WO2024027655A1 - 一种车辆环境监测方法及电子设备 - Google Patents

一种车辆环境监测方法及电子设备 Download PDF

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Publication number
WO2024027655A1
WO2024027655A1 PCT/CN2023/110300 CN2023110300W WO2024027655A1 WO 2024027655 A1 WO2024027655 A1 WO 2024027655A1 CN 2023110300 W CN2023110300 W CN 2023110300W WO 2024027655 A1 WO2024027655 A1 WO 2024027655A1
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WIPO (PCT)
Prior art keywords
vehicle
mounted device
environment
information
csi
Prior art date
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PCT/CN2023/110300
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English (en)
French (fr)
Inventor
邱建
Original Assignee
华为技术有限公司
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Publication of WO2024027655A1 publication Critical patent/WO2024027655A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/29—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Definitions

  • the present application relates to the field of terminal technology, and in particular to a vehicle environment monitoring method and electronic equipment.
  • the monitoring of the environment inside and outside the vehicle is usually achieved through cameras, millimeter wave radar, ultrasonic radar, infrared sensors and other equipment deployed in the vehicle, and the identification of the environment inside and outside the vehicle is achieved.
  • objects to realize the vehicle functions such as “child missing reminder” and “sentinel mode”.
  • the above-mentioned equipment is always on when monitoring the environment inside and outside the vehicle, which will produce large power consumption (or power consumption), resulting in an increase in power consumption of the entire vehicle (or vehicle). , thereby reducing the vehicle's battery life.
  • Embodiments of the present application provide a vehicle environment monitoring method and electronic equipment, which can form an environment monitoring network through vehicle-mounted devices connected via Wi-Fi, and determine whether there are moving objects in the vehicle environment based on the CSI data of the Wi-Fi channel.
  • the vehicle-mounted device uses Wi-Fi to consume less power when monitoring the environment, which improves the problem of high power consumption of existing vehicle environment monitoring technology, reduces the power consumption of the entire vehicle, and improves the vehicle's battery life.
  • the first aspect provides a vehicle environment monitoring method, which method is applied to a first vehicle-mounted device connected to a second vehicle-mounted device through wireless-fidelity (Wi-Fi).
  • the first vehicle-mounted device and the second vehicle-mounted device are configured
  • the method includes: the first vehicle-mounted device receives a Wi-Fi detection signal from the second vehicle-mounted device; and based on the Wi-Fi detection signal, determines the Wi-Fi channel between the first vehicle-mounted device and the second vehicle-mounted device.
  • Channel state information CSI
  • An environmental monitoring network is composed of a first vehicle-mounted device and a second vehicle-mounted device connected to it via Wi-Fi.
  • the first vehicle-mounted device receives the Wi-Fi detection signal sent by the second vehicle-mounted device, determines the CSI based on the Wi-Fi detection signal, and determines the environmental conditions of the environment where the vehicle is located based on the CSI. There is no need to install other monitoring devices in the vehicle, which reduces the cost of the vehicle.
  • CSI is physical layer information.
  • the first vehicle-mounted device obtains the physical layer information of the Wi-Fi detection signal to determine the CSI.
  • the second vehicle-mounted device does not need to carry a large amount of data when sending the Wi-Fi detection signal, which reduces the power consumption of the second vehicle-mounted device for sending the Wi-Fi detection signal. In this way, the first vehicle-mounted device and the second vehicle-mounted device generate lower power consumption during the vehicle environment monitoring operation, thereby reducing the power consumption of the entire vehicle and improving the vehicle's endurance.
  • the first vehicle-mounted device determines the environmental conditions of the environment where the vehicle is located based on the CSI: if the CSI of the Wi-Fi channel is different within a continuous time, the first vehicle-mounted device determines that the vehicle There are moving objects in the environment where the vehicle is located; if the CSI of the Wi-Fi channels within a continuous period of time is the same, the first vehicle-mounted device determines that there are no moving objects in the environment where the vehicle is located.
  • the Wi-Fi detection signal is reflected by moving objects in the transmission environment during continuous time, the CSI of the Wi-Fi channel will change.
  • the first vehicle-mounted device can determine whether the channel status of the Wi-Fi channel changes within a continuous period of time based on the CSI. It can not only effectively determine whether there are moving objects in the environment where the vehicle is located, but also simplify the design of the vehicle environment monitoring system and reduce the cost.
  • the CSI includes: amplitude information and phase information of the Wi-Fi detection signal at least one item in the information. Then the two CSIs being different includes at least one of the amplitude information and phase information of the Wi-Fi detection signals included in the two CSIs being different; the two CSIs being the same includes the amplitude information and phase information of the Wi-Fi detection signals included in the two CSIs being the same. .
  • the first vehicle-mounted device determines whether the two CSIs are the same based on the amplitude information and phase information in the CSI. If both amplitude information and phase information are the same, it is determined that the two CSIs are the same. Otherwise, it is determined that the two CSIs are not the same. In this way, the accuracy of determining whether the channel state of the Wi-Fi channel changes within a continuous period can be improved.
  • the method further includes: sending a notification message.
  • the first vehicle-mounted device sends a notification message to remind the outside world that there are moving objects in the environment where the vehicle is located, and that the vehicle may be damaged or children are left behind in the vehicle, so that the vehicle owner can handle it in a timely manner and improve the efficiency of the vehicle. user experience.
  • the method before the first vehicle-mounted device sends the notification message, the method further includes: the first vehicle-mounted device obtains video information including the environment in which the vehicle is located; and determines the vehicle based on the video information. Whether there are moving objects in the environment where the vehicle is located; if there are moving objects in the environment where the vehicle is located, a notification message is triggered.
  • the first vehicle-mounted device before sending the notification message, can also obtain video information of the environment where the vehicle is located and use image recognition technology to further determine whether there are moving objects in the environment where the vehicle is located, so as to prevent the first vehicle-mounted device from According to the CSI of the Wi-Fi detection signal, the environmental conditions of the environment where the vehicle is located may be misjudged, thereby improving the accuracy of the results of the vehicle environment monitoring method.
  • the method before the first vehicle-mounted device obtains the video information, the method further includes: the first vehicle-mounted device determines the location information of the moving object based on the CSI; and determines the movement based on the location information. Whether the object is located within the first preset range, the first preset range is the projection range of the vehicle on the horizontal plane; if the moving object is within the first preset range, acquisition of video information is triggered, and the video information is the vehicle's interior environment video information.
  • the first vehicle-mounted device can determine the location information of the moving object based on the CSI, and then determine whether the moving object is within the first preset range, that is, in the vehicle interior environment, based on the location information.
  • the acquisition of video information that is, the in-vehicle environment video information
  • the first vehicle-mounted device can monitor the environment inside the vehicle through the real images captured, thereby improving the accuracy of monitoring.
  • the method before the first vehicle-mounted device obtains the video information, the method further includes: the first vehicle-mounted device determines the location information of the moving object based on the CSI; and determines the movement based on the location information. Whether the object is located within the second preset range, which is greater than the projection range of the vehicle on the horizontal plane; if the moving object is within the second preset range, the acquisition of video information is triggered, and the video information is the vehicle's interior environment video information and Video information about the outside environment of the vehicle.
  • the first vehicle-mounted device can determine the location information of the moving object based on the CSI, and then determine whether the moving object is within the first preset range, that is, in the vehicle interior environment and the vehicle exterior environment, based on the location information. If the moving object is in the in-vehicle environment and the out-of-vehicle environment, video information, that is, the in-vehicle environment video information and the out-of-vehicle environment video information are obtained to further determine whether there is real movement in the in-vehicle environment and in the out-of-vehicle environment. object.
  • the first vehicle-mounted device can determine the general area of the moving object and photograph the area, and then realize the monitoring of the environment inside and outside the vehicle through the real images obtained. Not only can the monitoring efficiency be improved through the recognition of real images, accuracy, and only obtains video information within a preset area, further reducing power consumption.
  • the method before the first vehicle-mounted device acquires the video information, the method further includes: sending a collection instruction, and the collection instruction is used to turn on the image collection device of the vehicle to collect the video information.
  • the first vehicle-mounted device can obtain video information through the image acquisition device of the vehicle.
  • the image acquisition device can maintain a low-power sleep state. After receiving the acquisition instruction sent by the first vehicle-mounted device, it starts to collect video information in response to the acquisition instruction. In this way, the power consumption of the image acquisition device can be reduced, thereby reducing the power consumption of the entire vehicle.
