar may include a parking radar installed at position A.
  • the acquiring the sensing data of the rear area of the vehicle includes: in response to the trunk being in the open state for a duration reaching a second preset time period, acquiring the sensing data of the rear area of the vehicle data.
  • the second preset time period may be 1 minute.
  • those skilled in the art can set the second preset duration according to actual application scenario requirements, and users can also set and/or change the second preset duration according to actual application scenario requirements and/or personal preferences, which are not limited here.
  • the sensor data of the rear area of the vehicle may also be continuously acquired, which is not limited herein.
  • the method further includes: in the process of closing the trunk, in response to detecting a target object in the rear area of the vehicle according to the sensing data, controlling the trunk on.
  • the target object in the rear area of the vehicle can be continuously detected according to the sensing data, and the closing of the trunk can be interrupted in response to the detection of the target object. and control the opening of the trunk, thereby further improving the safety of the trunk control and reducing the possibility of user injury due to the trunk door being clamped to the user.
  • the method further includes: in response to detecting the target object, re-timing; the detecting, according to the sensing data, the target object in the rear area of the vehicle, including: responding to When the timing duration reaches a third preset duration, the target object in the rear area of the vehicle is detected according to the sensing data.
  • the third preset time period may be 1 minute.
  • those skilled in the art can set the third preset duration according to actual application scenario requirements, which is not limited here.
  • the method further includes: acquiring image data of the driving area of the vehicle collected by the DMS camera of the driver monitoring system; and detecting whether the driver is seated in the driving area according to the image data of the driving area. in the driving area; in response to detecting that the driver is seated in the driving area and the trunk is in an open state, send out inquiry information for inquiring whether to close the trunk; in response to receiving the closing request corresponding to the inquiry information, Controls the trunk to close.
  • the driver in response to detecting that the driver is seated in the driving area and the trunk is in an open state, the driver may be asked whether to close the trunk, and after obtaining the driver's request to close the trunk,
  • the convenience of trunk control can be further improved, and the protection of property safety in the vehicle cabin (including the trunk) can be further enhanced.
  • the method further includes: in response to detecting that the trunk is changed from a closed state to an open state, determining a person object requesting to open the trunk as a target object;
  • the sensing data, and detecting the target object in the rear area of the vehicle includes: according to the sensing data, detecting whether the human object in the rear area of the vehicle includes the target object.
  • the user may request to open the trunk by means of voice, buttons, remote control, and the like. For example, a person object requesting to open the trunk can be determined through voiceprint recognition.
  • the image or video stream inside and/or outside the vehicle cabin may be analyzed to determine the person object requesting to open the trunk.
  • all personnel objects in the vehicle cabin may be determined as target objects.
  • the method further includes: in response to the trunk being in a closed state and detecting a preset person object requesting to open the trunk according to the sensor data of the rear area of the vehicle, controlling the back-up Box opens.
  • the preset person object may include pre-registered personnel, for example, may include pre-registered drivers and/or other occupants.
  • in response to the trunk being in a closed state and detecting that a preset person object faces the trunk according to the image data of the rear area of the vehicle and stays there for a fourth preset period of time it may be determined that the preset human object is detected.
  • a person object requests to open the trunk. According to this example, it is possible to facilitate the user to open the trunk based on the sensing data.
  • the driver takes out the luggage from the trunk of the vehicle after getting out of the vehicle.
  • the camera and/or the radar collects sensing data of the rear area of the vehicle, and the controller detects the target object in the rear area of the vehicle according to the sensing data. After the driver leaves the rear area of the vehicle, the controller controls the trunk to automatically close in response to the trunk of the vehicle being in an open state and the target object is not detected.
  • the present disclosure also provides a trunk control device, electronic equipment, computer-readable storage medium, and programs, all of which can be used to implement any trunk control method provided by the present disclosure, and the corresponding technical solutions and technical effects can be found in The corresponding records in the method part are not repeated here.
  • FIG. 3 shows a block diagram of a control apparatus for a trunk provided by an embodiment of the present disclosure.
  • the control device for the trunk includes: a first acquisition module 31 for acquiring sensing data of the rear area of the vehicle; and a first detection module 32 for detecting all the sensing data according to the sensing data.
  • the target object in the rear area of the vehicle; the first control module 33 is configured to control the trunk to close in response to the trunk of the vehicle being in an open state and the target object is not detected.
  • the first detection module 32 is configured to: detect a target object within a preset distance from the rear of the vehicle to the outside of the vehicle cabin according to the sensing data; the first detection module 32
  • a control module 33 is configured to control the trunk in response to the trunk of the vehicle being in an open state and the target object is not detected within a preset distance from the rear of the vehicle to the outside of the vehicle cabin closure.
  • the first control module 33 is configured to: in response to the trunk of the vehicle being in an open state and the target object not being detected within a first preset time period, control the backup Box closed.
  • the target object includes a human object
  • the first detection module 32 is configured to: detect information of at least one human body part in the rear area of the vehicle according to the sensing data; respond to in response to the detection of the at least one human body part in the rear region of the vehicle, determining that a human object in the rear region of the vehicle is detected; and/or in response to not detecting the at least one human object in the rear region of the vehicle
  • the information of a body part determines that the body object is not detected in the rear area of the vehicle.
  • the first acquisition module 31 is used for: acquiring the first image data of the rear area of the vehicle collected by the reversing camera; the first detection module 32 is used for: according to the first image data to detect information of at least one human body part in the rear area of the vehicle.
  • the first detection module 32 is configured to: when the reversing camera faces the ground, according to the first image data, detect the human foot information in the rear area of the vehicle and /or human leg information; and/or, when the reversing camera faces a direction away from the ground, detect human body information and/or face information in the rear area of the vehicle according to the first image data.
  • the first acquisition module 31 is configured to: acquire the second image data of the rear area of the vehicle collected by the first camera, wherein the first camera is installed on the inner side of the trunk door Above; the first detection module 32 is configured to: detect the information of at least one human body part in the rear area of the vehicle according to the second image data.
  • the first camera is installed at the position of a high-mounted brake light on the trunk door.
  • the apparatus further includes: a second control module, configured to control the first camera to collect second image data of the rear area of the vehicle in response to the trunk being opened.
  • the sensing data includes radar sensing data; the first detection module 32 is configured to: perform obstacle detection on the rear area of the vehicle according to the radar sensing data; In response to detecting the presence of an obstacle in the rear area of the vehicle according to the radar sensing data, determining that information of at least one human body part in the rear area of the vehicle is detected; and/or in response to the radar sensing data No obstacle is detected in the rear area of the vehicle, and it is determined that the information of at least one human body part in the rear area of the vehicle is not detected.
  • the first obtaining module 31 is configured to: obtain radar sensing data of the rear area of the vehicle collected by the reversing radar.
  • the first acquisition module 31 is used for: acquiring the third image data of the rear area of the vehicle collected by the OMS camera of the occupant monitoring system; the first detection module 32 is used for: according to the The third image data is to detect human body information and/or human face information in the rear area of the vehicle; in response to detecting human body information or human face information in the rear area of the vehicle, it is determined that the target object is detected.
  • the OMS camera is mounted on an interior rearview mirror of the vehicle and faces the rear of the vehicle.
  • the first acquiring module 31 is configured to acquire sensing data of the rear area of the vehicle in response to the duration that the trunk is in an open state reaching a second preset duration.
  • the apparatus further includes: a fifth control module, configured to respond to detecting a target in the rear area of the vehicle according to the sensing data during the closing process of the trunk object, which controls the trunk to be opened.
  • the device further includes: a second acquisition module, configured to acquire the image data of the driving area of the vehicle collected by the DMS camera of the driver monitoring system; The image data of the driving area is used to detect whether the driver is seated in the driving area; the sending module is used to respond to the detection that the driver is seated in the driving area and the trunk is in an open state, and send a message for inquiring whether to close Inquiry information of the trunk; a third control module, configured to control the trunk to close in response to receiving a closing request corresponding to the inquiry information.
