WO2023045913A1 - 一种车辆后背门的控制方法、装置、存储介质及系统 - Google Patents

一种车辆后背门的控制方法、装置、存储介质及系统 Download PDF

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Publication number
WO2023045913A1
WO2023045913A1 PCT/CN2022/119864 CN2022119864W WO2023045913A1 WO 2023045913 A1 WO2023045913 A1 WO 2023045913A1 CN 2022119864 W CN2022119864 W CN 2022119864W WO 2023045913 A1 WO2023045913 A1 WO 2023045913A1
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WIPO (PCT)
Prior art keywords
vehicle
back door
instruction
brainwave
brain wave
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PCT/CN2022/119864
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English (en)
French (fr)
Inventor
姜长坤
丁逢
张栋
陈鹤文
毕圆浩
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中国第一汽车股份有限公司
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Application filed by 中国第一汽车股份有限公司 filed Critical 中国第一汽车股份有限公司
Publication of WO2023045913A1 publication Critical patent/WO2023045913A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G06F2218/12—Classification; Matching
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
    • G06F9/30003—Arrangements for executing specific machine instructions
    • G06F9/30076—Arrangements for executing specific machine instructions to perform miscellaneous control operations, e.g. NOP

Definitions

  • the embodiments of the present application relate to the technical field of vehicle control, for example, to a method, device, storage medium and system for controlling a vehicle rear door.
  • the back door control in the related art is all manually opened by a person on the driver's side, or a person manually presses the back door switch outside the car to open it.
  • more and more models are now equipped with more intelligent rear door control solutions.
  • the back door control methods include the following: For example, the intelligent control of the back door of the vehicle is realized by using the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door is adjusted accurately and in real time.
  • this intelligent The control cannot solve the problem of opening the back door from the outside of the car when people are holding a lot of things; there are also methods to identify whether the target object is holding a heavy object through the image. , it is difficult to identify whether a person is holding a heavy object; there is also a kick sensor to detect the kicking action to open the electric back door, but this method is similar to the image recognition method, it is difficult to identify the kicking action, and it is easy to trigger by mistake.
  • Embodiments of the present application provide a method, device, storage medium, and system for controlling a vehicle rear door, which can accurately and quickly control the vehicle rear door through brain wave signals, and can greatly improve user experience.
  • the embodiment of the present application provides a method for controlling the rear door of a vehicle, including:
  • the back door of the vehicle is controlled to perform an action corresponding to the target brainwave instruction.
  • the embodiment of the present application also provides a control device for a vehicle rear door, including:
  • the brain wave signal acquisition module is configured to acquire the user's brain wave signal
  • a brainwave command determination module configured to determine a target brainwave command matching the brainwave signal
  • the back door control module is configured to control the back door of the vehicle to perform an action corresponding to the target brainwave instruction.
  • the embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the vehicle rear door as provided in the embodiment of the present application is implemented. Control Method.
  • the embodiment of the present application provides a vehicle rear door control system, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the computer program At the same time, the method for controlling the rear door of a vehicle as provided in the embodiment of the present application is realized.
  • FIG. 1 is a schematic flowchart of a method for controlling a vehicle rear door provided in Embodiment 1 of the present application;
  • FIG. 2 is a schematic flowchart of a method for controlling a vehicle rear door provided in Embodiment 2 of the present application;
  • FIG. 3 is a schematic flowchart of a method for controlling a vehicle rear door provided in Embodiment 3 of the present application;
  • FIG. 4 is a schematic flowchart of a method for controlling a vehicle rear door provided in Embodiment 4 of the present application;
  • Fig. 5 is a schematic structural diagram of a vehicle rear door control device provided in Embodiment 5 of the present application.
  • Fig. 6 is a schematic structural diagram of a vehicle rear door control system provided in Embodiment 7 of the present application.
  • Fig. 7 is a structural block diagram of a vehicle rear door control system provided by Embodiment 7 of the present application.
  • Fig. 1 is a schematic flow chart of a method for controlling the back door of a vehicle provided in Embodiment 1 of the present application. This embodiment is applicable to the situation of controlling the back door of a vehicle.
  • the device can be composed of hardware and/or software, and generally can be integrated in the control system of the vehicle rear door. As shown in Figure 1, the method includes the following steps:
  • Step 101 acquiring a user's brain wave signal.
  • the brain wave signal is an electrical signal generated by activities between neurons in the human brain.
  • the brain wave signal collected by the brain wave collection device may be obtained.
  • the electroencephalogram collection device can collect the electroencephalogram signal of the user according to a preset sampling frequency.
  • the brainwave collection device may be a head-mounted collection device, such as a brainwave collection cap.
  • Step 102 determining a target brainwave instruction matching the brainwave signal.
  • the brain wave signal can be input into a pre-trained brain wave command determination model, and the target brain wave command matching the brain wave signal is determined according to the output result of the model.
  • the brainwave command determination model can be understood as a machine learning model that can quickly determine a brainwave command that matches the brainwave signal by analyzing the brainwave signal.
  • the method of determining the brainwave instruction model may include: collecting at least two sample brainwave signals of the user, and obtaining sample brainwave instructions corresponding to the sample brainwave signals; The sample brain wave signal is marked, and the marked sample brain wave signal is used as a training sample set; based on the training sample set, a preset machine learning model is trained to generate a brain wave instruction determination model.
  • determining a target brainwave instruction matching the brainwave signal includes: determining a target brainwave instruction matching the brainwave signal according to the brainwave signal and a pre-stored correspondence between the brainwave signal and the brainwave instruction.
  • Target brainwave commands Exemplarily, at least two brainwave signals of the user are collected, and sample brainwave instructions corresponding to the brainwave signals are acquired; wherein, each brainwave signal represents a kind of brainwave signal for controlling the back door; A corresponding relationship between the brain wave signal and the brain wave command is established; wherein, in the corresponding relationship, the brain wave signal corresponds to the brain wave command one by one, that is, different brain wave signals correspond to different brain wave commands.
  • the brain wave command can be understood as a control command to the back door of the vehicle.
  • the corresponding relationship between the brainwave signal and the brainwave instruction is stored.
  • search for the target brainwave signal that matches the brainwave signal acquired in step 101 and determine the brainwave instruction corresponding to the target brainwave signal in the correspondence relationship as being related to the acquisition.