  • the method further includes: the first vehicle-mounted device obtains the inertial measurement unit (IMU) data of the vehicle; according to the IMU data Determine whether there is vibration in the vehicle; if there is vibration in the vehicle, send a notification message.
  • the first vehicle-mounted device before sending the notification message, further determines whether there is a moving object in the environment where the vehicle is located by obtaining the vehicle's inertial measurement unit IMU data, and whether the moving object is in contact with the vehicle, that is, whether There is a risk of causing damage to the vehicle to further improve the accuracy of the results of the vehicle environment monitoring method.
  • the method further includes: obtaining image information, where the image information includes images of moving objects; and sending the image information.
  • the first vehicle-mounted device may send image information including images of moving objects to the user. Allows users to intuitively see moving objects in the environment where the vehicle is located, making it easier to use Users can handle the problem in a timely manner to improve user experience.
  • the method before receiving the Wi-Fi detection signal from the second vehicle-mounted device, the method further includes: responding to a startup instruction sent by the user, turning on the wireless access point (AP) ) mode, sending a configuration instruction to the second vehicle-mounted device.
  • the configuration instruction is used to instruct the second vehicle-mounted device to turn on the station (station, STA) mode and send a connection request to the first vehicle-mounted device; establish a connection with the second vehicle-mounted device according to the connection request. Wi-Fi connection.
  • the first vehicle-mounted device turns on the AP mode in response to the startup command, and instructs the second vehicle-mounted device to turn on the STA mode by sending a configuration instruction, so that the second vehicle-mounted device can access the first vehicle-mounted device to realize the first vehicle-mounted device.
  • the method further includes: the first vehicle-mounted device responds to the startup instruction and sends a first sleep instruction to the image acquisition device of the vehicle, and the first sleep instruction is used to instruct the image acquisition device to start sleep. state.
  • the image acquisition device enters a low-power sleep state in response to the first sleep command, and only starts to collect video information after receiving the acquisition command from the first vehicle-mounted device. There is no need to maintain the acquisition mode all the time. In this way, the power consumption of the image acquisition device can be reduced, thereby reducing the power consumption of the entire vehicle.
  • the method further includes: if it is determined based on the CSI that the channel status of the Wi-Fi channel has not changed within a continuous period of time, sending a notification message to the vehicle.
  • the image acquisition device sends a second sleep instruction, and the second sleep instruction is used to instruct the image acquisition device to start the sleep state.
  • the first vehicle-mounted device if there are no moving objects in the environment where the vehicle is located, the first vehicle-mounted device no longer needs to acquire video information. Therefore, the image acquisition device does not need to continue to collect video information. .
  • the first vehicle-mounted device instructs the image acquisition device to start a low-power sleep state by sending a second sleep instruction. In this way, the power consumption of the entire vehicle can be further reduced and the battery life of the vehicle can be improved.
  • a second aspect provides a vehicle environment monitoring system, including a first vehicle-mounted device and a second vehicle-mounted device.
  • the first vehicle-mounted device is connected to the second vehicle-mounted device through Wi-Fi.
  • the first vehicle-mounted device and the second vehicle-mounted device are arranged in the vehicle. ;
  • the second vehicle-mounted device is used to send the Wi-Fi detection signal to the first vehicle-mounted device;
  • the first vehicle-mounted device is used to receive the Wi-Fi detection signal from the second vehicle-mounted device, and determine the first vehicle-mounted device according to the Wi-Fi detection signal.
  • the CSI of the Wi-Fi channel between the vehicle-mounted device and the second vehicle-mounted device; the CSI is used to characterize the channel status of the Wi-Fi channel, and the environmental conditions of the environment where the vehicle is located are determined based on the CSI.
  • the vehicle environment monitoring system includes a first vehicle-mounted device and a second vehicle-mounted device that can be connected through Wi-Fi.
  • the second vehicle-mounted device sends a Wi-Fi detection signal to the first vehicle-mounted device.
  • the first vehicle-mounted device receives the Wi-Fi detection signal sent by the second vehicle-mounted device, determines the CSI based on the Wi-Fi detection signal, and determines the environment of the vehicle based on the CSI. environmental conditions. There is no need to install other monitoring devices in the vehicle, which reduces the cost of the vehicle.
  • CSI is physical layer information.
  • the first vehicle-mounted device obtains the physical layer information of the Wi-Fi detection signal to determine the CSI. In this way, the power consumption generated by the first vehicle-mounted device and the second vehicle-mounted device during the vehicle environment monitoring operation is lower, thereby reducing the power consumption of the entire vehicle and improving the vehicle's endurance.
  • the third aspect provides an electronic device, including: a memory, one or more processors; the memory is coupled to the processor; wherein, computer program code is stored in the memory, and the computer program code includes computer instructions.
  • the computer instructions are executed by the processor
  • the electronic device is caused to perform the vehicle environment monitoring method of any one of the above first aspects.
  • a fourth aspect provides a vehicle, which includes the vehicle environment monitoring system as described in the second aspect or the electronic device as described in the third aspect.
  • a fifth aspect provides a computer-readable storage medium that includes computer instructions.
  • the computer instructions When the computer instructions are run on an electronic device, the electronic device causes the electronic device to execute any of the vehicle environment monitoring methods of the first aspect.
  • a sixth aspect provides a computer program product.
  • the computer program product When the computer program product is run on a computer, it causes the computer to execute any of the vehicle environment monitoring methods of the first aspect.
  • Figure 1 is a schematic diagram of a vehicle environment monitoring scenario according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of another vehicle environment monitoring scenario according to an embodiment of the present application.
  • Figure 3 is a schematic diagram of a vehicle structure including a vehicle environment monitoring system according to an embodiment of the present application
  • Figure 4 is a schematic diagram of the hardware structure of a vehicle-mounted system according to an embodiment of the present application.
  • FIG. 5 is a schematic flowchart 1 of the vehicle environment monitoring method according to the embodiment of the present application.
  • Figure 6 is a schematic diagram 1 of a vehicle-mounted device monitoring the vehicle environment according to an embodiment of the present application
  • FIG. 7 is a schematic diagram 2 of the vehicle environment monitored by the vehicle-mounted device according to the embodiment of the present application.
  • Figure 8 is a schematic diagram of a user equipment displaying a notification message according to an embodiment of the present application.
  • Figure 9 is a schematic flow chart 2 of the vehicle environment monitoring method according to the embodiment of the present application.
  • FIG. 10 is a schematic flowchart three of the vehicle environment monitoring method according to the embodiment of the present application.
  • FIG 11 is a schematic flowchart 4 of the vehicle environment monitoring method according to the embodiment of the present application.
  • Figure 12 is a schematic flow chart 5 of the vehicle environment monitoring method according to the embodiment of the present application.
  • FIG. 13 is a schematic flowchart 6 of the vehicle environment monitoring method according to the embodiment of the present application.
  • Figure 14 is a schematic structural diagram of a vehicle-mounted device according to an embodiment of the present application.
  • FIG. 15 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • At least one of the following or similar expressions thereof refers to any combination of these items, including any combination of a single item (items) or a plurality of items (items).
  • at least one of a, b, or c can mean: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple .
  • words such as “first” and “second” are used to distinguish identical or similar items with basically the same functions and effects. Those skilled in the art can understand that words such as “first” and “second” do not limit the number and execution order, and words such as “first” and “second” do not limit the number and execution order.
  • words such as “exemplary” or “for example” are used to represent examples, illustrations or explanations. Any embodiment or design described as “exemplary” or “such as” in the embodiments of the present application is not to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as “exemplary” or “such as” is intended to present related concepts in a concrete manner that is easier to understand.
  • CSI In the field of wireless communications, CSI is the channel attribute of the communication link. CSI describes the fading factor of the signal on each transmission path, that is, the value of each element in the channel gain matrix H, such as signal scattering (scattering), environmental fading (fading, multipath fading or shadowing fading), distance attenuation (power decay) of distance) and other information. CSI has the following advantages: 1. For each received data packet, CSI can obtain 30 channel frequency responses, that is, CSI is a fine-grained signal; 2. CSI is sensitive to the environment and is more effective for distinguishing locations; 3. For At a fixed location, CSI packet received data packets are more stable than wireless signal strength (received signal strength, RSS). Therefore, CSI can be applied to environment recognition, action recognition, gesture recognition, keystroke recognition, tracking and other fields.