  • the apparatus further includes: a determining module, configured to determine a person object requesting to open the trunk as a target object in response to detecting that the trunk is changed from a closed state to an open state ;
  • the first detection module 32 is configured to: according to the sensing data, detect whether the human object in the rear area of the vehicle includes the target object.
  • the apparatus further includes: a fourth control module, configured to detect a preset person object request in response to the trunk being in a closed state and according to the sensor data of the rear area of the vehicle The trunk is opened, and the trunk is controlled to be opened.
  • a fourth control module configured to detect a preset person object request in response to the trunk being in a closed state and according to the sensor data of the rear area of the vehicle The trunk is opened, and the trunk is controlled to be opened.
  • the sensing data of the rear area of the vehicle is acquired, and according to the sensing data, the target object in the rear area of the vehicle is detected, and in response to the trunk of the vehicle is in an open state and is not
  • the target object is detected, and the trunk is controlled to close, so that the trunk can be automatically closed based on the sensor data of the rear area of the vehicle, and the non-contact trunk door can be closed, that is, the trunk can be closed without user contact.
  • the trunk is automatically closed under the premise of the trunk door, which can improve the convenience of closing the trunk.
  • the trunk of the vehicle by controlling the trunk of the vehicle to close in response to the trunk of the vehicle being in an open state and the target object is not detected, it is possible to improve the safety of trunk control and greatly reduce the risk of trunk door clipping. the possibility of injury to the user. Furthermore, using the embodiments of the present disclosure to realize the automatic closing of the trunk also helps to strengthen the protection of property safety in the vehicle cabin (including the trunk).
  • An embodiment of the present disclosure further provides a vehicle, comprising: a sensor for collecting sensing data of a rear area of the vehicle; a controller for acquiring the sensing data from the sensor, and according to the sensing data, A target object in a rear area of the vehicle is detected, and in response to the trunk of the vehicle being in an open state and the target object is not detected, the trunk is controlled to close.
  • the senor includes a radar and/or a camera
  • the camera includes at least one of a reversing camera, a first camera, and an OMS camera
  • the first camera is installed inside the trunk door The area on the side near the roof.
  • the functions or modules included in the devices and vehicles provided in the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments, and the specific implementation and technical effects may refer to the descriptions in the above method embodiments. , for brevity, will not be repeated here.
  • Embodiments of the present disclosure further provide a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium, or may be a volatile computer-readable storage medium.
  • Embodiments of the present disclosure further provide a computer program, including computer-readable codes, when the computer-readable codes are executed in an electronic device, the processor in the electronic device executes the above method.
  • Embodiments of the present disclosure further provide another computer program product for storing computer-readable instructions, which, when executed, cause the computer to perform operations of the trunk control method provided by any of the foregoing embodiments.
  • Embodiments of the present disclosure further provide an electronic device, including: one or more processors; a memory for storing executable instructions; wherein the one or more processors are configured to invoke executable instructions stored in the memory instruction to execute the above method.
  • the electronic device may be provided as a terminal, server or other form of device.
  • the electronic device may be a controller in the cabin, a domain controller, or a vehicle machine, and may also be a device host used for performing data processing operations such as images in an OMS or a DMS, or the like.
  • FIG. 4 shows a block diagram of an electronic device 800 provided by an embodiment of the present disclosure.
  • electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc. terminal.
  • 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, a sensor component 814 , and the communication component 816 .
  • the processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations.
  • the processing component 802 can include one or more processors 820 to execute instructions to perform all or some of the steps of the methods described above.
  • processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components.
  • processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.
  • Memory 804 is configured to store various types of data to support operation at electronic device 800 . Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, and the like. Memory 804 may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM erasable Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Magnetic or Optical Disk Magnetic Disk
  • Power supply assembly 806 provides power to various components of electronic device 800 .
  • Power supply components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800 .
  • 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 a user.
  • the touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or swipe action, but also detect the duration and pressure associated with the touch or swipe action.
  • the multimedia component 808 includes a front-facing camera and/or a rear-facing 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 may receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have focal length and optical zoom capability.
  • Audio component 810 is configured to output and/or input audio signals.
  • audio component 810 includes a microphone (MIC) that is configured to receive external audio signals when electronic device 800 is in operating modes, such as calling mode, recording mode, and voice recognition mode.
  • the received audio signal may be further stored in memory 804 or transmitted via communication component 816 .
  • audio component 810 also 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, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to: home button, volume buttons, start button, and lock button.
  • Sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of electronic device 800 .
  • the sensor assembly 814 can detect the open/closed state of the electronic device 800, the relative positioning of the components, such as the display and the keypad of the electronic device 800, the sensor assembly 814 can also detect the electronic device 800 or one of the electronic device 800 Changes in the position of components, presence or absence of user contact with the electronic device 800 , orientation or acceleration/deceleration of the electronic device 800 and changes in the temperature of the electronic device 800 .
  • Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact.
  • Sensor assembly 814 may also include a light sensor, such as a complementary metal oxide semiconductor (CMOS) or charge coupled device (CCD) image sensor, for use in imaging applications.
  • CMOS complementary metal oxide semiconductor
  • CCD charge coupled device
  • the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices.
  • the electronic device 800 can access a wireless network based on communication standards, such as wireless network (Wi-Fi), second generation mobile communication technology (2G), third generation mobile communication technology (3G), fourth generation mobile communication technology (4G) )/Long Term Evolution (LTE) of Universal Mobile Communications Technology, Fifth Generation Mobile Communications Technology (5G), or a combination thereof.
  • the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication.
  • the NFC module may 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
  • electronic device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A programmed gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation is used to perform the above method.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A programmed gate array
  • controller microcontroller, microprocessor or other electronic component implementation is used to perform the above method.
  • a non-volatile computer-readable storage medium such as a memory 804 comprising computer program instructions executable by the processor 820 of the electronic device 800 to perform the above method is also provided.
  • FIG. 5 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.
  • electronic device 1900 includes processing component 1922, which further includes one or more processors, and a memory resource represented by memory 1932 for storing instructions executable by processing component 1922, such as applications.
  • An application program stored in 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 assembly 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 a Microsoft server operating system (Windows Server TM ), a graphical user interface based operating system (Mac OS X TM ) introduced by Apple, a multi-user multi-process computer operating system (Unix TM ), Free and Open Source Unix-like Operating System (Linux TM ), Open Source Unix-like Operating System (FreeBSD TM ) or the like.
  • Microsoft server operating system Windows Server TM
  • Mac OS X TM graphical user interface based operating system
  • Uniix TM multi-user multi-process computer operating system
  • Free and Open Source Unix-like Operating System Linux TM
  • FreeBSD TM Open Source Unix-like Operating System
  • a non-volatile computer-readable storage medium such as memory 1932 comprising computer program instructions executable by the processing component 1922 of the electronic device 1900 to accomplish the above-described method is also provided.
  • the present disclosure may be a system, method and/or computer program product.
  • the computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the present disclosure.
  • a computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above.
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • flash memory static random access memory
  • SRAM static random access memory
  • CD-ROM compact disk read only memory
  • DVD digital versatile disk
  • memory sticks floppy disks
  • mechanically coded devices such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above.
  • Computer-readable storage media are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.
  • the computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over 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, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .
  • Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or instructions in one or more programming languages.
  • Source or object code written in any combination, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as the "C" language or similar programming languages.
  • the computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer may 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 may be connected to an external computer (eg, using an Internet service provider through the Internet connect).
  • LAN local area network
  • WAN wide area network
  • custom electronic circuits such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs) can be personalized by utilizing state information of computer readable program instructions.
  • Computer readable program instructions are executed to implement various aspects of the present disclosure.
  • These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
  • These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium storing the instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
  • Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions.
  • the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in 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 embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.