  • the brain wave signal matches the target brain wave instruction.
  • the target brain wave instruction includes an instruction to open the rear door, an instruction to close the rear door, an instruction to open the rear door according to a preset height, and an instruction to open the rear door according to a preset angle.
  • Step 103 controlling the rear door of the vehicle to perform an action corresponding to the target brainwave instruction.
  • the back door of the vehicle is controlled to perform an action corresponding to the target brain wave command, thereby realizing the control of the back door through the brain wave signal.
  • the target brainwave instruction is an instruction to open the back door, then control the opening of the back door of the vehicle;
  • the back door is opened by 1/3 height; for another example, if the target brain wave command is a closing command for the back door, then the back door of the vehicle is controlled to close.
  • the embodiment of the present application provides a method for controlling the back door of a vehicle, which is to obtain the user's brain wave signal; determine the target brain wave command matching the brain wave signal; control the back door of the vehicle to execute the target brain wave signal The action corresponding to the command.
  • the technical solution provided by the embodiment of the present application can accurately and quickly control the back door of the vehicle through the brain wave signal, which can greatly improve the user experience.
  • Fig. 2 is a schematic flow chart of a method for controlling the rear door of a vehicle provided in Embodiment 2 of the present application. As shown in Fig. 2, the method includes the following steps:
  • Step 201 acquiring a user's brainwave signal.
  • Step 202 acquiring the identity of the user.
  • the identity of the user is obtained, where the identity is information that can characterize the uniqueness of the user.
  • the user's identity may be the user's ID card information, may also be the user's fingerprint information, and may also be the user's face image.
  • Step 203 obtaining the correspondence between the pre-stored brain wave signal and the brain wave command corresponding to the identity.
  • the correspondence relationship between the pre-stored electroencephalogram signal and the electroencephalogram instruction corresponding to the identity identifier is acquired.
  • Step 204 according to the brainwave signal and the corresponding relationship, determine a target brainwave instruction matching the brainwave signal.
  • Step 205 controlling the rear door of the vehicle to perform an action corresponding to the target brainwave instruction.
  • the technical solution provided by the embodiment of the present application accurately determines the brain wave command corresponding to the collected brain wave signal, and controls the back door of the vehicle to execute the brain wave command, realizing accurate and rapid monitoring of the back door of the vehicle through the brain wave signal control, which can greatly improve the user experience.
  • Fig. 3 is a schematic flow chart of a method for controlling the rear door of a vehicle provided in Embodiment 3 of the present application. As shown in Fig. 3 , the method includes the following steps:
  • Step 301 Obtain the brain wave signal of the user.
  • Step 302 according to the brainwave signal and the pre-stored correspondence between the brainwave signal and the brainwave instruction, determine a target brainwave instruction matching the brainwave signal.
  • Step 303 when the target brain wave command is the opening command of the back door, judge whether the vehicle meets the preset opening condition of the back door, and based on the judging result that the vehicle meets the preset opening condition of the back door, execute step 304, based on If the judgment result that the vehicle does not satisfy the preset opening condition of the back door, go to step 305 .
  • Step 304 controlling the rear door of the vehicle to perform an action corresponding to the target brain wave command.
  • Step 305 prohibiting the rear door of the vehicle from performing an action corresponding to the target brainwave command.
  • the target brain wave command is the opening command of the rear door (including the opening command of the rear door opening at a preset angle or at a preset height)
  • control the back door of the vehicle to perform an action corresponding to the target brain wave command based on the judgment result that the vehicle does not meet the preset opening condition of the back door, prohibit the vehicle from opening
  • the back door performs the actions corresponding to the target brainwave instructions.
  • the preset opening condition may be whether the vehicle is in a stationary state.
  • the rear door of the vehicle When the vehicle is in a stationary state, the rear door of the vehicle is controlled to perform an opening action; when the vehicle is in a driving state, the rear door of the vehicle is prohibited from being opened.
  • the preset opening condition can be whether the vehicle is in the unlocked state. When the vehicle is in the unlocked state, the rear door of the vehicle is controlled to perform an opening action; when the vehicle is in the locked state, the rear door of the vehicle is prohibited The door opens.
  • the technical solution provided by the embodiment of the present application can not only accurately and quickly control the back door of the vehicle through the brain wave signal, but also can determine whether the vehicle meets the preset requirements when the brain wave command is the opening command of the back door of the vehicle.
  • the opening condition is based on the judgment result that the vehicle satisfies the preset opening condition of the back door, and the back door of the vehicle is controlled to perform an opening action, which can ensure the safety of opening the back door of the vehicle.
  • Fig. 4 is a schematic flow chart of a method for controlling the rear door of a vehicle provided in Embodiment 4 of the present application. As shown in Fig. 4, the method includes the following steps:
  • Step 401 acquiring a user's brain wave signal.
  • Step 402 Determine a target brain wave command matching the brain wave signal according to the brain wave signal and the pre-stored correspondence between the brain wave signal and the brain wave command.
  • Step 403 when the target brain wave command is the closing command of the back door, control the back door of the vehicle to perform an action corresponding to the target brain wave command, and control the back door of the vehicle to perform an action corresponding to the target brain wave command.
  • the action corresponding to the instruction it is detected in real time whether the back door is in the anti-pinch area, and based on the detection result that the back door is in the anti-pinch area, step 404 is executed, based on the fact that the back door is in the non-pinch area If the detection result is , go to step 406.
  • Step 404 determine whether there is an obstacle between the back door and the bottom of the vehicle, based on the judgment result that there is an obstacle between the back door and the bottom of the vehicle, execute step 405, based on the result of the judgment that there is an obstacle between the back door and the bottom of the vehicle, As a result of judging that there is no obstacle between the vehicle bottoms, step 406 is executed.
  • Step 405 controlling the rear door of the vehicle to stop performing the action corresponding to the target brainwave instruction.
  • Step 406 controlling the back door of the vehicle to continue to execute the action corresponding to the target brainwave instruction until the back door of the vehicle is closed.