  • RSS wireless signal strength
  • FIG. 1 is a schematic diagram of a vehicle environment monitoring scenario according to an embodiment of the present application. As shown in Figure 1, cameras are deployed around the vehicle.
  • the cockpit domain controller (CDC) (or vehicle computer) is used to turn on the cameras deployed in the vehicle to obtain the environment inside and outside the vehicle.
  • the video information based on visual dynamic detection, can determine whether there are moving objects in the car environment and the surrounding environment outside the car.
  • FIG 2 is a schematic diagram of another vehicle environment monitoring scenario shown in an embodiment of the present application; as shown in Figure 2, a millimeter wave radar is deployed inside the vehicle, and the millimeter wave radar is turned on through the CDC to emit radar signals to detect based on the radar signals. Whether there are moving objects in the car environment and the surrounding environment outside the car. Since the above-mentioned equipment needs to be turned on all the time when monitoring the environment inside and outside the vehicle, it will produce large power consumption (or power consumption), resulting in the failure of the entire vehicle (or the entire vehicle). Power consumption increases, thereby reducing the vehicle's battery life.
  • An environmental monitoring network can be formed through vehicle-mounted devices with Wi-Fi modules in the vehicle.
  • the vehicle-mounted device determines whether there are moving objects in the vehicle environment based on the CSI of the Wi-Fi channel. That is, the vehicle-mounted device can monitor the Wi-Fi between vehicle-mounted devices.
  • the channel status of the channel is used to monitor the environment in which the vehicle is located. This monitoring method produces lower power consumption, which can reduce the power consumption of the entire vehicle and improve the battery life of the vehicle.
  • the vehicle environment monitoring method provided by the embodiment of the present application can be applied to the vehicle as shown in Figure 3.
  • the vehicle includes a vehicle environment monitoring system.
  • the vehicle environment monitoring system may include a first vehicle-mounted device and a second vehicle-mounted device.
  • the first vehicle-mounted device and the second vehicle-mounted device interactively execute the vehicle environment monitoring method described in this application to achieve monitoring of the location of the vehicle. Monitoring of environmental conditions.
  • Both the first vehicle-mounted device and the second vehicle-mounted device are provided with Wi-Fi modules.
  • the first vehicle-mounted device and the second vehicle-mounted device may communicate through Wi-Fi.
  • the vehicle shown in Figure 3 may also include other components, such as at least one image acquisition device.
  • image acquisition devices described in the embodiments of the present application may include but are not limited to cameras, radars, etc.
  • the first vehicle-mounted device and the second vehicle-mounted device may follow a wireless transmission protocol and transmit information through a wireless connection transceiver.
  • the wireless transmission protocol may include but is not limited to a Bluetooth (BT) transmission protocol or a Wi-Fi transmission protocol.
  • the Wi-Fi transmission protocol may be a Wi-Fi P2P transmission protocol.
  • the wireless connection transceiver includes but is not limited to Bluetooth, Wi-Fi and other transceivers. Through wireless pairing, information transmission between the first vehicle-mounted device and the second vehicle-mounted device is realized.
  • a wired communication connection may be established between the first vehicle-mounted device and the second device.
  • the first vehicle-mounted device and the second vehicle-mounted device are connected through a video graphics array (VGA), a digital visual interface (DVI), a high definition multimedia interface (HDMI) or Data transmission lines, etc. establish wired communication connections.
  • Information transmission is realized through the established wired communication connection between the first vehicle-mounted device and the second vehicle-mounted device.
  • VGA video graphics array
  • DVI digital visual interface
  • HDMI high definition multimedia interface
  • Data transmission lines etc. establish wired communication connections.
  • Information transmission is realized through the established wired communication connection between the first vehicle-mounted device and the second vehicle-mounted device.
  • This application does not limit the specific connection method between the first vehicle-mounted device and the second vehicle-mounted device.
  • the first vehicle-mounted device and the second vehicle-mounted device may include but are not limited to CDC in the vehicle, a vehicle-mounted box (telematics box, T-Box), etc.
  • the first vehicle-mounted device and the second vehicle-mounted device may also be other types or structures of vehicle-mounted devices in the vehicle, which are not limited by this application.
  • FIG. 4 is a schematic diagram of the hardware structure of a vehicle-mounted system according to an embodiment of the present application; as shown in FIG. 4 , the vehicle 11 includes a vehicle-mounted system 10 , and the vehicle-mounted system 10 may include, for example, FIG. 4 shows that the vehicle-mounted system 10 includes Components, as shown in Figure 4, the vehicle system 10 may include a vehicle communication box (telematics box, T-Box) 101, a gateway (also called a vehicle gateway) 102, an on-board diagnostic (on-board diagnostics, OBD) 103, multiple An electronic control unit (ECU) 104, an in-vehicle infotainment (IVI) system 105, an intrusion detection system (IDS) 106, etc.
  • T-Box vehicle communication box
  • a gateway also called a vehicle gateway
  • OBD on-board diagnostics
  • ECU electronice control unit
  • IVI in-vehicle infotainment
  • IDS intrusion detection system
  • ECU104 can be a control unit with different functions.
  • ECU104 can be a cockpit domain controller (CDC), an inertial measurement unit (IMU), a mobile data center (mobile data center, MDC), or a vehicle control unit.
  • CDC cockpit domain controller
  • IMU inertial measurement unit
  • MDC mobile data center
  • VCU vehicle control unit
  • the first vehicle-mounted device may be the ECU (for example, CDC) in FIG. 4
  • the second vehicle-mounted device may be a T-Box.
  • the first vehicle-mounted device may be a T-Box
  • the second vehicle-mounted device may be an ECU (for example, VCU), etc., which is not limited by this application.
  • T-Box 101 may have the ability to communicate with external devices of vehicle 11 and internal devices of vehicle 11. Among them, the external equipment of the vehicle 11 can be described as equipment external to the vehicle 11 .
  • the T-Box 101 when the T-Box 101 is the first vehicle-mounted device in the aforementioned embodiment, the T-Box 101 can establish a Wi-Fi connection with the second vehicle-mounted device through the Wi-Fi module and receive the data sent by the second vehicle-mounted device. Wi-Fi detection signal. T-Box 101 based on The Wi-Fi detection signal determines the CSI of the Wi-Fi channel between the first vehicle-mounted device and the second vehicle-mounted device, and determines the environmental conditions of the environment where the vehicle is located based on the CSI, so as to monitor the vehicle environment.
  • T-Box 101 when T-Box 101 is the second vehicle-mounted device in the aforementioned embodiment, T-Box 101 can establish a Wi-Fi connection with the first vehicle-mounted device through the Wi-Fi module and send the Wi-Fi connection to the first vehicle-mounted device. Fi detection signal.
  • the gateway 102 is a core component of the vehicle 11, and the gateway 102 can route message data on the CAN bus in different networks.
  • OBD 103 can have the ability to monitor the operating status of the vehicle and generate a fault code when there is a problem with the vehicle.
  • the ECU 104 may be a microcomputer controller of the vehicle 11 and may have the ability to perform preset control functions. For example, it may be used to control engine operation, protect vehicle safety, etc.
  • the CDC may be the first vehicle-mounted device in the aforementioned embodiment.
  • the CDC may establish a Wi-Fi connection with the second vehicle-mounted device through the Wi-Fi module and receive the Wi-Fi signal sent by the second vehicle-mounted device. -Fi detection signal.
  • the CDC determines the CSI of the Wi-Fi channel between the first vehicle-mounted device and the second vehicle-mounted device based on the Wi-Fi detection signal, and determines the environmental conditions of the environment where the vehicle is located based on the CSI, so as to monitor the vehicle environment.
  • the CDC can also be the second vehicle-mounted device in the previous embodiment.
  • the CDC can establish a Wi-Fi connection with the first vehicle-mounted device through the Wi-Fi module and send the Wi-Fi connection to the first vehicle-mounted device. -Fi detection signal.
  • the IMU can be used to perform inertial measurement detection on the vehicle, obtain the IMU data of the vehicle, and send the IMU data to the first vehicle-mounted device.
  • the first vehicle-mounted device receives the IMU data and further determines whether there are moving objects in the environment where the vehicle is located based on the IMU data.
  • IVI system 105 may be the infotainment system of vehicle 11 .
  • the MDC may be an intelligent on-board computing platform of the vehicle 11 .