  • a software development kit Software Development Kit, SDK

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Abstract

一种后备箱的控制方法及装置、车辆、电子设备和存储介质。其方法包括：获取车辆的尾部区域的传感数据；根据传感数据，检测车辆的尾部区域的目标对象；响应于车辆的后备箱处于开启状态且未检测到目标对象，控制后备箱关闭

Description

后备箱的控制方法及装置、车辆、电子设备和存储介质
本申请要求在2020年9月15日提交中国专利局、申请号为202010970973.3、申请名称为“后备箱的控制方法及装置、车辆、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，尤其涉及一种后备箱的控制方法及装置、车辆、电子设备和存储介质。
背景技术
车辆是人们出行的主要交通工具之一，车辆的后备箱作为车辆的重要存储空间而常常被使用。相关技术中，在后备箱开启后，通常采用遥控钥匙或者手动的方式关闭后备箱，便捷性较低。
发明内容
本公开提供了一种后备箱的控制技术方案。
根据本公开的一方面，提供了一种后备箱的控制方法，包括：
后备箱的控制方法，包括：
获取车辆的尾部区域的传感数据；
根据所述传感数据，检测所述车辆的尾部区域的目标对象；
响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，
所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：根据所述传感数据，检测由所述车辆的尾部向车舱外的预设距离范围内的目标对象；
所述响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，包括：响应于所述车辆的后备箱处于开启状态、且未在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，所述响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，包括：
响应于所述车辆的后备箱处于开启状态且未在第一预设时长内检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，所述目标对象包括人体对象；
所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：
根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息；
响应于在所述车辆的尾部区域检测到所述至少一个人体部位的信息，确定检测到所述车辆的尾部区域的人体对象；和/或响应于在所述车辆的尾部区域未检测到所述至少一个人体部位的信息，确定未检测到所述车辆的尾部区域的人体对象。
在一种可能的实现方式中，
所述获取车辆的尾部区域的传感数据，包括：获取倒车摄像头采集的车辆的尾部区域的第一影像数据；
所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：根据所述第一影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：
在所述倒车摄像头朝向地面的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人脚信息和/或人腿信息；
和/或，
在所述倒车摄像头朝向背离地面的方向的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息。
在一种可能的实现方式中，
所述获取车辆的尾部区域的传感数据，包括：获取第一摄像头采集的车辆的尾部区域的第二影像数据，其中，所述第一摄像头安装在后备箱门的内侧面上；
所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：根据所述第二影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述第一摄像头安装在所述后备箱门上的高位刹车灯的位置。
在一种可能的实现方式中，所述方法还包括：
响应于所述后备箱开启，控制所述第一摄像头采集车辆的尾部区域的第二影像数据。
在一种可能的实现方式中，所述传感数据包括雷达传感数据；
所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：
根据所述雷达传感数据，对所述车辆的尾部区域进行障碍物检测；
响应于根据所述雷达传感数据检测到所述车辆的尾部区域存在障碍物，确定检测到所述车辆的尾部区域的至少一个人体部位的信息；和/或响应于根据所述雷达传感数据未检测到所述车辆的尾部区域存在障碍物，确定未检测到所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述获取车辆的尾部区域的传感数据，包括：
获取倒车雷达采集的车辆的尾部区域的雷达传感数据。
在一种可能的实现方式中，
所述获取车辆的尾部区域的传感数据，包括：获取乘员监控系统OMS摄像头采集的车辆的尾部区域的第三影像数据；
所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：根据所述第三影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息；响应于在所述车辆的尾部区域检测到人体信息或人脸信息，确定检测到所述目标对象。
在一种可能的实现方式中，所述OMS摄像头安装在所述车辆的内后视镜上，且朝向所述车辆的后方。
在一种可能的实现方式中，所述获取车辆的尾部区域的传感数据，包括：
响应于所述后备箱处于开启状态的持续时长达到第二预设时长，获取车辆的尾部区域的传感数据。
在一种可能的实现方式中，所述方法还包括：
在所述后备箱关闭的过程中，响应于根据所述传感数据检测到所述车辆的尾部区域的述目标对象，控制所述后备箱开启。
在一种可能的实现方式中，所述方法还包括：
获取驾驶员监控系统DMS摄像头采集的所述车辆的驾驶区域的影像数据；
根据所述驾驶区域的影像数据，检测驾驶员是否落座在所述驾驶区域；
响应于检测到驾驶员落座在所述驾驶区域且所述后备箱处于开启状态，发出用于询问是否关闭后备箱的询问信息；
响应于接收到所述询问信息对应的关闭请求，控制所述后备箱关闭。
在一种可能的实现方式中，所述方法还包括：
响应于检测到所述后备箱由关闭状态变更为开启状态，将请求开启所述后备箱的人员对象确定为目标对象；
所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：
根据所述传感数据，检测所述车辆的尾部区域的人员对象是否包括所述目标对象。
在一种可能的实现方式中，所述方法还包括：
响应于所述后备箱处于关闭状态且根据所述车辆的尾部区域的传感数据检测到预设人员对象请求开启后备箱，控制所述后备箱开启。
根据本公开的一方面，提供了一种后备箱的控制装置，包括：
第一获取模块，用于获取车辆的尾部区域的传感数据；
第一检测模块，用于根据所述传感数据，检测所述车辆的尾部区域的目标对象；
第一控制模块，用于响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，
所述第一检测模块用于：根据所述传感数据，检测由所述车辆的尾部向车舱外的预设距离范围内的目标对象；
所述第一控制模块用于：响应于所述车辆的后备箱处于开启状态、且未在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，所述第一控制模块用于：
响应于所述车辆的后备箱处于开启状态且未在第一预设时长内检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，所述目标对象包括人体对象；
所述第一检测模块用于：
根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息；
响应于在所述车辆的尾部区域检测到所述至少一个人体部位的信息，确定检测到所述车辆的尾部 区域的人体对象；和/或响应于在所述车辆的尾部区域未检测到所述至少一个人体部位的信息，确定未检测到所述车辆的尾部区域的人体对象。
在一种可能的实现方式中，
所述第一获取模块用于：获取倒车摄像头采集的车辆的尾部区域的第一影像数据；
所述第一检测模块用于：根据所述第一影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述第一检测模块用于：
在所述倒车摄像头朝向地面的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人脚信息和/或人腿信息；
和/或，
在所述倒车摄像头朝向背离地面的方向的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息。
在一种可能的实现方式中，
所述第一获取模块用于：获取第一摄像头采集的车辆的尾部区域的第二影像数据，其中，所述第一摄像头安装在后备箱门的内侧面上；