  • the back door of the vehicle during the process of controlling the back door of the vehicle to perform an action corresponding to the target brain wave instruction, it is detected in real time whether the back door is in the anti-pinch area; based on the fact that the back door is in the anti-pinch area Based on the detection result of the area, it is judged whether there is an obstacle between the back door and the bottom of the vehicle; based on the judgment result of the obstacle between the back door and the bottom of the vehicle, the back door of the vehicle is controlled to stop executing the An action corresponding to the target brainwave instruction.
  • the vehicle rear door is controlled to perform the closing action of the rear door , and detect whether the vehicle is in the anti-trap area in real time during the closing action of the rear door of the vehicle.
  • detecting whether the back door is in the anti-pinch area in real time includes: detecting the distance between the back door and the bottom of the vehicle in real time; judging whether the back door is in the anti-pinch area according to the distance ; Wherein, when the distance is greater than the preset distance threshold, it is determined that the back door is in the anti-pinch area; when the distance is smaller than the preset distance threshold, it is determined that the back door is in the non-pinch anti-area.
  • the distance between the back door and the bottom of the vehicle is obtained by a distance sensor, and it is judged whether the distance is greater than a preset distance threshold. The judgment result that the distance is not greater than the preset distance threshold determines that the rear door is in the non-pinch prevention area.
  • the vehicle back door based on the detection result that the back door is in the anti-pinch area, it is detected whether there is an obstacle between the back door and the bottom of the vehicle.
  • an infrared sensor can be used to detect whether there is an obstacle between the back door and the bottom of the vehicle.
  • the vehicle back door is continued to be controlled to close, it may pose a threat to the user's safety. At this time, the vehicle's back door should be controlled to stop closing.
  • the back door of the vehicle when the back door of the vehicle is in the anti-pinch area, it is also possible to identify whether there is a person (human head, arm, etc.) or other obstacles in the anti-pinch area by detecting the motor current. When there are people or other obstacles When there is an object, the motor current will suddenly increase.
  • the back door of the vehicle can be controlled to continue closing until the back door of the vehicle is closed.
  • the back door of the vehicle can be directly controlled to continue closing until the back door of the vehicle is closed. Wherein, it can be judged whether the rear door of the vehicle is completely closed by judging whether the motor runs to the bottom locked-rotor position.
  • the technical solution provided by the embodiment of this application can not only accurately and quickly control the back door of the vehicle through the brain wave signal, but also judge whether the back door of the vehicle is in the anti-lock mode when the brain wave command is the closing command of the back door of the vehicle.
  • the back door of the vehicle is in the anti-pinch area, it is judged whether there is an obstacle between the back door of the vehicle and the bottom of the vehicle, and based on the judgment result that there is no obstacle between the back door of the vehicle and the bottom of the vehicle, the The door executes the closing action until the back of the vehicle is closed, which can effectively prevent the user from being hurt during the closing process of the back door and effectively ensure the safety of closing the back door of the vehicle.
  • Fig. 5 is a schematic structural diagram of a control device for a vehicle back door provided in Embodiment 5 of the present application. As shown in Fig. 5, the device includes: a brain wave signal acquisition module 501, a brain wave command determination module 502 and a back door control module 503 . in,
  • the brain wave signal acquisition module 501 is configured to collect the user's brain wave
  • the brain wave command determining module 502 is configured to determine a target brain wave command matching the brain wave signal
  • the tailgate control module 503 is configured to control the tailgate of the vehicle to perform an action corresponding to the target brainwave instruction.
  • the control device for the back door of the vehicle obtained in the embodiment of the present application obtains the brain wave signal of the user; determines the target brain wave instruction matching the brain wave signal; controls the back door of the vehicle to execute the target brain wave
  • the action corresponding to the instruction can accurately and quickly control the rear door of the vehicle through the brain wave signal, which can greatly improve the user experience.
  • the brain wave instruction determination module includes:
  • the electroencephalogram instruction determining unit is configured to determine a target electroencephalogram instruction matching the electroencephalogram signal according to the electroencephalogram signal and the pre-stored correspondence between the electroencephalogram signal and the electroencephalogram instruction.
  • the device also includes:
  • the identity identification acquisition module is configured to obtain the user's ID before determining the target brain wave command matching the brain wave signal according to the brain wave signal and the pre-stored correspondence between the brain wave signal and the brain wave command. identification;
  • the brainwave instruction determination unit is configured to:
  • a target electroencephalogram instruction matching the electroencephalogram signal is determined.
  • the target brain wave instruction includes an instruction to open the rear door, an instruction to close the rear door, an instruction to open the rear door according to a preset height, and an instruction to open the rear door according to a preset angle.
  • the target brainwave instruction is an instruction to open the back door
  • the device also includes:
  • the opening condition judging module is configured to judge whether the vehicle satisfies the preset opening condition of the back door before controlling the back door of the vehicle to perform an action corresponding to the target brainwave instruction;
  • the back door control module is configured to:
  • the tailgate of the vehicle is controlled to perform an action corresponding to the target brainwave instruction.
  • the target brain wave instruction is a closing instruction of the back door
  • the device also includes:
  • the anti-pinch area detection module is configured to detect in real time whether the back door is in the anti-pinch area during the process of controlling the back door of the vehicle to perform an action corresponding to the target brainwave instruction;
  • the obstacle judging module is configured to judge whether there is an obstacle between the back door and the bottom of the vehicle based on the detection result that the back door is in the anti-pinch area;
  • the prohibition module is configured to control the tailgate of the vehicle to stop performing the action corresponding to the target brainwave instruction based on the judgment result that there is an obstacle between the tailgate and the bottom of the vehicle.
  • the anti-pinch area detection module is set to:
  • the above-mentioned device can execute the methods provided by all the foregoing embodiments of the present application, and has corresponding functional modules and beneficial effects for executing the above-mentioned methods.
  • the included units and modules are only divided according to functional logic, It is not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of distinguishing each other.
  • Embodiment 6 of the present application provides a computer-readable storage medium on which a computer program is stored.
  • the control method provided in the embodiment of the present application is implemented. The method includes:
  • the back door of the vehicle is controlled to perform an action corresponding to the target brainwave instruction.
  • the storage medium may be various types of memory devices or storage devices.