  • IDS106 can have the ability to diagnose vehicle faults, such as detecting whether there are abnormalities in the message data transmitted on the CAN bus. IDS106 can be deployed in in-vehicle components, such as in T-box 101, gateway 102, MDC, CDC or VCU.
  • the architecture of the vehicle-mounted system 10 shown in FIG. 4 is used as an example and is not used to limit the technical solution of the present application.
  • the vehicle-mounted system 10 may also include other devices, and the number of gateways and ECUs may also be determined according to specific needs.
  • each component in Figure 4 in the embodiment of this application may be a physical device, or may be a physical device or a device within the device.
  • the functional module can be either an element in a hardware device, a software function running on dedicated hardware, or a virtualization function instantiated on a platform (eg, cloud platform).
  • FIG. 3 and FIG. 4 are only exemplary drawings, and the embodiment of the present application does not limit the components and the number of components included in the vehicle shown in FIG. 3 and FIG. 4 .
  • Figures 3 and 4 may also include other components.
  • the names of the various components in Figures 3 and 4 are not limited.
  • each device can also be named with other names, such as replacing it with a name that has the same or similar functions. There is no restriction.
  • FIG. 3 the first vehicle-mounted device and the second vehicle-mounted device are arranged in the vehicle, and the first vehicle-mounted device and the second vehicle-mounted device are connected through Wi-Fi.
  • Figure 5 is a schematic flowchart 1 of a vehicle environment monitoring method according to an embodiment of the present application. As shown in Figure 5, the method may include the following steps S101-S107.
  • S101-S103 is the process of establishing a Wi-Fi connection between the first vehicle-mounted device and the second vehicle-mounted device, and is an optional step.
  • S101-S103 can be executed first, and the first vehicle-mounted device and the second vehicle-mounted device are connected. The second vehicle-mounted device establishes a Wi-Fi connection and then executes S104-S106.
  • the first vehicle-mounted device and the second vehicle-mounted device can automatically establish a Wi-Fi connection without executing S101-S103.
  • the first vehicle-mounted device responds to the startup instruction sent by the user, turns on the wireless AP mode, and sends the configuration instruction to the second vehicle-mounted device.
  • the start instruction is an instruction sent by the user to the first vehicle-mounted device, which is used to instruct the first vehicle-mounted device to start monitoring the vehicle environment.
  • the user can operate through the CDC.
  • the CDC display interface manually select the option to turn on vehicle environment monitoring to input the startup command to the CDC.
  • the user can also establish a communication connection with the CDC through user equipment (user equipment). , UE) to operate, manually select the option to turn on vehicle environment monitoring, and send a startup command to CDC.
  • the first vehicle-mounted device responds to the start command sent by the user and starts monitoring the vehicle environment.
  • the activation finger The command includes configuration information of the first vehicle-mounted device, where the configuration information is used to instruct the first vehicle-mounted device to configure its Wi-Fi mode.
  • the first vehicle-mounted device first configures its Wi-Fi mode to enable Wi-Fi to open AP mode and provide wireless access services to allow the second vehicle-mounted device and other devices to access, establish a Wi-Fi connection, and conduct data Interaction.
  • the first vehicle-mounted device sends a configuration instruction to the second vehicle-mounted device.
  • the configuration instruction is used to instruct the second vehicle-mounted device to configure its Wi-Fi mode so that Wi-Fi turns on the STA mode.
  • the AP mode described in this application may mean that the wireless device provides wireless access services in this mode, and other wireless devices can access the device and provide data access.
  • the STA mode may mean that the wireless device does not provide wireless access services in this mode, but can access the wireless device that turns on the AP mode and perform data access.
  • the first vehicle-mounted device may send configuration instructions to the second vehicle-mounted device through the vehicle Ethernet communication network.
  • the first vehicle-mounted device can also send configuration instructions to the second vehicle-mounted device through a universal serial bus (USB) data transmission line.
  • USB universal serial bus
  • the second vehicle-mounted device receives the configuration instruction, responds to the configuration instruction, turns on the STA mode, and sends a connection request to the first vehicle-mounted device.
  • the second vehicle-mounted device receives the configuration instruction sent by the first vehicle-mounted device and responds to the configuration instruction. First, the second vehicle-mounted device configures its Wi-Fi mode according to the configuration instruction, so that the Wi-Fi turns on the STA mode, so that the second vehicle-mounted device can access the first vehicle-mounted device and establish a Wi-Fi connection. Then, the second vehicle-mounted device sends a connection request to the first vehicle-mounted device, where the connection request is used to request the first vehicle-mounted device to establish a Wi-Fi connection therewith.
  • the first vehicle-mounted device receives the connection request, and the first vehicle-mounted device establishes a Wi-Fi connection with the second vehicle-mounted device according to the connection request.
  • the process of establishing a Wi-Fi connection between the first vehicle-mounted device and the second vehicle-mounted device according to the connection request mainly includes identity authentication and association.
  • the connection request sent by the second vehicle-mounted device includes the identity authentication information and association request information of the second vehicle-mounted device.
  • the first vehicle-mounted device After passing the identity authentication, the first vehicle-mounted device returns association response information to the second vehicle-mounted device according to the association request.
  • the process of the second vehicle-mounted device accessing the first vehicle-mounted device is completed, the first vehicle-mounted device and the second vehicle-mounted device have established a Wi-Fi connection, and the second vehicle-mounted device can start transmitting Wi-Fi detection signals to the first vehicle-mounted device.
  • the second vehicle-mounted device sends a Wi-Fi detection signal to the first vehicle-mounted device.
  • the first vehicle-mounted device may send a ping packet to the second vehicle-mounted device through a ping command.
  • the second vehicle-mounted device replies to the ping packet and sends a Wi-Fi detection signal to the first vehicle-mounted device through the Wi-Fi channel.
  • the second vehicle-mounted device periodically sends a Wi-Fi detection signal to the first vehicle-mounted device at a certain monitoring frequency.
  • the second vehicle-mounted device sends a Wi-Fi detection signal to the first vehicle-mounted device every one second.
  • the monitoring frequency can be a preset fixed value, or can be set by the user according to actual needs.
  • the higher the monitoring frequency the shorter the interval between the second vehicle-mounted device sending Wi-Fi detection signals, which can detect changes in the vehicle environment in a timely manner and improve the accuracy of the vehicle environment monitoring results.
  • the lower the monitoring frequency the fewer times the second vehicle-mounted device sends Wi-Fi detection signals per unit time, and the lower the power consumption generated by the second vehicle-mounted device, which can further reduce the power consumption of the entire vehicle. Therefore, the monitoring frequency can be set by the user based on the accuracy of vehicle environment monitoring results and vehicle power consumption.
  • the first vehicle-mounted device receives the Wi-Fi detection signal, and determines the CSI of the Wi-Fi channel between the first vehicle-mounted device and the second vehicle-mounted device based on the received Wi-Fi detection signal.
  • the CSI is used to characterize Wi-Fi.
  • the channel status of the channel is used to characterize Wi-Fi.
  • the first vehicle-mounted device obtains CSI based on the Wi-Fi detection signal.
  • the first vehicle-mounted device can read the CSI through an interface provided by the firmware of the Wi-Fi chip.
  • CSI can be used to characterize the channel status of the Wi-Fi channel between the first vehicle-mounted device and the second vehicle-mounted device, so as to further determine the environmental conditions of the environment in which the vehicle is located.
  • CSI is a fine-grained signal that is sensitive to the transmission environment of the channel. Therefore, the first vehicle-mounted device can determine the transmission environment of the Wi-Fi channel based on the CSI, and then determine the environment of the vehicle based on the transmission environment of the Wi-Fi channel. environmental conditions. Moreover, since CSI is physical layer information, the first vehicle-mounted device can determine the CSI by obtaining the physical layer information of the Wi-Fi detection signal. Therefore, the second vehicle-mounted device does not need to carry a large amount of data when sending the Wi-Fi detection signal, which reduces the power consumption of the second vehicle-mounted device for sending the Wi-Fi detection signal, thereby reducing the power consumption of the entire vehicle.
  • the first vehicle-mounted device determines the environmental conditions of the environment where the vehicle is located based on the CSI.
  • the first vehicle-mounted device may determine the environmental conditions of the environment where the vehicle is located based on the CSI.
  • vehicles The environment can include the environment inside the vehicle and the environment outside the vehicle.