所述第一检测模块用于：根据所述第二影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述第一摄像头安装在所述后备箱门上的高位刹车灯的位置。
在一种可能的实现方式中，所述装置还包括：
第二控制模块，用于响应于所述后备箱开启，控制所述第一摄像头采集车辆的尾部区域的第二影像数据。
在一种可能的实现方式中，所述传感数据包括雷达传感数据；
所述第一检测模块用于：
根据所述雷达传感数据，对所述车辆的尾部区域进行障碍物检测；
响应于根据所述雷达传感数据检测到所述车辆的尾部区域存在障碍物，确定检测到所述车辆的尾部区域的至少一个人体部位的信息；和/或响应于根据所述雷达传感数据未检测到所述车辆的尾部区域存在障碍物，确定未检测到所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述第一获取模块用于：
获取倒车雷达采集的车辆的尾部区域的雷达传感数据。
在一种可能的实现方式中，
所述第一获取模块用于：获取乘员监控系统OMS摄像头采集的车辆的尾部区域的第三影像数据；
所述第一检测模块用于：根据所述第三影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息；响应于在所述车辆的尾部区域检测到人体信息或人脸信息，确定检测到所述目标对象。
在一种可能的实现方式中，所述OMS摄像头安装在所述车辆的内后视镜上，且朝向所述车辆的后方。
在一种可能的实现方式中，所述第一获取模块用于：响应于所述后备箱处于开启状态的持续时长 达到第二预设时长，获取车辆的尾部区域的传感数据。
在一种可能的实现方式中，所述装置还包括：
第五控制模块，用于在所述后备箱关闭的过程中，响应于根据所述传感数据检测到所述车辆的尾部区域的目标对象，控制所述后备箱开启。
在一种可能的实现方式中，所述装置还包括：
第二获取模块，用于获取驾驶员监控系统DMS摄像头采集的所述车辆的驾驶区域的影像数据；
第二检测模块，用于根据所述驾驶区域的影像数据，检测驾驶员是否落座在所述驾驶区域；
发出模块，用于响应于检测到驾驶员落座在所述驾驶区域且所述后备箱处于开启状态，发出用于询问是否关闭后备箱的询问信息；
第三控制模块，用于响应于接收到所述询问信息对应的关闭请求，控制所述后备箱关闭。
在一种可能的实现方式中，
所述装置还包括：确定模块，用于响应于检测到所述后备箱由关闭状态变更为开启状态，将请求开启所述后备箱的人员对象确定为目标对象；
所述第一检测模块用于：根据所述传感数据，检测所述车辆的尾部区域的人员对象是否包括所述目标对象。
在一种可能的实现方式中，所述装置还包括：
第四控制模块，用于响应于所述后备箱处于关闭状态且根据所述车辆的尾部区域的传感数据检测到预设人员对象请求开启后备箱，控制所述后备箱开启。
根据本公开的一方面，提供了一种车辆，包括：传感器，用于采集车辆的尾部区域的传感数据；控制器，用于从所述传感器获取所述传感数据，根据所述传感数据，检测所述车辆的尾部区域的目标对象，并响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述车辆的后备箱关闭。
在一种可能的实现方式中，所述传感器包括雷达和/或摄像头，所述摄像头包括倒车摄像头、第一摄像头、OMS摄像头中的至少之一，所述第一摄像头安装在后备箱门的内侧面上。
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，通过获取车辆的尾部区域的传感数据，根据所述传感数据，检测所述车辆的尾部区域的目标对象，并响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，由此能够基于车辆的尾部区域的传感数据实现自动关闭后备箱，且能够实现非接触式的后备箱关门，即，能够在无需用户接触后备箱门的前提下自动关闭后备箱，从而能够提高关闭后备箱的便捷性。尤其是在用户双手不方便(例如手拿行李、伞等)的情况下，通过采用本公开实施例实现自动关闭后备箱，能够为用户带来较大的便利。另外，通过响应于所述车辆的后备箱处于开启状态且 未检测到所述目标对象，控制所述车辆的后备箱关闭，由此能够提高后备箱控制的安全性，大大降低因后备箱门夹到用户而导致用户受伤的可能性。再者，采用本公开实施例实现自动关闭后备箱，也有助于加强对车舱内(包括后备箱内)的财产安全的保障。
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后备箱的控制方法的流程图。
图2示出本公开实施例中的传感器的位置的示意图。
图3示出本公开实施例提供的后备箱的控制装置的框图。
图4示出本公开实施例提供的一种电子设备800的框图。
图5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后备箱的控制方法的流程图。所述后备箱的控制方法的执行主体可以是后备箱的控制装置。在一种可能的实现方式中，所述后备箱的控制方法可以由终端设备或服务器或其它处理设备执行。其中，终端设备可以是车载设备、用户设备(User Equipment，UE)、移动设备、用户终端、终端、蜂窝电话、无绳电话、个人数字助理(Personal Digital Assistant，PDA)、手持设备、计算设备或者可穿戴设备等。其中，车载设备可以是车舱内的控制器、域控制器或者车机，还可以是OMS(Occupant Monitoring System，乘员监控系统)或者DMS(Driver Monitor System，驾驶员监控系统)等中用于执行图像等数据处理操作的设备主机等。在一些可能的实现方式中，所述后备箱的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 后备箱的控制方法包括步骤S11至步骤S13。
在步骤S11中，获取车辆的尾部区域的传感数据。
本公开实施例中的车辆可以是私家车、共享汽车、网约车、出租车等中的至少一个类型的车辆。
在本公开实施例中，可以通过传感器采集车辆的尾部区域的传感数据，并从所述传感器获取所述车辆的尾部区域的传感数据。其中，传感器可以是用于感知车辆的信息的传感器，其通常可以安装于车辆上。其中，所述传感器的数量可以是一个或多个。所述传感器可以包括摄像头、雷达、距离传感器等中的至少之一。所述摄像头可以包括安装在车辆的外部和/或内部的一个或多个摄像头。例如，所述摄像头可以包括安装在车辆的尾部的摄像头。例如，所述安装在车辆的尾部的摄像头可以包括安装在车辆的尾部的倒车摄像头，也可以包括安装在车辆的尾部的其他摄像头。又如，所述摄像头还可以包括安装在后备箱的内侧面上的摄像头。又如，所述摄像头还可以包括OMS摄像头和/或DMS摄像头等。所述雷达可以用于测量所述雷达与所述雷达前方的障碍物之间的距离。所述雷达可以包括安装在车辆的尾部的倒车雷达，也可以包括安装在车辆的尾部的其他雷达。所述距离传感器可以用于测量所述距离传感器与所述距离传感器前方的障碍物之间的距离。所述距离传感器可以包括超声波距离传感器、红外距离传感器等中的至少之一。
在本公开实施例中，所述车辆的尾部区域的传感数据可以包括所述车辆的尾部区域的影像数据、雷达传感数据、距离传感数据等中的至少之一。其中，所述车辆的尾部区域的影像数据可以包括所述车辆的尾部区域的图像数据和/或视频数据。可以通过与用于感知车辆的尾部区域的信息的传感器建立的连接来获取上述传感数据。
在步骤S12中，根据所述传感数据，检测所述车辆的尾部区域的目标对象。
在本公开实施例中，所述目标对象可以指被检测的对象。所述目标对象可以包括预设类型的对象和/或非预设类型的对象。其中，所述预设类型的对象可以包括人体对象、动物体对象等中的至少之一。所述非预设类型的对象可以指任意类型的障碍物。
在一种可能的实现方式中，可以根据所述车辆的尾部区域的雷达传感数据、距离传感数据和影像数据中的至少之一，检测由所述车辆的尾部向车辆外的预设距离范围内的目标对象。在另一种可能的实现方式中，可以根据所述车辆的尾部区域的影像数据，检测所述车辆的尾部向外预设尺寸范围内的目标对象。在本公开实施例中，通过根据所述传感数据，检测所述车辆的尾部区域的目标对象，可以得到“检测到所述车辆的尾部区域的目标对象”的检测结果或者得到“未检测到所述车辆的尾部区域的目标对象”的检测结果。其中，检测到所述车辆的尾部区域的目标对象，可以表示在所述车辆的尾部区域中检测到目标对象；未检测到所述车辆的尾部区域的目标对象，可以表示在所述车辆的尾部区域中未检测到目标对象。
在本公开的实施例中，可以基于被检测的目标对象的特征与从车辆的尾部区域的传感数据中提取出的特征进行匹配，从而确定目标对象的检测结果。其中，目标对象的特征可以是其形状、尺寸、颜色、纹理等特征，和/或可以是采用特征提取模型对目标对象的二维数据或三维数据进行特征提取得出的。
在步骤S13中，响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭。
例如，可以响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，生成后备箱关闭指令，并向车身控制模块发送所述后备箱关闭指令，以通过所述车身控制模块根据所述后备箱关闭指令控制所述后备箱关闭。又如，可以响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，生成后备箱关闭指令，并向后备箱控制电路发送所述后备箱关闭指令，以通过所述后备箱控制电路根据所述后备箱关闭指令控制所述后备箱关闭。