  • the term "storage medium” is intended to include: installation media such as Compact Disc Read-Only Memory (CD-ROM), floppy disks, or tape drives; computer system memory or random access memory, such as dynamic random access memory (Dynamic Random Access Memory, DRAM), double rate dynamic random access memory (Double Data Rate Dynamic Random Access Memory, DDRRAM), static random access memory (Static Random-Access Memory, SRAM), extended data output memory (Extended Data Output Random Access Memory, EDORAM), Rambus (Rambus) RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc.
  • installation media such as Compact Disc Read-Only Memory (CD-ROM), floppy disks, or tape drives
  • computer system memory or random access memory such as dynamic random access memory (Dynamic Random Access Memory, DRAM), double rate dynamic random access memory (Double Data Rate Dyna
  • the storage medium may also include other types of memory or combinations thereof. Also, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network such as the Internet. The second computer system may provide program instructions to the first computer for execution.
  • the term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems connected by a network.
  • the storage medium may store program instructions (eg, computer programs) executable by one or more processors.
  • the computer-executable instructions can also perform the control of the vehicle rear door provided in any embodiment of the present application in addition to the method operations described above. Related operations in the method.
  • Fig. 6 is a schematic structural diagram of a control system for a vehicle back door provided in Embodiment 7. As shown in Fig. 6, the structure of the control system for a vehicle back door includes a brainwave sensor 601, a back door controller 602, 603 , a rear door driver 604 , and other controllers 606 .
  • the brain wave sensor 601 collects the brain wave signal from the human brain, and sends the signal to the back door controller 602 after filtering, amplifying, etc. , and store the acquired brain wave command set in the memory 603, after the brain wave command set is acquired, the back door controller 602 compares the brain wave command set stored in the memory 603 when the user sends the brain wave command next time Yes, if the received brain wave command matches the brain wave command set, the back door driver 604 is used to control the back door to perform corresponding actions.
  • Memory 603 can be devices such as Electrically Erasable Programmable Read Only Memory (Electrically Erasable Programmable Read Only Memory, EEPROM), memory card or Flash, and each kind of electroencephalogram instruction stored represents a kind of back door control method, and controller 602 according to The brainwave signal sent by the human brain is matched with the brainwave signal in the memory. If the match is successful, the controller 602 detects whether the opening condition is met through other controllers 606. Based on the judgment result of satisfying the opening condition, the controller 602 controls the back door The driver 604 operates. The back door driver 604 detects the distance between the back door and the bottom through the infrared sensor.
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • the back door controller When the back door is lowered, if the distance between the back door and the bottom is very small, the area is determined to be a non-trapping area, and the back door driver controls The back door reaches the bottom locked position to ensure that the back door is completely closed; when the distance between the back door and the bottom exceeds the non-pinch area, detect whether there are people or other obstacles by detecting the motor current, if there are people or other obstacles When the motor current will increase suddenly, the back door controller will control the back door to stop, so as to prevent the user from being hurt when the back door moves.
  • the embodiment of this application provides a new type of automatic control method for the back door of a car, which controls the opening and closing of the back door of the car through brain waves, and can also perform hierarchical control of the back door according to user-defined methods; not only can control the back door
  • the opening and closing of the back door can be customized according to the user's favorite method, such as opening the back door by one-third; the distance between the back door and the bottom is detected by the infrared sensor, and it is judged whether the back door is in the anti-pinch area , based on the judgment result that the back door is in the non-pinch zone, the back door runs to the bottom stall position to ensure that the back door can be fully connected; based on the judgment result that the back door is in the anti-pinch zone, the back door controller detects Stop the action when it comes to people or other obstacles to prevent harm to the user; the back door is controlled by brain waves to move, which not only reduces labor intensity, but also brings a comfortable driving experience.
  • the embodiment of the present application also provides another vehicle rear door control system, the vehicle rear door control device provided in the embodiment of the present application can be integrated into the vehicle rear door control system.
  • Fig. 7 is a structural block diagram of a vehicle rear door control system provided by an embodiment of the present application.
  • the control system 700 of the vehicle rear door may include: a memory 701, a processor 702, and a computer program stored on the memory 701 and operable by the processor. When the processor 702 executes the computer program, the embodiment of the present application The control method for the vehicle rear door.
  • the vehicle back door control system acquires the user's brain wave signal; determines the target brain wave command matching the brain wave signal; controls the vehicle's back door to execute the target brain wave command corresponding action.
  • the embodiment of the present application can accurately and quickly control the rear door of the vehicle through brain wave signals, which can greatly improve user experience.
  • the vehicle back door control device, storage medium, and vehicle back door control system provided in the above embodiments can execute the vehicle back door control method provided in any embodiment of the present application, and have corresponding functional modules for executing the method and beneficial effects.
  • the method for controlling a rear door of a vehicle provided in any embodiment of the present application.