  • the environmental condition refers to whether there are moving objects in the environment where the vehicle is located.
  • the moving objects that can be monitored by the vehicle environment monitoring method provided by the embodiments of the present application include but are not limited to: moving people, moving pets, moving vehicles and breathing living bodies. wait.
  • the specific method for the first vehicle-mounted device to determine the environmental conditions of the environment where the vehicle is located based on the CSI includes: if the channel state of the Wi-Fi channel changes within a continuous period of time based on the CSI, determine that there is a change in the environment where the vehicle is located. Moving objects; if it is determined based on the CSI that the channel status of the Wi-Fi channel has not changed within a continuous period of time, it is determined that there are no moving objects in the environment where the vehicle is located.
  • the position of the second vehicle-mounted device relative to the first vehicle-mounted device is fixed, there are no moving objects in the environment where the vehicle is located, and the environment around the vehicle is stable. In this case, the channel status of the Wi-Fi channel received by the first vehicle-mounted device will not change. On the contrary, when there are moving objects in the environment of the vehicle and the environment around the vehicle fluctuates, the Wi-Fi channel will be interfered with. Therefore, the channel state of the Wi-Fi channel received by the first vehicle-mounted device changes.
  • Figure 6 is a schematic diagram of the vehicle environment monitored by a vehicle-mounted device according to an embodiment of the present application.
  • the second vehicle-mounted device sends out a signal each time in a continuous period of time.
  • the Wi-Fi detection signals will be transmitted to the first vehicle-mounted device after being reflected by fixed objects (for example, walls).
  • the propagation path of the Wi-Fi detection signal will not change. Therefore, the channel status of the Wi-Fi channel received by the first vehicle-mounted device will not change.
  • Figure 7 is a second schematic diagram of a vehicle-mounted device monitoring the vehicle environment according to an embodiment of the present application.
  • the second vehicle-mounted device will Each time a Wi-Fi detection signal is sent out within a continuous period, it is transmitted to the first vehicle-mounted device after being reflected by a moving object (the moving object is in a different position each time). Affected by the reflection of Wi-Fi detection signals from different positions of moving objects, the propagation path of the Wi-Fi detection signals will change, the Wi-Fi channel will be interfered, and the channel status of the Wi-Fi channel received by the first vehicle-mounted device will change. Variety. Therefore, the first vehicle-mounted device determines whether the channel state of the Wi-Fi channel changes within a continuous period of time based on the CSI, and can determine whether there are moving objects in the environment where the vehicle is located.
  • the specific method for the first vehicle-mounted device to determine based on the CSI that the channel status of the Wi-Fi channel changes within a continuous period of time includes: if the CSI of the Wi-Fi channel within a continuous period of time is different, the first vehicle-mounted device determines that the channel status of the Wi-Fi channel changes during the continuous time period. The channel status of the Wi-Fi channel changes; if the CSI of the Wi-Fi channel within the continuous time is the same, the first vehicle-mounted device determines that the channel status of the Wi-Fi channel does not change within the continuous time.
  • CSI is the channel status information of the Wi-Fi detection signal. The first vehicle-mounted device can determine whether the channel status of the Wi-Fi channel has changed based on the CSI.
  • the CSI includes: at least one of amplitude information and phase information of the Wi-Fi detection signal; the two CSIs include at least one of the amplitude information and phase information of the Wi-Fi detection signal included in the two CSIs. Different; the two CSIs are the same, including the amplitude information and phase information of the Wi-Fi detection signals included in the two CSIs are the same.
  • CSI includes amplitude information and phase information of each subcarrier in the Wi-Fi detection signal. If the amplitude information and phase information of each subcarrier in the two CSIs are the same, then the two CSIs are the same, which means that the channel status of the Wi-Fi channel has not changed during the time period of the two CSIs, and there is no change in the environment where the vehicle is located. There are moving objects. If the amplitude information or phase information of a subcarrier in the two CSIs is different, then the two CSIs are different, which means that the channel status of the Wi-Fi channel has changed within the time period of the two CSIs, and the environment in which the vehicle is located has changed. Moving objects.
  • the method may also include:
  • the first vehicle-mounted device After determining that there is a moving object in the environment where the vehicle is located, the first vehicle-mounted device sends a notification message.
  • the first vehicle-mounted device determines that there are moving objects in the environment where the vehicle is located, it will send a notification message to remind the outside world that there are moving objects in the environment where the vehicle is located.
  • the first vehicle-mounted device determines that there is a moving object in the environment where the vehicle is located, and further determines that the moving object is in contact with the vehicle, it will alert the outside world that there is a risk of damage to the vehicle or a child left in the vehicle.
  • the first vehicle-mounted device is a CDC and the second vehicle-mounted device is a T-Box.
  • the CDC determines that there are moving objects in the environment where the vehicle is located, it sends a notification command to the T-Box.
  • the T-Box may send a notification message to the car owner's user equipment 20 through the cellular network.
  • Figure 8 is a schematic diagram of a user equipment displaying a notification message according to an embodiment of the present application. As shown in Figure 8, the user equipment 20 can display the notification message through the window 201.
  • the content of the notification message can be It can include "A moving object was found in your car, please confirm whether it needs to be processed?", and the processing options "required” and "no need” can be provided.
  • the car owner can be reminded that there are moving objects in the environment where the vehicle is located, risks such as the vehicle may be damaged or children left in the car, so that the car owner can deal with it in a timely manner.
  • alarm devices may include but are not limited to double flashing alarm lights, alarms, etc.
  • the alarm device that triggers the vehicle may include, but is not limited to, turning on double flashing warning lights, turning on the siren and making an alarm sound, etc. to remind people around the vehicle (such as the owner of the vehicle who left) that the vehicle may have been hit, stolen, or something was left inside the vehicle. There is a risk of children or pets being left behind.
  • the first vehicle-mounted device In order to prevent the first vehicle-mounted device from misjudging the environmental conditions of the vehicle's environment based on the CSI of the Wi-Fi detection signal, in S107, after determining that there are moving objects in the vehicle's environment, the first vehicle-mounted device reminds the outside world of the location of the vehicle. Before receiving the notification message that there are moving objects in the environment, the video information of the environment where the vehicle is located can also be obtained, and image recognition technology can be used to further determine whether there are moving objects in the environment where the vehicle is located, so as to improve the accuracy of the results of the vehicle environment monitoring method. Specifically, this process may refer to S201-S203 in Figure 9.
  • FIG. 9 is a schematic flowchart 2 of the vehicle environment monitoring method according to the embodiment of the present application. As shown in Figure 9, the method can be implemented through the following steps S201-S203:
  • the first vehicle-mounted device acquires video information, which includes video information of the environment where the vehicle is located.
  • the first vehicle-mounted device determines that there are moving objects in the environment where the vehicle is located, it obtains video information and further determines whether there are moving objects in the environment where the vehicle is located based on the video information to prevent the first vehicle-mounted device from misjudgment.
  • the video information includes video information about the environment inside the vehicle and/or video information about the environment outside the vehicle. The specific content of the video information can be determined according to the actual application scenario.
  • video information is collected by the image collection device and sent to the first vehicle-mounted device.
  • a total of four image acquisition devices are installed on the vehicle, and the four image acquisition devices are respectively installed at the front, rear, left, and right positions of the vehicle.
  • the image acquisition device is connected to the first vehicle-mounted device. This application does not specifically limit the number and location of image collection decorations.
  • the image collection device can collect video information of the environment inside and outside the vehicle.
  • the initial state of the image acquisition device is set to a sleep state.
  • the startup instruction also includes instruction information for causing the image acquisition device to enter a sleep state.
  • Figure 10 is a flowchart three of the vehicle environment monitoring method shown in the embodiment of the present application. As shown in Figure 10, the first vehicle-mounted device responds to the start command and sends a first sleep command to the image acquisition device. The image acquisition device responds to the first sleep command and turns on the sleep state, that is, the image acquisition device stops collecting video information and enters a low power consumption state. In this way, the power consumption of the entire vehicle can be further reduced.
  • the first vehicle-mounted device before the first vehicle-mounted device acquires video information, the first vehicle-mounted device sends a collection instruction to the image acquisition device to wake up the image acquisition device in a dormant state.