在本公开实施例的一些可能的实现方式中，在所述车辆的后备箱处于开启状态且检测到所述目标对象的情况下，可以保持所述后备箱处于开启状态。
在本公开实施例中，通过获取车辆的尾部区域的传感数据，根据所述传感数据，检测所述车辆的尾部区域的目标对象，并响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，由此能够基于车辆的尾部区域的传感数据实现自动关闭后备箱，且能够实现非接触式的后备箱关门，即，能够在无需用户接触后备箱门的前提下自动关闭后备箱，从而能够提高关闭后备箱的便捷性。尤其是在用户双手不方便(例如手拿行李、伞等)的情况下，通过采用本公开实施例实现自动关闭后备箱，能够为用户带来较大的便利。另外，通过响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述车辆的后备箱关闭，由此能够提高后备箱控制的安全性，大大降低因后备箱门夹到用户而导致用户受伤的可能性。再者，采用本公开实施例实现自动关闭后备箱，也有助于加强对车舱内(包括后备箱内)的财产安全的保障。
在一种可能的实现方式中，所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：根据所述传感数据，检测由所述车辆的尾部向车舱外的预设距离范围内的目标对象；所述响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，包括：响应于所述车辆的后备箱处于开启状态、且未在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象，控制所述后备箱关闭。在该实现方式中，预设距离范围可以是0-80cm。当然，本领域技术人员也可以根据实际应用场景需求灵活设置预设距离范围，在此不作限定。在该实现方式中，通过对由所述车辆的尾部向车舱外的预设距离范围内进行目标对象的检测，由此能够减少预设距离范围外的目标对象对后备箱控制的干扰，从而能够降低对后备箱进行错误的控制的可能性。
作为该实现方式的一个示例，所述传感数据可以包括通过安装在所述车辆的尾部的雷达采集的雷达传感数据；所述根据所述传感数据，检测由所述车辆的尾部向车舱外的预设距离范围内的目标对象，可以包括：根据所述雷达传感数据，检测与所述雷达之间的距离在所述预设距离范围内的目标对象；响应于检测到与所述雷达之间的距离在所述预设距离范围内的目标对象，确定在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象；响应于未检测到与所述雷达之间的距离在所述预设距离范围内的目标对象，确定未在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象。
其中，安装在所述车辆的尾部的雷达可以是倒车雷达，由此可以利用倒车雷达辅助实现后备箱自动控制功能。
作为该实现方式的另一个示例，所述传感数据可以包括通过安装在所述车辆的尾部的距离传感器采集的距离传感数据；所述根据所述传感数据，检测由所述车辆的尾部向车舱外的预设距离范围内的目标对象，可以包括：根据所述距离传感数据，检测与所述距离传感器之间的距离在所述预设距离范围内的目标对象；响应于检测到与所述距离传感器之间的距离在所述预设距离范围内的目标对象，确 定在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象；响应于未检测到与所述距离传感器之间的距离在所述预设距离范围内的目标对象，确定未在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象。其中，由所述车辆的尾部向车舱外的预设距离范围可以是由车辆的后备箱盖向车辆后方的预设距离范围，该预设距离范围可以例如是0-80cm。当然，本领域技术人员也可以根据实际应用场景需求灵活设置预设距离范围，在此不作限定。在这种情况下，通过安装在车辆尾部的雷达或距离传感器采集的传感数据可以准确地感知车辆的尾部区域内的障碍物，从而获得更准确的目标对象的检测结果。
在一种可能的实现方式中，所述响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，包括：响应于所述车辆的后备箱处于开启状态且未在第一预设时长内检测到所述目标对象，控制所述后备箱关闭。例如，第一预设时长可以是5秒。当然，本领域技术人员也可以根据实际应用场景需求灵活设置第一预设时长，在此不作限定。在该实现方式中，未在第一预设时长内检测到所述目标对象，可以表示未检测到所述目标对象的持续时长达到所述第一预设时长。在该实现方式中，若未检测到所述目标对象的持续时长未达到所述第一预设时长，则可以保持所述后备箱处于开启状态。通过响应于所述车辆的后备箱处于开启状态且未在第一预设时长内检测到所述目标对象，控制所述后备箱关闭，由此能够提高后备箱控制的效率和准确性，减少非必要或非用户所需的后备箱控制操作。例如，驾驶员在车舱内控制后备箱开启后，需要去后备箱取物品的乘员可能需要一小段时间才能到达车辆的尾部区域。该实现方式通过设置第一预设时长，能够有效地应对乘员暂时未到达车辆的尾部区域或者短暂离开车辆的尾部区域的情况。
在一种可能的实现方式中，所述目标对象包括人体对象；所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息；响应于在所述车辆的尾部区域检测到所述至少一个人体部位的信息，确定检测到所述车辆的尾部区域的人体对象；和/或响应于在所述车辆的尾部区域未检测到所述至少一个人体部位的信息，确定未检测到所述车辆的尾部区域的人体对象。在该实现方式中，可以所述车辆的尾部区域的影像数据、雷达传感数据、距离传感数据等中的至少之一，检测所述车辆的尾部区域的至少一个人体部位的信息，进而判断车辆的尾部区域是否有人体对象。例如，所述至少一个人体部位可以包括人脚、人腿、人体、人脸等中的至少之一。在这里，人体可以指人的躯干及胳膊、手部的至少一部分。根据该实现方式，可以响应于所述车辆的后备箱处于开启状态且未检测到人体对象，控制所述后备箱关闭，由此能够降低因后备箱门夹到用户而导致用户受伤的可能性，提高后备箱控制的安全性。
作为该实现方式的一个示例，所述获取车辆的尾部区域的传感数据，包括：获取倒车摄像头采集的车辆的尾部区域的第一影像数据；所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：根据所述第一影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。在该示例中，所述倒车摄像头可以安装在车辆的尾部，且朝向车舱外，例如朝向车辆的后方。所述倒车摄像头的数量可以是一个或多个。所述倒车摄像头可以朝向地面(例如朝向斜下方)，也可以朝向背离地面的方向(例如朝向斜上方)，也可以朝向车辆的正后方，还可以是朝向可调的(例如为可旋转摄像头)，在此不作限定。在该示例中，所述第一影像数据表示倒车摄像头采集的车辆的尾部区域的影像数据。该示例通过基于倒车摄像头采集的车辆的尾部区域的影像数据，检测所述车辆的尾部区 域的至少一个人体部位的信息，由此能够基于计算机视觉的方法进行车辆的尾部区域的目标对象检测，能够提高目标对象检测的准确性，且无需额外增设传感器。
在一个例子中，所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：在所述倒车摄像头朝向地面的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人脚信息和/或人腿信息；和/或，在所述倒车摄像头朝向背离地面的方向的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息。在这个例子中，所述倒车摄像头的朝向可以是可调节的，也可以是不可调节的。在所述倒车摄像头的朝向可调节的情况下，可以自动调节所述倒车摄像头的朝向，也可以手动调节所述倒车摄像头的朝向。在这个例子中，通过针对倒车摄像头的不同朝向对应检测不同的人体部位的信息，具体在所述倒车摄像头朝向地面的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人脚信息和/或人腿信息，和/或，在所述倒车摄像头朝向背离地面的方向的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息，由此能够准确地检测出所述车辆的尾部区域是否有人体对象。
在一个例子中，所述倒车摄像头是可调方向的摄像头，所述方法还包括：响应于检测到所述后备箱由关闭状态变更为开启状态，控制所述倒车摄像头转动至朝向背离地面的方向；和/或，响应于检测到所述后备箱由开启状态变更为关闭状态，控制所述倒车摄像头转动至朝向地面的方向。