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Abstract

本申请实施例公开了一种车辆后背门的控制方法、装置、存储介质及系统，所述方法包括：获取用户的脑电波信号；确定与所述脑电波信号匹配的目标脑电波指令；控制车辆的后背门执行与所述目标脑电波指令对应的动作。

Description

一种车辆后背门的控制方法、装置、存储介质及系统
本申请要求在2021年09月24日提交中国专利局、申请号为202111121801.X的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及车辆控制技术领域，例如涉及一种车辆后背门的控制方法、装置、存储介质及系统。
背景技术
相关技术中的后背门控制都是由人在主驾驶侧手动打开，或者人在车外手动按后背门开关打开，然而当用户携带很多东西时打开后背门特别不方便，需要把东西放在地下才能打开后背门。为了提高车辆的智能化和用户的使用体验，现在越来越多的车型都开始配置更智能化的后背门控制方案。
相关技术中，后背门控制方法包括以下几种：譬如采用基于车载智能终端的旋转实现对车辆后背门的智能化控制，精确、实时的调节后背门的开启高度，然而这种智能化控制不能解决当人拿着很多东西时从车外开启后背门的问题；也有采用通过图像识别目标对象是否手持重物，如果识别出手持重物，智能控制后背门开启，但是由于环境复杂，很难识别出人是否手持重物；也有采用通过脚踢传感器检测脚踢动作来打开电动后背门，但这种方法和图像识别方法类似，很难识别脚踢动作，很容易误触发。
发明内容
本申请实施例提供一种车辆后背门的控制方法、装置、存储介质及系统，能够通过脑电波信号准确、快速地对车辆后背门进行控制，可大大提高用户体验。
第一方面，本申请实施例提供了一种车辆后背门的控制方法，包括：
获取用户的脑电波信号；
确定与所述脑电波信号匹配的目标脑电波指令；
控制车辆的后背门执行与所述目标脑电波指令对应的动作。
第二方面，本申请实施例还提供了一种车辆后背门的控制装置，包括：
脑电波信号获取模块，被设置为获取用户的脑电波信号；
脑电波指令确定模块，被设置为确定与所述脑电波信号匹配的目标脑电波指令；
后背门控制模块，被设置为控制车辆的后背门执行与所述目标脑电波指令对应的动作。
第三方面，本申请实施例提供了一种计算机可读存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如本申请实施例提供的车辆后背门的控制方法。
第四方面，本申请实施例提供了一种车辆后背门的控制系统，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如本申请实施例提供的车辆后背门的控制方法。
附图说明
图1是本申请实施例一提供的一种车辆后背门的控制方法的流程示意图；
图2是本申请实施例二提供的一种车辆后背门的控制方法的流程示意图；
图3是本申请实施例三提供的一种车辆后背门的控制方法的流程示意图；
图4是本申请实施例四提供的一种车辆后背门的控制方法的流程示意图；
图5是本申请实施例五提供的一种车辆后背门的控制装置的结构示意图；
图6是本申请实施例七提供的一种车辆后背门的控制系统的结构示意图；
图7是本申请实施例七提供的一种车辆后背门的控制系统的结构框图。
具体实施方式
下面结合附图和实施例对本申请作说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构，此外，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互结合。
实施例一
图1是本申请实施例一提供的一种车辆后背门的控制方法的流程示意图，本实施例可适用于对车辆后背门进行控制的情况，该方法可以由车辆后背门的 控制装置来执行，该装置可由硬件和/或软件组成，一般可集成在车辆后背门的控制系统中。如图1所示，该方法包括如下步骤：
步骤101，获取用户的脑电波信号。
本实施例中，所述脑电波信号就是人的大脑神经元之间的活动产生的电信号。
在一实施例中，可以获取脑电波采集装置采集的脑电波信号。其中，脑电波采集装置可以按照预先设定的采样频率采集用户的脑电波信号。脑电波采集装置可以是头戴式采集装置，如脑电波采集帽。
步骤102，确定与所述脑电波信号匹配的目标脑电波指令。
在本实施例中，可以将脑电波信号输入至预先训练的脑电波指令确定模型中，根据模型的输出结果确定与脑电波信号匹配的目标脑电波指令。其中，脑电波指令确定模型可以理解为通过对脑电波信号进行分析，能够快速确定与脑电波信号匹配的脑电波指令的机器学习模型。可选的，脑电波指令确定模型的确定方式可以包括：采集所述用户的至少两个样本脑电波信号，并获取与样本脑电波信号对应的样本脑电波指令；基于样本脑电波指令对对应的样本脑电波信号进行标记，并将标记后的样本脑电波信号作为训练样本集；基于所述训练样本集对预设机器学习模型进行训练，生成脑电波指令确定模型。
可选的，确定与所述脑电波信号匹配的目标脑电波指令，包括：根据所述脑电波信号及预先存储的脑电波信号与脑电波指令的对应关系，确定与所述脑电波信号匹配的目标脑电波指令。示例性的，采集所述用户的至少两个脑电波信号，并获取与脑电波信号对应的样本脑电波指令；其中，每个脑电波信号代表一种对后背门进行控制的脑电波信号；建立脑电波信号与脑电波指令的对应关系；其中，在所述对应关系中，脑电波信号与脑电波指令一一对应，也即，不同的脑电波信号对应不同的脑电波指令。脑电波指令可以理解为对车辆后背门的控制指令。然后，将脑电波信号与脑电波指令的对应关系进行存储。在脑电波信号与脑电波指令的对应关系中，查找与步骤101中获取的脑电波信号匹配的目标脑电波信号，并将对应关系中与目标脑电波信号对应的脑电波指令，确定为与获取的脑电波信号匹配的目标脑电波指令。
可选的，所述目标脑电波指令包括后背门的开启指令、后背门的关闭指令、后背门按照预设高度的开启指令及后背门按照预设角度的开启指令。这样设置的好处在于，可以使用户根据需要设置后背门的开启或关闭位置，对后背门进行分级控制，满足用户的个性化需求。
步骤103，控制车辆的后背门执行与所述目标脑电波指令对应的动作。