  • the image acquisition device collects video information in response to the acquisition instruction and sends the video information to the first vehicle-mounted device. In this way, the image acquisition device only starts to collect video information after receiving the acquisition instruction. There is no need to maintain the acquisition state all the time, which can reduce the power consumption of the image acquisition device and further reduce the power consumption of the entire vehicle.
  • the first vehicle-mounted device determines whether there are moving objects in the environment where the vehicle is located based on the video information.
  • the first vehicle-mounted device can detect moving objects in the video information through image recognition technology to determine whether there are moving objects in the video information.
  • Examples of moving object detection methods include: inter-frame difference method, optical flow method, background modeling method, neural network method, etc.
  • the inter-frame difference method uses the differences between several images that are close in time in the video to detect moving targets.
  • the optical flow method uses the movement of multiple points in the video between different frames to detect moving targets.
  • the background modeling method establishes a background model in the video and then uses the difference between the current image frame and the background model to separate moving targets.
  • the neural network method uses multiple images of the object to be recognized to train the neural network, and then uses the trained neural network to separate the target objects in the image. This application does not specifically limit the method by which the first vehicle-mounted device detects moving objects on video information.
  • the first vehicle-mounted device can also perform face recognition on the video information in combination with face recognition technology, and extract the video Character information appearing in the message. In this way, the accuracy of vehicle environment monitoring results can be further improved.
  • the first vehicle-mounted device determines again that there are moving objects in the environment where the vehicle is located based on the video information, it sends a communication Notify the outside world that there are moving objects in the environment where the vehicle is located.
  • the vehicle may be hit by moving objects, stolen, or have children or pets left in the vehicle.
  • the first vehicle-mounted device determines that there are no moving objects in the environment where the vehicle is located based on the video information, it means that the first vehicle-mounted device misjudges the environmental conditions of the environment where the vehicle is located based on the CSI of the Wi-Fi detection signal. , the first vehicle-mounted device does not need to send a notification message.
  • the first vehicle-mounted device before the first vehicle-mounted device obtains video information, in order to reduce the power consumption of the entire vehicle.
  • the first vehicle-mounted device may also: first, determine the location information of the moving object based on the CSI, and then determine whether the moving object is within a preset range based on the location information, that is, whether the moving object is located inside the vehicle or is close to the vehicle outside the vehicle. The potential for danger caused by the vehicle. Finally, if the moving object is within the preset range, the video information of the environment where the vehicle is located is obtained to further determine whether there are indeed moving objects in the environment where the vehicle is located.
  • the moving object is not within the preset range, it means that the moving object has no possibility of causing danger to the vehicle, and there is no need to obtain video information of the environment where the vehicle is located. In this way, it can not only reduce the power consumption of the entire vehicle, but also improve the accuracy of vehicle environment monitoring results.
  • users can monitor the environment inside the vehicle, or monitor both the environment inside and outside the vehicle.
  • the range of vehicle environment monitoring ie, the vehicle interior environment, or the vehicle interior environment and the vehicle exterior environment
  • the preset range is the projection range of the vehicle on the horizontal plane
  • the environment inside the vehicle is monitored.
  • the preset range is larger than the projection range of the vehicle on the horizontal plane, both the environment inside and outside the vehicle will be monitored. The following describes the process of monitoring the environment inside the vehicle with reference to FIG. 11 , and the process of monitoring both the environment inside the vehicle and the environment outside the vehicle with reference to FIG. 12 .
  • FIG 11 is a schematic flowchart 4 of a vehicle environment monitoring method according to an embodiment of the present application. As shown in Figure 11, in some embodiments, taking monitoring of the vehicle environment as an example, in step S201, the first vehicle-mounted device acquires video Before sending the information, the following steps S301-S303 are also included:
  • the first vehicle-mounted device determines the location information of the moving object based on the CSI.
  • the first vehicle-mounted device can determine the position information of the moving object based on the amplitude information and phase information in the CSI.
  • the location information of the moving object includes but is not limited to: the distance and angle of the moving object from the first vehicle-mounted device, the distances of the moving object from the first vehicle-mounted device and the second vehicle-mounted device respectively, or the horizontal and vertical coordinate values of the moving object in the vehicle coordinate system. .
  • the method for the first vehicle-mounted device to determine the position information of an object based on amplitude information and phase information includes: first, selecting an area of the vehicle to be positioned and constructing a plane coordinate system, selecting multiple reference points in the area to be positioned, each reference point Points have horizontal and vertical coordinate values in the plane coordinate system. Then, for each reference point, collect the CSI data corresponding to the reference point and perform filtering and main component analysis on the CSI data to obtain the amplitude information and phase information of each subcarrier at the reference point. The amplitude information of each subcarrier at the reference point is then and phase information as the position fingerprint of the reference point, and a position fingerprint database is constructed based on the position fingerprints of multiple reference points.
  • the first vehicle-mounted device uses the K-nearest neighbor algorithm (k-nearest neighbor, KNN) based on the amplitude information and phase information in the received Wi-Fi detection signal CSI, based on the fingerprint database and the horizontal and vertical coordinate values of each reference point. Calculate the horizontal and vertical coordinate values of the moving object.
  • KNN K-nearest neighbor algorithm
  • the first vehicle-mounted device determines whether the moving object is located within a first preset range based on the location information.
  • the first preset range is the projection range of the vehicle on the horizontal plane.
  • the first vehicle-mounted device may determine whether the moving object is located within the first preset range based on the position information (for example, the horizontal and vertical coordinate values) of the moving object determined in step S301.
  • the first preset range is used to determine whether the moving object is located in the vehicle interior environment.
  • the first preset range is the projection range of the vehicle on the horizontal plane, that is, the first preset range covers the entire vehicle on the horizontal plane. projection.
  • the first preset range can be calibrated and set by the vehicle manufacturer, and the first preset range is fixed.
  • the first vehicle-mounted device obtains video information, and the video information is the vehicle's interior environment video information.
  • the first vehicle-mounted device determines that the moving object is located within the first preset range based on the location information, it indicates that there may be a moving object in the vehicle environment.
  • the first vehicle-mounted device triggers the acquisition of video information.
  • image recognition technology is used to further determine whether there are moving objects in the environment where the vehicle is located.
  • the video information is the vehicle interior environment video information. Since the first vehicle-mounted device determines whether there are moving objects in the vehicle interior environment, it is sufficient to obtain video information of the vehicle interior environment.
  • the video information is captured by an image capture device within the vehicle.
  • the image acquisition device only needs to collect video information of the environment inside the vehicle, and there is no need to collect video information of the environment outside the vehicle. In this way, the power consumption generated by the image acquisition device can be reduced, further reducing the power consumption of the entire vehicle.
  • FIG 12 is a schematic flowchart 5 of a vehicle environment monitoring method according to an embodiment of the present application. As shown in Figure 12, in some embodiments, taking the monitoring of the vehicle interior environment and the vehicle exterior environment as an example, in step S201, first Before the vehicle-mounted device obtains video information, the following steps S401-S403 are also included:
  • the first vehicle-mounted device determines the location information of the moving object based on the CSI.
  • the method by which the first vehicle-mounted device determines the location information of the moving object based on the CSI may be the same as the method described in step S301 above, and will not be described again here.
  • the first vehicle-mounted device determines whether the moving object is located within a second preset range based on the location information.
  • the second preset range is greater than the projection range of the vehicle on the horizontal plane;
  • the first vehicle-mounted device may determine whether the moving object is located within the second preset range based on the position information of the moving object determined in step S401.
  • the second preset range is used to determine whether the moving object is located in the car environment or the outside environment.
  • the second preset range is greater than the projection range of the vehicle on the horizontal plane, that is, the second preset range exceeds the entire The projection of the vehicle on the horizontal plane.
  • the projection of the vehicle in the second preset range on the horizontal plane extends to a range of 3 meters.
  • the second preset range may be calibrated and set by the vehicle manufacturer.
  • the first vehicle-mounted device obtains video information.
  • the video information is the vehicle's interior environment video information and the vehicle's exterior environment video information.
  • the first vehicle-mounted device determines that the moving object is located within the second preset range based on the location information, it means that there may be a moving object in the vehicle interior environment or the exterior vehicle environment.
  • the first vehicle-mounted device obtains video information, and based on the video information, uses image recognition technology to further determine whether there are moving objects in the environment where the vehicle is located.
  • the video information is the vehicle's interior environment video information and the vehicle's exterior environment video information.