通常后备箱开启状态下车辆处于静止状态，这时可以控制倒车摄像头朝向后备箱处的人员，即控制倒车摄像头朝向背离地面的方向，以基于倒车摄像头采集的图像来检测后备箱处的人员是否已离开车辆尾部。而后备箱关闭状态下驾驶员可能会启动车辆，这是控制倒车摄像头朝向地面可以实现对车辆后方地面的感知，帮助驾驶员准确获知车辆后方地面的情况，提升安全性，由此通过控制倒车摄像头根据后备箱的开启和关闭状态调整朝向，能够在不增加额外的硬件的基础上实现更多的车辆控制功能，提升车辆的自动控制能力。
作为该实现方式的另一个示例，所述获取车辆的尾部区域的传感数据，包括：获取第一摄像头采集的车辆的尾部区域的第二影像数据，其中，所述第一摄像头安装在后备箱门的内侧面上；所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：根据所述第二影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。在该示例中，所述第二影像数据表示第一摄像头采集的车辆的尾部区域的影像数据。在该示例中，所述第一摄像头安装在后备箱门的内侧面上，由此在后备箱门开启的情况下，所述第一摄像头能够朝向车辆的尾部区域。该示例通过基于安装在后备箱门的内侧面上的第一摄像头采集的车辆的尾部区域的影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息，由此能够基于计算机视觉的方法进行车辆的尾部区域的目标对象检测，能够提高目标对象检测的准确性。
在该示例中，所述第一摄像头可以安装在后备箱门的内侧面上靠近车顶的区域。在一个例子中，所述第一摄像头安装在所述后备箱门上的高位刹车灯的位置，由此能够便于在后备箱门打开后以较好的视角采集车辆的尾部区域的影像数据，并且高位刹车灯位置具有预留的孔位，方便第一摄像头的连接线的走线。
在一个例子中，所述方法还包括：响应于所述后备箱开启，控制所述第一摄像头采集车辆的尾部区域的第二影像数据。在这个例子中，在所述后备箱处于关闭状态的情况下，所述第一摄像头可以无 需采集影像数据，由此能够节省整车功耗。通过响应于所述后备箱开启，控制所述第一摄像头采集车辆的尾部区域的第二影像数据，能够在所述后备箱开启后，及时控制第一摄像头采集车辆的尾部区域的影像数据，从而能够根据第一摄像头采集车辆的尾部区域的影像数据及时进行后备箱的控制。
作为该实现方式的另一个示例，所述传感数据包括雷达传感数据；所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：根据所述雷达传感数据，对所述车辆的尾部区域进行障碍物检测；响应于根据所述雷达传感数据检测到所述车辆的尾部区域存在障碍物，确定检测到所述车辆的尾部区域的至少一个人体部位的信息；和/或响应于根据所述雷达传感数据未检测到所述车辆的尾部区域存在障碍物，确定未检测到所述车辆的尾部区域的至少一个人体部位的信息。在该示例中，所述传感数据包括雷达采集的雷达传感数据。其中，所述雷达的数量可以是一个或多个。障碍物检测例如可以采用特征提取和匹配的方式。通过基于雷达采集的车辆的尾部区域的雷达传感数据，检测所述车辆的尾部区域是否存在障碍物，由此确定所述车辆的尾部区域的至少一个人体部位的信息的检测结果，从而能够提高对车辆的尾部区域进行目标对象检测的准确性。
在一个例子中，所述获取车辆的尾部区域的传感数据，包括：获取倒车雷达采集的车辆的尾部区域的雷达传感数据。在这个例子中，通过基于倒车雷达采集的车辆的尾部区域的雷达传感数据，对车辆的尾部区域进行目标对象检测，由此能够利用车辆已有的雷达对车辆的尾部区域进行目标对象检测，而无需额外增设雷达，从而能够节省成本。
在一种可能的实现方式中，所述获取车辆的尾部区域的传感数据，包括：获取乘员监控系统OMS摄像头采集的车辆的尾部区域的第三影像数据；所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：根据所述第三影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息；响应于在所述车辆的尾部区域检测到人体信息或人脸信息，确定检测到所述目标对象。在该实现方式中，所述第三影像数据表示OMS摄像头采集的车辆的尾部区域的影像数据。作为该实现方式的一个示例，可以响应于根据所述第三影像数据检测到尺寸在预设尺寸范围内的人体信息和/或人脸信息，确定检测到所述车辆的尾部区域的人体信息和/或人脸信息；和/或，响应于根据所述第三影像数据未检测到尺寸在预设尺寸范围内的人体信息和/或人脸信息，确定未检测到所述车辆的尾部区域的人体信息和/或人脸信息。作为该实现方式的另一个示例，可以响应于根据所述第三影像数据，检测到位于预设图像坐标区域和/或预设空间坐标区域的人体信息和/或人脸信息，确定检测到所述车辆的尾部区域的人体信息和/或人脸信息；和/或，响应于根据所述第三影像数据，未检测到位于预设图像坐标区域和/或预设空间坐标区域的人体信息和/或人脸信息，确定未检测到所述车辆的尾部区域的人体信息和/或人脸信息。上述预设尺寸范围、预设图像坐标区域可以是预先根据OMS摄像头距离车尾部的距离、以及人体的平均尺寸信息或人脸的平均尺寸信息计算得出的。在该实现方式中，通过基于OMS摄像头采集的车辆的尾部区域的影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息，由此能够基于计算机视觉的方法进行车辆的尾部区域的目标对象检测，能够提高目标对象检测的准确性，且无需额外增设传感器。
作为该实现方式的一个示例，所述OMS摄像头安装在所述车辆的内后视镜上，且朝向所述车辆的后方。在该示例中，通过采用安装在车辆的内后视镜上且朝向所述车辆的后方的OMS摄像头，能够获得所述车辆的尾部区域的影像数据，从而能够基于所述OMS摄像头采集的影像数据能够准确地进行车 辆的尾部区域的目标对象检测。在其他示例，所述OMS摄像头还可以安装在所述车辆中的任意位置，只要朝向所述车辆的后方，且能够获得所述车辆的尾部区域的影像数据即可。
图2示出本公开实施例中的传感器的位置的示意图。其中，所述传感器可以包括摄像头和雷达。所述摄像头可以包括安装在车辆尾部底端(位置A)的倒车摄像头、安装在后备箱内侧面上(例如高位刹车灯，图示位置B)的第一摄像头和安装在后视镜位置(位置C)的OMS摄像头，所述雷达可以包括安装在位置A的倒车雷达。
在一种可能的实现方式中，所述获取车辆的尾部区域的传感数据，包括：响应于所述后备箱处于开启状态的持续时长达到第二预设时长，获取车辆的尾部区域的传感数据。例如，第二预设时长可以是1分钟。当然，本领域技术人员可以根据实际应用场景需求设置第二预设时长，用户也可以根据实际应用场景需求和/或个人喜好设置和/或更改第二预设时长，在此不作限定。通过响应于所述后备箱处于开启状态的持续时长达到第二预设时长，获取车辆的尾部区域的传感数据，由此能够提高后备箱控制的效率和准确性，减少非必要或非用户所需的后备箱控制操作。例如，驾驶员在车舱内控制后备箱开启后，需要去后备箱取物品的乘员可能需要一小段时间才能到达车辆的尾部区域。该实现方式通过设置第二预设时长，能够有效地应对乘员暂时未到达车辆的尾部区域的情况。当然，在其他可能的实现方式中，还可以持续获取车辆的尾部区域的传感数据，在此不作限定。
在一种可能的实现方式中，所述方法还包括：在所述后备箱关闭的过程中，响应于根据所述传感数据检测到所述车辆的尾部区域的目标对象，控制所述后备箱开启。在该实现方式中，在所述后备箱关闭的过程中，可以根据所述传感数据，继续检测所述车辆的尾部区域的目标对象，并响应于检测到所述目标对象，中断后备箱关闭的进程，并控制所述后备箱开启，由此能够进一步提高后备箱控制的安全性，降低因后备箱门夹到用户而导致用户受伤的可能性。
在一种可能的实现方式中，所述方法还包括：响应于检测到所述目标对象，重新计时；所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：响应于计时时长达到第三预设时长，根据所述传感数据，检测所述车辆的尾部区域的目标对象。例如，第三预设时长可以是1分钟。当然，本领域技术人员可以根据实际应用场景需求设置第三预设时长，在此不作限定。
在一种可能的实现方式中，所述方法还包括：获取驾驶员监控系统DMS摄像头采集的所述车辆的驾驶区域的影像数据；根据所述驾驶区域的影像数据，检测驾驶员是否落座在所述驾驶区域；响应于检测到驾驶员落座在所述驾驶区域且所述后备箱处于开启状态，发出用于询问是否关闭后备箱的询问信息；响应于接收到所述询问信息对应的关闭请求，控制所述后备箱关闭。在该实现方式中，可以响应于检测到驾驶员落座在所述驾驶区域且所述后备箱处于开启状态，询问驾驶员是否关闭后备箱，并在获得驾驶员的关闭后备箱的关闭请求后，控制后备箱关闭，由此能够进一步提高后备箱控制的便捷性，并能进一步加强对车舱内(包括后备箱内)的财产安全的保障。
在一种可能的实现方式中，所述方法还包括：响应于检测到所述后备箱由关闭状态变更为开启状态，将请求开启所述后备箱的人员对象确定为目标对象；所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：根据所述传感数据，检测所述车辆的尾部区域的人员对象是否包括所述目标对象。在该实现方式中，用户可以通过语音、按钮、遥控器等方式，请求开启所述后备箱。例如，可以通过声纹识别，确定请求开启所述后备箱的人员对象。又如，可以响应于检测到用于开启后备箱 的按钮被触发，对车舱内和/或车舱外的图像或视频流进行分析，确定请求开启所述后备箱的人员对象。又如，可以将车舱内的所有人员对象均确定为目标对象。在该实现方式中，通过根据所述传感数据，检测所述车辆的尾部区域的人员对象是否包括请求开启所述后备箱的人员对象，并响应于所述车辆的后备箱处于开启状态且未检测到所述请求开启所述后备箱的人员对象，控制所述后备箱关闭，由此能够在所述请求开启所述后备箱的人员对象离开所述车辆的尾部区域后，及时关闭所述后备箱，从而能够进一步加强对车舱内(包括后备箱内)的财产安全的保障。