在本申请实施例中，控制车辆的后背门执行与目标脑电波指令对应的动作，从而实现通过脑电波信号对后背门的控制。示例性的，目标脑电波指令为对后背门的开启指令，则控制车辆的后背门打开；又如，目标脑电波指令为后背门打开1/3高度的控制指令，则控制车辆的后背门打开1/3高度；再如，目标脑电波指令为对后背门的关闭指令，则控制车辆的后背门关闭。
本申请实施例提供了一种车辆后背门的控制方法，获取用户的脑电波信号；确定与所述脑电波信号匹配的目标脑电波指令；控制车辆的后背门执行与所述目标脑电波指令对应的动作。本申请实施例提供的技术方案，能够通过脑电波信号准确、快速地对车辆后背门进行控制，可大大提高用户体验。
实施例二
图2是本申请实施例二提供的一种车辆后背门的控制方法的流程示意图，如图2所示，所述方法包括如下步骤：
步骤201、获取用户的脑电波信号。
步骤202、获取所述用户的身份标识。
在本申请实施例中，获取用户的身份标识，其中，身份标识为能够表征用户唯一性的信息。示例性的，用户的身份标识可以为用户的身份证信息，也可以为用户的指纹信息，还可以为用户的人脸图像。
步骤203、获取与所述身份标识对应的预先存储的脑电波信号与脑电波指令的对应关系。
由于每个人发出的脑电波不同，因此，即使对于同一脑电波指令，不同的用户对应的脑电波信号也不同。因此，在本申请实施例中，获取与所述身份标识对应的预先存储的脑电波信号与脑电波指令的对应关系。
步骤204、根据所述脑电波信号及所述对应关系，确定与所述脑电波信号匹配的目标脑电波指令。
步骤205、控制车辆的后背门执行与所述目标脑电波指令对应的动作。
本申请实施例提供的技术方案，准确确定与采集的脑电波信号对应的脑电波指令，并控制车辆后背门执行脑电波指令，实现了通过脑电波信号准确、快速地对车辆后背门进行控制，可大大提高用户体验。
实施例三
图3是本申请实施例三提供的一种车辆后背门的控制方法的流程示意图，如图3所示，所述方法包括如下步骤：
步骤301、获取用户的脑电波信号。
步骤302、根据脑电波信号及预先存储的脑电波信号与脑电波指令的对应关系，确定与脑电波信号匹配的目标脑电波指令。
步骤303、当目标脑电波指令为后背门的开启指令时，判断车辆是否满足后背门的预设开启条件，基于车辆满足后背门的预设开启条件的判断结果，执行步骤304，基于车辆不满足后背门的预设开启条件的判断结果，执行步骤305。
步骤304、控制车辆的后背门执行与目标脑电波指令对应的动作。
步骤305、禁止车辆的后背门执行与目标脑电波指令对应的动作。
在本申请实施例中，当目标脑电波指令为后背门的开启指令(包括后背门打开预设角度或预设高度的开启指令)时，判断车辆是否满足预设的开启条件。基于车辆满足后背门的预设开启条件的判断结果，控制车辆的后背门执行与目标脑电波指令对应的动作；基于车辆不满足后背门的预设开启条件的判断结果，禁止车辆的后背门执行与目标脑电波指令对应的动作。其中，预设的开启条件可以为车辆是否处于静止状态，当车辆处于静止状态时，控制车辆的后背门执行开启动作；当车辆处于行驶状态，则禁止车辆的后背门开启。又如，预设的开启条件可以为车辆是否处于非锁车状态，当车辆处于非锁车状态时，控制车辆的后背门执行开启动作；当车辆处于锁车状态，则禁止车辆的后背门开启。
本申请实施例提供的技术方案，不仅可以通过脑电波信号准确、快速地对车辆后背门进行控制，并且当脑电波指令为车辆后背门的开启指令时，可以判断车辆是否满足预设的开启条件，基于车辆满足后背门的预设开启条件的判断结果，控制车辆的后背门执行开启动作，可保证车辆后背门开启的安全性。
实施例四
图4是本申请实施例四提供的一种车辆后背门的控制方法的流程示意图，如图4所示，所述方法包括如下步骤：
步骤401、获取用户的脑电波信号。
步骤402、根据所述脑电波信号及预先存储的脑电波信号与脑电波指令的对应关系，确定与所述脑电波信号匹配的目标脑电波指令。
步骤403、当目标脑电波指令为后背门的关闭指令时，控制车辆的后背门执行与所述目标脑电波指令对应的动作，并在控制车辆的后背门执行与所述目标 脑电波指令对应的动作的过程中，实时检测所述后背门是否处于防夹区域，基于所述后背门处于防夹区域的检测结果，执行步骤404，基于所述后背门处于非防夹区域的检测结果，执行步骤406。
步骤404、判断所述后背门与所述车辆底部间是否存在障碍物，基于所述后背门与所述车辆底部间存在障碍物的判断结果，执行步骤405，基于所述后背门与所述车辆底部间不存在障碍物的判断结果，执行步骤406。
步骤405、控制车辆的后背门停止执行与所述目标脑电波指令对应的动作。
步骤406、控制车辆的后背门继续执行与所述目标脑电波指令对应的动作，直至车辆的后背门关闭为止。
本一实施例中，在控制车辆的后背门执行与所述目标脑电波指令对应的动作的过程中，实时检测所述后背门是否处于防夹区域；基于所述后背门处于防夹区域的检测结果，判断所述后背门与所述车辆底部间是否存在障碍物；基于所述后背门与所述车辆底部间存在障碍物的判断结果，控制车辆的后背门停止执行与所述目标脑电波指令对应的动作。
在本申请实施例中，当目标脑电波指令为后背门的关闭指令(包括后背门关闭预设角度或预设高度的关闭指令)时，控制车辆后背门执行后背门的关闭动作，并在车辆后背门执行关闭动作的过程中，实时检测车辆是否处于防夹区域。可选的，实时检测所述后背门是否处于防夹区域，包括：实时检测所述后背门与所述车辆底部间的距离；根据所述距离判断所述后背门是否处于防夹区域；其中，当所述距离大于预设距离阈值时，确定所述后背门处于防夹区域；当所述距离小于预设距离阈值时，确定所述后背门处于非防夹区域。示例性的，通过距离传感器获取后背门与车辆底部间的距离，判断该距离是否大于预设距离阈值，基于该距离大于预设距离阈值的判断结果确定后背门处于防夹区域，基于该距离不大于预设距离阈值的判断结果确定后背门处于非防夹区域。
在本申请实施例中，基于后背门处于防夹区域的检测结果，检测后背门与车辆底部间是否存在障碍物，例如，可以通过红外传感器检测后背门与车辆底部是否存在障碍物，基于后背门与车辆底部存在障碍物的判断结果，说明若继续控制车辆后背门执行关闭动作，可能会对用户安全造成威胁，此时，控制车辆的后背门停止执行关闭动作。示例性的，当车辆后背门处于防夹区域时，还可以通过检测电机电流的方式来识别防夹区域内是否有人(人的头颅、胳膊等)或者其他障碍物，当存在人或者其他障碍物时，电机电流会突然增大。当后背门处于防夹区域，且车辆后背门与车辆底部间不存在障碍物时，可控制车辆的后背门继续执行关闭动作，直至车辆的后背门关闭为止。可选的，当后背门处于非防夹区域，可直接控制车辆的后背门继续执行关闭动作，直至车辆的后背 门关闭为止。其中，可以通过判断电机是否运行到底部堵转位置，来判断车辆的后背门是否完全关闭。