  • the first vehicle-mounted device can determine the general area of the moving object and photograph the area, and then realize the monitoring of the environment inside and outside the vehicle through the real images obtained. Not only can the monitoring efficiency be improved through the recognition of real images, accuracy, and only obtains video information within a preset area, further reducing power consumption.
  • the above-mentioned preset range for determining the position of moving objects can also be set by the user.
  • users can increase the preset range to make the vehicle environment monitoring range larger, thereby improving vehicle safety.
  • the moving objects in the environment where the vehicle is located are passing vehicles.
  • the passing vehicles do not come into contact with the vehicle, and there is no risk of causing damage to the vehicle such as impact. Therefore, in order to prevent the first vehicle-mounted device from misjudging the environmental conditions of the environment in which the vehicle is located based on the CSI of the Wi-Fi detection signal, before the first vehicle-mounted device sends the notification message, the vehicle's inertial measurement unit IMU data can also be obtained. It is further determined whether there are moving objects in the environment where the vehicle is located, and whether the moving objects are in contact with the vehicle, that is, whether there is a risk of causing damage to the vehicle, so as to further improve the accuracy of the results of the vehicle environment monitoring method.
  • Figure 13 is a schematic flowchart 6 of the vehicle environment monitoring method according to the embodiment of the present application; as shown in Figure 13, the method can be implemented through the following steps S501-S503:
  • the first vehicle-mounted device obtains the vehicle's inertial measurement unit IMU data.
  • the first vehicle-mounted device can obtain the IMU data of the vehicle through the IMU.
  • IMU data is used to determine whether there is vibration in the vehicle.
  • IMU is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object.
  • an IMU contains three single-axis accelerometers and three single-axis gyroscopes.
  • the accelerometers detect the acceleration signals of the object in three independent axes of the carrier coordinate system
  • the gyroscopes detect the angular velocity signal of the carrier relative to the navigation coordinate system, and measure The angular velocity and acceleration of an object in three-dimensional space are used to calculate the attitude of the object. Therefore, the first vehicle-mounted device can determine whether the attitude of the vehicle (the position and structure of the vehicle) has changed through the IMU data, that is, whether there is vibration in the vehicle.
  • the first vehicle-mounted device determines whether there is vibration in the vehicle based on the IMU data.
  • the first vehicle-mounted device can determine whether there is vibration in the vehicle based on the acquired IMU data. Whether the vehicle vibrates means whether the relative position and structure of the vehicle have changed. For example, the position and structure of the vehicle may change due to an external impact, or the vehicle may be damaged by thieves using external force to destroy the structure of the vehicle.
  • the IMU data includes accelerometer information and gyro information.
  • the accelerometer information and gyro information It can be judged whether there is vibration in the vehicle. For example, if neither the accelerometer information nor the gyroscope information changes within a continuous period of time, it means that there is no vibration in the vehicle. If at least one of the accelerometer information and gyro information changes within a continuous period of time, it indicates that the vehicle is vibrating.
  • the first vehicle-mounted device sends a notification message.
  • the first vehicle-mounted device does not need to send a notification message.
  • the vehicle vibrates it means that there are moving objects in the environment where the vehicle is located, and the moving objects may cause collision or theft to the vehicle.
  • the moving object poses risks of hitting the vehicle, using external force to damage the vehicle structure, and stealing the vehicle.
  • the first vehicle-mounted device should promptly send a notification message to alert outsiders that the vehicle may be at risk.
  • the first vehicle-mounted device may further determine where the vehicle is by obtaining video information of the environment where the vehicle is located and using image recognition technology. Whether there are moving objects in the environment. And obtain the vehicle's inertial measurement unit IMU data to determine whether the moving object is in contact with the vehicle and risks causing damage to the vehicle. This prevents misjudgments in the first vehicle-mounted device and further improves the accuracy of vehicle environment monitoring method results.
  • the specific method can be implemented through the above-mentioned steps S201-S203 and steps S501-S503.
  • the method before sending the notification message, further includes: the first vehicle-mounted device acquiring image information, where the image information includes images of moving objects.
  • the first vehicle-mounted device can directly obtain the image information through the image acquisition device, and the first vehicle-mounted device can also intercept the image information based on the video information.
  • the image information may include images of moving objects in the environment inside the vehicle, images of moving objects in the environment outside the vehicle, or include the environment inside and outside the vehicle. Images of moving objects in the environment.
  • the first vehicle-mounted device sends the acquired image information to the user device, and displays the moving objects in the vehicle environment to the user. This allows the user to intuitively see the moving objects in the environment where the vehicle is located through the user device, so that the user can handle them in a timely manner.
  • the image information includes a baby in the car environment. After receiving the image information through the user device, the user can remotely turn on the vehicle ventilation device and return to the vehicle in time to pick up the baby.
  • the image information includes a thief who is destroying the vehicle and committing theft in the environment outside the vehicle. After receiving the image information through the user device, the user can call the police in time and save the image information as evidence.
  • the first vehicle-mounted device after the first vehicle-mounted device sends the notification message.
  • the first vehicle-mounted device will also continue to obtain the Wi-Fi detection signal sent by the second vehicle-mounted device, and determine the environmental conditions of the environment where the vehicle is located based on the CSI of the Wi-Fi detection signal. If the first vehicle-mounted device determines based on the CSI that the channel state of the Wi-Fi channel has not changed within the continuous period, that is, the moving objects in the environment where the vehicle is located have moved away from the vehicle, and there are no moving objects in the environment where the vehicle is located. The first vehicle-mounted device no longer needs to acquire video information. Therefore, the image acquisition device does not need to continue to acquire video information.
  • the first vehicle-mounted device sends a second sleep instruction to the image acquisition device.
  • the image acquisition device responds to the second sleep command, stops collecting video information, turns on the sleep state, and enters a low power consumption state. In this way, the power consumption of the entire vehicle can be further reduced and the battery life of the vehicle can be improved.
  • each node such as the first vehicle-mounted device, the second vehicle-mounted device, etc.
  • each node includes a corresponding hardware structure and/or software module to perform each function.
  • the algorithm steps of each example described in conjunction with the embodiments disclosed herein the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving the hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.
  • Embodiments of the present application can group functional modules of the first vehicle-mounted device, the second vehicle-mounted device, etc. according to the above method examples.
  • each functional module can be grouped corresponding to each function, or two or more functions can be integrated in in a processing module.
  • the above integrated modules can be implemented in the form of hardware or software function modules. It should be noted that the grouping of modules in the embodiment of the present application is schematic and is only a logical function grouping. In actual implementation, there may be other grouping methods.
  • FIG. 14 shows a schematic structural diagram of a vehicle-mounted device 30.
  • the vehicle-mounted device 30 may be a first vehicle-mounted device, a chip in the first vehicle-mounted device, or a system on a chip.
  • the vehicle-mounted device 30 can be used To perform the functions of the first vehicle-mounted device involved in the above embodiment.
  • the vehicle-mounted device 30 includes: a receiving unit 301 and a processing unit 302 .
  • the receiving unit 301 is used to receive the Wi-Fi detection signal from the second vehicle-mounted device.
  • the processing unit 302 is configured to determine the channel state information CSI of the Wi-Fi channel between the first vehicle-mounted device and the second vehicle-mounted device according to the Wi-Fi detection signal; wherein the CSI is used to characterize the channel state of the Wi-Fi channel; according to the CSI Determine the environmental conditions of the environment in which the vehicle is located.
  • the electronic device 40 may include one or more processors 401, memories 402, and communication interfaces 403.
  • the memory 402, the communication interface 403 and the processor 401 are coupled.
  • memory 402, communication interface 403, and processor 401 may be coupled together by bus 404.
  • the communication interface 403 is used for data transmission with other devices.
  • Computer program code is stored in memory 402.
  • the computer program code includes computer instructions.
  • the electronic device causes the electronic device to execute the vehicle environment monitoring method in the embodiment of the present application.
  • the processor 401 may be a processor or a controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (Application-Specific Integrated Circuit). integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute the various illustrative logical blocks, modules and circuits described in connection with this disclosure.
  • the processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.
  • the bus 404 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc.
  • PCI peripheral component interconnect
  • EISA extended industry standard architecture
  • the above-mentioned bus 404 can be divided into an address bus, a data bus, a control bus, etc. For ease of presentation, only one thick line is used in Figure 14, but it does not mean that there is only one bus or one type of bus.