作为该实现方式的一个示例，所述方法还包括：响应于所述后备箱处于关闭状态且根据所述车辆的尾部区域的传感数据检测到预设人员对象请求开启后备箱，控制所述后备箱开启。在该示例中，预设人员对象可以包括预先注册的人员，例如可以包括预先注册的驾驶员和/或其他乘员。在一个例子中，可以响应于所述后备箱处于关闭状态且根据所述车辆的尾部区域的影像数据检测到预设人员对象面对后备箱且停留时长达到第四预设时长，确定检测到预设人员对象请求开启后备箱。根据该示例，能够基于传感数据方便用户开启后备箱。
下面对本公开实施例的一个应用场景进行说明。在该应用场景中，驾驶员下车后，从车辆的后备箱中取出行李。摄像头和/或雷达采集车辆的尾部区域的传感数据，控制器根据所述传感数据，检测所述车辆的尾部区域的目标对象。驾驶员离开车辆的尾部区域之后，控制器响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱自动关闭。
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，本公开还提供了后备箱的控制装置、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后备箱的控制方法，相应技术方案和技术效果可参见方法部分的相应记载，不再赘述。
图3示出本公开实施例提供的后备箱的控制装置的框图。如图3所示，所述后备箱的控制装置包括：第一获取模块31，用于获取车辆的尾部区域的传感数据；第一检测模块32，用于根据所述传感数据，检测所述车辆的尾部区域的目标对象；第一控制模块33，用于响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，所述第一检测模块32用于：根据所述传感数据，检测由所述车辆的尾部向车舱外的预设距离范围内的目标对象；所述第一控制模块33用于：响应于所述车辆的后备箱处于开启状态、且未在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，所述第一控制模块33用于：响应于所述车辆的后备箱处于开启状态且未在第一预设时长内检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，所述目标对象包括人体对象；所述第一检测模块32用于：根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息；响应于在所述车辆的尾部区域检测到所述至少一个人体部位的信息，确定检测到所述车辆的尾部区域的人体对象；和/或响应于在所述车辆的尾部区域未检测到所述至少一个人体部位的信息，确定未检测到所述车辆的尾部区域的人体对象。
在一种可能的实现方式中，所述第一获取模块31用于：获取倒车摄像头采集的车辆的尾部区域的第一影像数据；所述第一检测模块32用于：根据所述第一影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述第一检测模块32用于：在所述倒车摄像头朝向地面的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人脚信息和/或人腿信息；和/或，在所述倒车摄像头朝向背离地面的方向的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息。
在一种可能的实现方式中，所述第一获取模块31用于：获取第一摄像头采集的车辆的尾部区域的第二影像数据，其中，所述第一摄像头安装在后备箱门的内侧面上；所述第一检测模块32用于：根据所述第二影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述第一摄像头安装在所述后备箱门上的高位刹车灯的位置。
在一种可能的实现方式中，所述装置还包括：第二控制模块，用于响应于所述后备箱开启，控制所述第一摄像头采集车辆的尾部区域的第二影像数据。
在一种可能的实现方式中，所述传感数据包括雷达传感数据；所述第一检测模块32用于：根据所述雷达传感数据，对所述车辆的尾部区域进行障碍物检测；响应于根据所述雷达传感数据检测到所述车辆的尾部区域存在障碍物，确定检测到所述车辆的尾部区域的至少一个人体部位的信息；和/或响应于根据所述雷达传感数据未检测到所述车辆的尾部区域存在障碍物，确定未检测到所述车辆的尾部区域的至少一个人体部位的信息。
在一种可能的实现方式中，所述第一获取模块31用于：获取倒车雷达采集的车辆的尾部区域的雷达传感数据。
在一种可能的实现方式中，所述第一获取模块31用于：获取乘员监控系统OMS摄像头采集的车辆的尾部区域的第三影像数据；所述第一检测模块32用于：根据所述第三影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息；响应于在所述车辆的尾部区域检测到人体信息或人脸信息，确定检测到所述目标对象。
在一种可能的实现方式中，所述OMS摄像头安装在所述车辆的内后视镜上，且朝向所述车辆的后方。
在一种可能的实现方式中，所述第一获取模块31用于：响应于所述后备箱处于开启状态的持续时长达到第二预设时长，获取车辆的尾部区域的传感数据。
在一种可能的实现方式中，所述装置还包括：第五控制模块，用于在所述后备箱关闭的过程中，响应于根据所述传感数据检测到所述车辆的尾部区域的目标对象，控制所述后备箱开启。
在一种可能的实现方式中，所述装置还包括：第二获取模块，用于获取驾驶员监控系统DMS摄像头采集的所述车辆的驾驶区域的影像数据；第二检测模块，用于根据所述驾驶区域的影像数据，检测驾驶员是否落座在所述驾驶区域；发出模块，用于响应于检测到驾驶员落座在所述驾驶区域且所述后备箱处于开启状态，发出用于询问是否关闭后备箱的询问信息；第三控制模块，用于响应于接收到所述询问信息对应的关闭请求，控制所述后备箱关闭。
在一种可能的实现方式中，所述装置还包括：确定模块，用于响应于检测到所述后备箱由关闭状 态变更为开启状态，将请求开启所述后备箱的人员对象确定为目标对象；所述第一检测模块32用于：根据所述传感数据，检测所述车辆的尾部区域的人员对象是否包括所述目标对象。
在一种可能的实现方式中，所述装置还包括：第四控制模块，用于响应于所述后备箱处于关闭状态且根据所述车辆的尾部区域的传感数据检测到预设人员对象请求开启后备箱，控制所述后备箱开启。
在本公开实施例中，通过获取车辆的尾部区域的传感数据，根据所述传感数据，检测所述车辆的尾部区域的目标对象，并响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，由此能够基于车辆的尾部区域的传感数据实现自动关闭后备箱，且能够实现非接触式的后备箱关门，即，能够在无需用户接触后备箱门的前提下自动关闭后备箱，从而能够提高关闭后备箱的便捷性。另外，通过响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述车辆的后备箱关闭，由此能够提高后备箱控制的安全性，大大降低因后备箱门夹到用户而导致用户受伤的可能性。再者，采用本公开实施例实现自动关闭后备箱，也有助于加强对车舱内(包括后备箱内)的财产安全的保障。
本公开实施例还提供了一种车辆，包括：传感器，用于采集车辆的尾部区域的传感数据；控制器，用于从所述传感器获取所述传感数据，根据所述传感数据，检测所述车辆的尾部区域的目标对象，并响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭。
在一种可能的实现方式中，所述传感器包括雷达和/或摄像头，所述摄像头包括倒车摄像头、第一摄像头、OMS摄像头中的至少之一，所述第一摄像头安装在后备箱门的内侧面上靠近车顶的区域。
在一些实施例中，本公开实施例提供的装置、车辆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，其具体实现和技术效果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后备箱的控制方法的操作。
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。所述电子设备可以是车舱内的控制器、域控制器或者车机，还可以是OMS或者DMS等中用于执行图像等数据处理操作的设备主机等。