本申请实施例提供的技术方案，不仅可以通过脑电波信号准确、快速地对车辆后背门进行控制，并且当脑电波指令为车辆后背门的关闭指令时，判断车辆后背门是否处于防夹区域，并当车辆后背门处于防夹区域时，判断车辆后背门与车辆底部间是否存在障碍物，基于车辆后背门与车辆底部间不存在障碍物的判断结果，控制车辆后背门执行关闭动作，直至车辆后背关闭为止，可有效防止在后背门关闭过程中对用户造成伤害，有效保证车辆后背门关闭的安全性。
实施例五
图5为本申请实施例五提供的一种车辆后背门的控制装置的结构示意图，如图5所示，该装置包括：脑电波信号获取模块501、脑电波指令确定模块502及后背门控制模块503。其中，
脑电波信号获取模块501，被设置为采集用户的脑电波；
脑电波指令确定模块502，被设置为确定与所述脑电波信号匹配的目标脑电波指令；
后背门控制模块503，被设置为控制车辆的后背门执行与所述目标脑电波指令对应的动作。
本申请实施例提供的车辆后背门的控制装置，通过对获取用户的脑电波信号；确定与所述脑电波信号匹配的目标脑电波指令；控制车辆的后背门执行与所述目标脑电波指令对应的动作，本申请实施例提供的技术方案，能够通过脑电波信号准确、快速地对车辆后背门进行控制，可大大提高用户体验。
可选的，所述脑电波指令确定模块，包括：
脑电波指令确定单元，被设置为根据所述脑电波信号及预先存储的脑电波信号与脑电波指令的对应关系，确定与所述脑电波信号匹配的目标脑电波指令。
可选的，所述装置还包括：
身份标识获取模块，被设置为在根据所述脑电波信号及预先存储的脑电波信号与脑电波指令的对应关系，确定与所述脑电波信号匹配的目标脑电波指令之前，获取所述用户的身份标识；
所述脑电波指令确定单元，被设置为：
获取与所述身份标识对应的预先存储的脑电波信号与脑电波指令的对应关系；
根据所述脑电波信号及所述对应关系，确定与所述脑电波信号匹配的目标脑电波指令。
可选的，所述目标脑电波指令包括后背门的开启指令、后背门的关闭指令、后背门按照预设高度的开启指令及后背门按照预设角度的开启指令。
可选的，所述目标脑电波指令为后背门的开启指令；
相应的，所述装置还包括：
开启条件判断模块，被设置为在控制车辆的后背门执行与所述目标脑电波指令对应的动作之前，判断所述车辆是否满足后背门的预设开启条件；
所述后背门控制模块，被设置为：
基于所述车辆满足后背门的预设开启条件的判断结果，控制车辆的后背门执行与所述目标脑电波指令对应的动作。
可选的，所述目标脑电波指令为所述后背门的关闭指令；
相应的，所述装置还包括：
防夹区域检测模块，被设置为在控制车辆的后背门执行与所述目标脑电波指令对应的动作的过程中，实时检测所述后背门是否处于防夹区域；
障碍物判断模块，被设置为基于所述后背门处于防夹区域的检测结果，判断所述后背门与所述车辆底部间是否存在障碍物；
禁止模块，被设置为基于所述后背门与所述车辆底部间存在障碍物的判断结果，控制车辆的后背门停止执行与所述目标脑电波指令对应的动作。
可选的，所述防夹区域检测模块，被设置为：
实时检测所述后背门与所述车辆底部间的距离；
根据所述距离判断所述后背门是否处于防夹区域；其中，当所述距离大于预设距离阈值时，确定所述后背门处于防夹区域；当所述距离小于预设距离阈值时，确定所述后背门处于非防夹区域。
上述装置可执行本申请前述所有实施例所提供的方法，具备执行上述方法相应的功能模块和有益效果。未在本申请实施例中详尽描述的技术细节，可参见本申请前述所有实施例所提供的方法，具体控制装置的实施例中，所包括的各个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可：另外，各功能单元的具体名称也只是为了便于相互区分。
实施例六
本申请实施例六提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请所申请实施例提供的控制方法，该方法包括：
获取用户的脑电波信号；
确定与所述脑电波信号匹配的目标脑电波指令；
控制车辆的后背门执行与所述目标脑电波指令对应的动作。
存储介质可以是各种类型的存储器设备或存储设备。术语“存储介质”旨在包括：安装介质，例如只读光盘存储器(Compact Disc Read-Only Memory，CD-ROM)、软盘或磁带装置；计算机系统存储器或随机存取存储器，诸如动态随机存取存储器(Dynamic Random Access Memory，DRAM)、双倍速率动态随机存取存储器(Double Data Rate Dynamic Random Access Memory，DDRRAM)、静态随机存取存储器(Static Random-Access Memory，SRAM)、扩展数据输出内存(Extended Data Output Random Access Memory，EDORAM)，兰巴斯(Rambus)RAM等；非易失性存储器，诸如闪存、磁介质(例如硬盘或光存储)；寄存器或其它相似类型的存储器元件等。存储介质可以还包括其它类型的存储器或其组合。另外，存储介质可以位于程序在其中被执行的第一计算机系统中，或者可以位于不同的第二计算机系统中，第二计算机系统通过网络(诸如因特网)连接到第一计算机系统。第二计算机系统可以提供程序指令给第一计算机用于执行。术语“存储介质”可以包括可以驻留在不同位置中(例如在通过网络连接的不同计算机系统中)的两个或更多存储介质。存储介质可以存储可由一个或多个处理器执行的程序指令(例如计算机程序)。
当然，本申请实施例所提供的一种包含计算机可执行指令的存储介质，其计算机可执行指令除了如上所述的方法操作，还可以执行本申请任意实施例所提供的车辆后背门的控制方法中的相关操作。
实施例七
图6为实施例七提供的一种车辆后背门的控制系统的结构示意图，如图6所示，该车辆后背门的控制系统结构包括脑电波传感器601、后背门控制器602、存储器603、后背门驱动器604、其它控制器606。
脑电波传感器601采集人大脑发出的脑电波信号，并将该信号进行滤波、放大等处理后发送给后背门控制器602，后背门控制器602初次使用时需要通过学习获取脑电波指令集，并将获取到的脑电波指令集存储到存储器603中，获 取到脑电波指令集之后，用户下次发送脑电波指令时后背门控制器602与存储器603中存储的脑电波指令集进行比对，在收到的脑电波指令与脑电波指令集匹配的情况下，通过后背门驱动器604控制后背门执行响应的动作。存储器603可以是带电可擦可编程只读存储器(Electrically Erasable Programmable Read Only Memory，EEPROM)、存储卡或者Flash等设备，存储的每种脑电波指令代表一种后背门控制方法，控制器602根据人脑发出的脑电波信号与存储器中的脑电波信号进行匹配，如果匹配成功，控制器602通过其它控制器606检测是否满足开启条件，基于满足开启条件的判断结果，控制器602控制后背门驱动器604进行动作。后背门驱动器604通过红外传感器检测后背门与底部距离，后背门下降过程中，在后背门与距离底部很小的情况下，判定该区域为非防夹区，后背门驱动器控制后背门达到底部堵转位置，确保后背门完全关闭；在后背门与底部距离超过非防夹区域的情况下，通过检测电机电流识别是否有人或者其他障碍物，如果有人或者其他障碍物时电机电流会突然增大，后背门控制器控制后背门停止动作，防止后背门动作时对用户造成伤害。
本申请实施例提供一种新型的汽车后背门自动控制方法，通过脑电波控制汽车后背门打开与关闭，也能够对后背门按照用户自定义方式进行分级控制；不但能够控制后背门的打开与关闭，而且能够对后背门按照用户喜欢方式进行自定义，比如打开后背门三分之一等；通过红外传感器检测后背门距离底部距离，判断后背门是否处于防夹区，基于后背门处于非防夹区的判断结果，后背门运行到底部堵转位置，确保后背门能够完全关系；基于后背门处于防夹区的判断结果，后背门控制器检测到人或者其他障碍物时停止动作，防止对用户造成伤害；通过脑电波控制后背门进行动作不但减少了劳动强度，而且带来舒适的驾乘体验。
本申请实施例还提供了另一种车辆后背门的控制系统，该车辆后背门的控制系统中可集成本申请实施例提供的车辆后背门的控制装置。图7为本申请实施例提供的一种车辆后背门的控制系统的结构框图。车辆后背门的控制系统700可以包括：存储器701，处理器702及存储在存储器701上并可在处理器运行的计算机程序，所述处理器702执行所述计算机程序时实现如本申请实施例所述的车辆后背门的控制方法。
本申请实施例中提供的车辆后背门的控制系统，获取用户的脑电波信号；确定与所述脑电波信号匹配的目标脑电波指令；控制车辆的后背门执行与所述目标脑电波指令对应的动作。本申请实施例能够通过脑电波信号准确、快速地对车辆后背门进行控制，可大大提高用户体验。
上述实施例中提供的车辆后背门的控制装置、存储介质及车辆后背门的控 制系统可执行本申请任意实施例所提供的车辆后背门的控制方法，具备执行该方法相应的功能模块和有益效果。未在上述实施例中详尽描述的技术细节，可参见本申请任意实施例所提供的车辆后背门的控制方法。

Claims (10)

  1. 一种车辆后背门的控制方法，包括：
    获取用户的脑电波信号；
    确定与所述脑电波信号匹配的目标脑电波指令；
    控制车辆的后背门执行与所述目标脑电波指令对应的动作。
  2. 根据权利要求1所述的方法，其中，确定与所述脑电波信号匹配的目标脑电波指令，包括：
    根据所述脑电波信号及预先存储的脑电波信号与脑电波指令的对应关系，确定与所述脑电波信号匹配的目标脑电波指令。
  3. 根据权利要求2所述的方法，在根据所述脑电波信号及预先存储的脑电波信号与脑电波指令的对应关系，确定与所述脑电波信号匹配的目标脑电波指令之前，所述方法还包括：
    获取所述用户的身份标识；
    其中，所述根据所述脑电波信号及预先存储的脑电波信号与脑电波指令的对应关系，确定与所述脑电波信号匹配的目标脑电波指令，包括：
    获取与所述身份标识对应的预先存储的脑电波信号与脑电波指令的对应关系；以及，
    根据所述脑电波信号及所述对应关系，确定与所述脑电波信号匹配的目标脑电波指令。
  4. 根据权利要求1所述的方法，其中，所述目标脑电波指令包括后背门的开启指令、后背门的关闭指令、后背门按照预设高度的开启指令及后背门按照预设角度的开启指令。
  5. 根据权利要求1所述的方法，其中，所述目标脑电波指令为后背门的开启指令；
    在控制车辆的后背门执行与所述目标脑电波指令对应的动作之前，所述方法还包括：
    判断所述车辆是否满足后背门的预设开启条件；
    所述控制车辆的后背门执行与所述目标脑电波指令对应的动作，包括：
    基于所述车辆满足后背门的预设开启条件的判断结果，控制所述车辆的后背门执行与所述目标脑电波指令对应的动作。
  6. 根据权利要求1所述的方法，其中，所述目标脑电波指令为所述后背门 的关闭指令；
    所述方法还包括：
    在控制车辆的后背门执行与所述目标脑电波指令对应的动作的过程中，实时检测所述后背门是否处于防夹区域；
    基于所述后背门处于防夹区域的检测结果，判断所述后背门与所述车辆底部间是否存在障碍物；
    基于所述后背门与所述车辆底部间存在障碍物的判断结果，控制所述车辆的后背门停止执行与所述目标脑电波指令对应的动作。
  7. 根据权利要求6所述的方法，其中，实时检测所述后背门是否处于防夹区域，包括：
    实时检测所述后背门与所述车辆底部间的距离；
    根据所述距离判断所述后背门是否处于防夹区域；其中，当所述距离大于预设距离阈值时，确定所述后背门处于防夹区域；当所述距离小于预设距离阈值时，确定所述后背门处于非防夹区域。
  8. 一种车辆后背门的控制装置，包括：
    脑电波信号获取模块，被设置为获取用户的脑电波信号；
    脑电波指令确定模块，被设置为确定与所述脑电波信号匹配的目标脑电波指令；
    后背门控制模块，被设置为控制车辆的后背门执行与所述目标脑电波指令对应的动作。
  9. 一种计算机可读存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理装置执行时实现如权利要求1-7中任一所述的车辆后背门的控制方法。
  10. 一种车辆后背门的控制系统，包括存储器，处理器及存储在存储器上并可在处理器运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1-7任一所述的车辆后背门的控制方法。
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