图4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4，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，如互补金属氧化物半导体(CMOS)或电荷耦合装置(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，如无线网络(Wi-Fi)、第二代移动通信技术(2G)、第三代移动通信技术(3G)、第四代移动通信技术(4G)/通用移动通信技术的长期演进(LTE)、第五代移动通信 技术(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5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5，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，例如微软服务器操作系统(Windows Server TM)，苹果公司推出的基于图形用户界面操作系统(Mac OS X TM)，多用户多进程的计算机操作系统(Unix TM),自由和开放原代码的类Unix操作系统(Linux TM)，开放原代码的类Unix操作系统(FreeBSD TM)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 (24)

  1. 一种后备箱的控制方法，其特征在于，包括：
    获取车辆的尾部区域的传感数据；
    根据所述传感数据，检测所述车辆的尾部区域的目标对象；
    响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭。
  2. 根据权利要求1所述的方法，其特征在于，
    所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：根据所述传感数据，检测由所述车辆的尾部向车舱外的预设距离范围内的目标对象；
    所述响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，包括：响应于所述车辆的后备箱处于开启状态、且未在由所述车辆的尾部向车舱外的预设距离范围内检测到所述目标对象，控制所述后备箱关闭。
  3. 根据权利要求1或2所述的方法，其特征在于，所述响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭，包括：
    响应于所述车辆的后备箱处于开启状态且未在第一预设时长内检测到所述目标对象，控制所述后备箱关闭。
  4. 根据权利要求1至3任意一项所述的方法，其特征在于，所述目标对象包括人体对象；
    所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：
    根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息；
    响应于在所述车辆的尾部区域检测到所述至少一个人体部位的信息，确定检测到所述车辆的尾部区域的人体对象；和/或响应于在所述车辆的尾部区域未检测到所述至少一个人体部位的信息，确定未检测到所述车辆的尾部区域的人体对象。
  5. 根据权利要求4所述的方法，其特征在于，
    所述获取车辆的尾部区域的传感数据，包括：获取倒车摄像头采集的车辆的尾部区域的第一影像数据；
    所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：根据所述第一影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：
    在所述倒车摄像头朝向地面的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人脚信息和/或人腿信息；
    和/或，
    在所述倒车摄像头朝向背离地面的方向的情况下，根据所述第一影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息。
  7. 根据权利要求4至6中任意一项所述的方法，其特征在于，
    所述获取车辆的尾部区域的传感数据，包括：获取第一摄像头采集的车辆的尾部区域的第二影像数据，其中，所述第一摄像头安装在后备箱门的内侧面上；
    所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：根据所述 第二影像数据，检测所述车辆的尾部区域的至少一个人体部位的信息。
  8. 根据权利要求7所述的方法，其特征在于，所述第一摄像头安装在所述后备箱门上的高位刹车灯的位置。
  9. 根据权利要求7或8所述的方法，其特征在于，所述方法还包括：
    响应于所述后备箱开启，控制所述第一摄像头采集车辆的尾部区域的第二影像数据。
  10. 根据权利要求4至9中任意一项所述的方法，其特征在于，所述传感数据包括雷达传感数据；
    所述根据所述传感数据，检测所述车辆的尾部区域的至少一个人体部位的信息，包括：
    根据所述雷达传感数据，对所述车辆的尾部区域进行障碍物检测；
    响应于根据所述雷达传感数据检测到所述车辆的尾部区域存在障碍物，确定检测到所述车辆的尾部区域的至少一个人体部位的信息；和/或响应于根据所述雷达传感数据未检测到所述车辆的尾部区域存在障碍物，确定未检测到所述车辆的尾部区域的至少一个人体部位的信息。
  11. 根据权利要求10所述的方法，其特征在于，所述获取车辆的尾部区域的传感数据，包括：
    获取倒车雷达采集的车辆的尾部区域的雷达传感数据。
  12. 根据权利要求1至11中任意一项所述的方法，其特征在于，
    所述获取车辆的尾部区域的传感数据，包括：获取乘员监控系统OMS摄像头采集的车辆的尾部区域的第三影像数据；
    所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：根据所述第三影像数据，检测所述车辆的尾部区域的人体信息和/或人脸信息；响应于在所述车辆的尾部区域检测到人体信息或人脸信息，确定检测到所述目标对象。
  13. 根据权利要求12所述的方法，其特征在于，所述OMS摄像头安装在所述车辆的内后视镜上，且朝向所述车辆的后方。
  14. 根据权利要求1至13中任意一项所述的方法，其特征在于，所述获取车辆的尾部区域的传感数据，包括：
    响应于所述后备箱处于开启状态的持续时长达到第二预设时长，获取车辆的尾部区域的传感数据。
  15. 根据权利要求1至14中任意一项所述的方法，其特征在于，所述方法还包括：
    在所述后备箱关闭的过程中，响应于根据所述传感数据检测到所述车辆的尾部区域的目标对象，控制所述后备箱开启。
  16. 根据权利要求1至15任意一项所述的方法，其特征在于，所述方法还包括：
    获取驾驶员监控系统DMS摄像头采集的所述车辆的驾驶区域的影像数据；
    根据所述驾驶区域的影像数据，检测驾驶员是否落座在所述驾驶区域；
    响应于检测到驾驶员落座在所述驾驶区域且所述后备箱处于开启状态，发出用于询问是否关闭后备箱的询问信息；
    响应于接收到所述询问信息对应的关闭请求，控制所述后备箱关闭。
  17. 根据权利要求1至16任意一项所述的方法，其特征在于，所述方法还包括：
    响应于检测到所述后备箱由关闭状态变更为开启状态，将请求开启所述后备箱的人员对象确定为目标对象；
    所述根据所述传感数据，检测所述车辆的尾部区域的目标对象，包括：
    根据所述传感数据，检测所述车辆的尾部区域的人员对象是否包括所述目标对象。
  18. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    响应于所述后备箱处于关闭状态且根据所述车辆的尾部区域的传感数据检测到预设人员对象请求开启后备箱，控制所述后备箱开启。
  19. 一种后备箱的控制装置，其特征在于，包括：
    第一获取模块，用于获取车辆的尾部区域的传感数据；
    第一检测模块，用于根据所述传感数据，检测所述车辆的尾部区域的目标对象；
    第一控制模块，用于响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述后备箱关闭。
  20. 一种车辆，其特征在于，包括：
    传感器，用于采集车辆的尾部区域的传感数据；
    控制器，用于从所述传感器获取所述传感数据，根据所述传感数据，检测所述车辆的尾部区域的目标对象，并响应于所述车辆的后备箱处于开启状态且未检测到所述目标对象，控制所述车辆的后备箱关闭。
  21. 根据权利要求20所述的车辆，其特征在于，所述传感器包括雷达和/或摄像头，所述摄像头包括倒车摄像头、第一摄像头、OMS摄像头中的至少之一，所述第一摄像头安装在后备箱门的内侧面上。
  22. 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18中任意一项所述的方法。
  23. 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18中任意一项所述的方法。
  24. 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18中的任一权利要求所述的方法。
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