  • Embodiments of the present application also provide a vehicle environment monitoring system, which includes a first vehicle-mounted device and a second vehicle-mounted device.
  • the first vehicle-mounted device is connected to the second vehicle-mounted device through wireless fidelity Wi-Fi.
  • the first vehicle-mounted device is connected to the second vehicle-mounted device.
  • the device is installed in the vehicle.
  • the second vehicle-mounted device sends a Wi-Fi detection signal to the first vehicle-mounted device.
  • the first vehicle-mounted device receives the Wi-Fi detection signal sent by the second vehicle-mounted device, determines the CSI based on the Wi-Fi detection signal, and determines the environment of the vehicle based on the CSI. environmental conditions. There is no need to install other monitoring devices in the vehicle, which reduces the cost of the vehicle.
  • CSI is physical layer information.
  • the first vehicle-mounted device obtains the physical layer information of the Wi-Fi detection signal to determine the CSI. In this way, the power consumption generated by the first vehicle-mounted device and the second vehicle-mounted device during the vehicle environment monitoring operation is lower, thereby reducing the power consumption of the entire vehicle and improving the vehicle's endurance.
  • An embodiment of the present application also provides a vehicle, which includes the electronic device or the vehicle environment monitoring system provided in the above embodiments.
  • the vehicle can implement the vehicle environment monitoring method in the embodiment of the present application through electronic equipment or a vehicle environment monitoring system.
  • Embodiments of the present application also provide a computer-readable storage medium.
  • Computer program code is stored in the computer storage medium.
  • the electronic device executes the relevant aspects of the vehicle environment monitoring method in the above-mentioned method embodiment. step.
  • An embodiment of the present application also provides a computer program product.
  • the computer program product When the computer program product is run on a computer, it causes the computer to execute the relevant steps of the vehicle environment monitoring method in the above method embodiment.
  • the electronic equipment, vehicles, computer storage media or computer program products provided by this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the corresponding methods provided above. The beneficial effects will not be repeated here.
  • the disclosed devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of modules or units is only a logical function division.
  • there may be other division methods for example, multiple units or components may be The combination can either be integrated into another device, or some features can be omitted, or not implemented.
  • Another point, the mutual coupling shown or discussed Or the direct coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of the device or unit, which can be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed to multiple different places. . Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a readable storage medium.
  • the software product is stored in a storage medium and includes several Instructions are used to cause a device (which may be a microcontroller, a chip, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program code.

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Abstract

本申请提供一种车辆环境监测方法及电子设备，涉及终端技术领域。该方法包括：第一车载装置接收来自第二车载装置的Wi-Fi探测信号；根据Wi-Fi探测信号，确定第一车载装置与第二车载装置之间的Wi-Fi信道的信道状态信息CSI；其中CSI用于表征Wi-Fi信道的信道状态；根据CSI确定车辆所处环境的环境状况。该方法中，车载装置根据Wi-Fi信道的CSI对车辆环境进行监测，即车载装置可以通过监测车载装置之间的Wi-Fi信道的信道状态来监测车辆所处环境，这种监测方式产生较低的功耗，从而可以降低整车功耗，提高车辆的续航。本申请方案可广泛适用于车联网、智能车等领域。

Description

一种车辆环境监测方法及电子设备
本申请要求于2022年8月2日提交国家知识产权局、申请号为2022109219381、申请名称为“一种车辆环境监测方法及电子设备”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
本申请涉及终端技术领域，尤其涉及一种车辆环境监测方法及电子设备。
背景技术
随着智能网联汽车技术的发展，汽车的功能越来越丰富化。为了避免出现车主在停车离车后车辆被剐蹭和/或离车时不小心将儿童或宠物遗落在车内造成伤害等问题，越来越多的车辆具有“儿童遗落提醒”、“哨兵模式”等功能。“儿童遗落提醒”是基于车辆对车内环境监测，在车主离车并锁车后检查车内是否有儿童或者宠物等活体，在锁车后如果还在车内检测到活体，就会通知车主，以免造成儿童或者宠物在车内窒息等伤害。“哨兵模式”是基于车辆对车外周边环境的监测，当外来物体靠近车辆时会被记录，当车辆遭受破坏时会发出告警声以及通知车主。
在现有的相关技术中，通常通过部署在车辆的摄像头、毫米波雷达、超声波雷达、红外传感器等设备实现对车内环境、车外周围环境的监测，识别车内环境、车外周围环境中的物体，以实现车辆的“儿童遗落提醒”、“哨兵模式”等功能。但是，上述设备在对车内环境、车外周围环境进行监测时一直处于开启状态，会产生较大的功率消耗(或者称为功耗)，导致整个车辆(或者称为整车)功耗增加，从而降低了车辆的续航。
发明内容
本申请实施例提供一种车辆环境监测方法及电子设备，能够通过以Wi-Fi方式连接的车载装置组成环境监测网络，根据Wi-Fi信道的CSI数据判断车辆环境中是否存在移动物体。车载装置在监测环境作业中使用Wi-Fi产生的功耗较低，改善了现有的车辆环境监测技术功耗较高的问题，降低了整车功耗，提高了车辆的续航。
为达到上述目的，本申请的实施例采用如下技术方案：
第一方面提供一种车辆环境监测方法，该方法应用于通过无线保真(wireless-fidelity，Wi-Fi)与第二车载装置连接的第一车载装置，第一车载装置与第二车载装置设置在车辆内，该方法包括：第一车载装置接收来自第二车载装置的Wi-Fi探测信号；根据Wi-Fi探测信号，确定第一车载装置与第二车载装置之间的Wi-Fi信道的信道状态信息(channel state information，CSI)；根据CSI确定车辆所处环境的环境状况。
由第一车载装置和与其通过Wi-Fi连接的第二车载装置组成环境监测网络。第一车载装置接收第二车载装置发送的Wi-Fi探测信号，根据Wi-Fi探测信号确定CSI，根据CSI确定车辆所处环境的环境状况。无需在车辆内设置其他监测装置，降低了车辆的造价成本。并且，CSI为物理层信息，第一车载装置获取Wi-Fi探测信号的物理层信息，即可确定CSI。第二车载装置发送Wi-Fi探测信号无需携带大量数据，降低了第二车载装置发送Wi-Fi探测信号的功耗。这样，第一车载装置和第二车载装置在车辆环境监测作业中产生较低的功耗，从而可以降低整车的功耗，提高车辆的续航。
结合第一方面，在一种可选择的实现方式中，第一车载装置根据CSI确定车辆所处环境的环境状况包括：若连续时间内Wi-Fi信道的CSI不同，则第一车载装置确定车辆所处环境内存在移动物体；若连续时间内Wi-Fi信道的CSI相同，则第一车载装置确定车辆所处环境内未存在移动物体。这种实现方式中，在连续时间内，如果Wi-Fi探测信号在传递的环境中经过移动物体的反射，则Wi-Fi信道的CSI会产生变化。因此，第一车载装置可根据CSI确定连续时间内Wi-Fi信道的信道状态是否发生变化，不仅可以有效地确定车辆所处环境内是否存在移动物体，而且简化了车辆环境监测系统设计，可降
结合第一方面，在一种可选择的实现方式中，CSI包括：Wi-Fi探测信号的振幅信息和相位信 息中至少一项。则两个CSI不同包括两个CSI包括的Wi-Fi探测信号的振幅信息和相位信息中至少一项不同；两个CSI相同包括两个CSI包括的Wi-Fi探测信号的振幅信息和相位信息相同。这种实现方式中，第一车载装置根据CSI中的振幅信息和相位信息判断两个CSI是否相同。如果振幅信息和相位信息均相同，则确定两个CSI相同。否则，确定两个CSI不相同。这样，可以提高判断连续时间内Wi-Fi信道的信道状态是否发生变化结果的准确性。
结合第一方面，在一种可选择的实现方式中，第一车载装置在确定车辆所处环境内存在移动物体之后，所述方法还包括：发送通知消息。这种实现方式中，第一车载装置发送通知消息，可以向外界提醒该车辆所处环境内存在移动物体，车辆可能存在被破坏或者车内遗落儿童等风险，以便于车主及时进行处理，提高用户体验。
结合第一方面，在一种可选择的实现方式中，在第一车载装置发送通知消息之前，所述方法还包括：第一车载装置获取包括车辆所处环境的视频信息；根据视频信息判断车辆所处环境内是否存在移动物体；若车辆所处环境内存在移动物体，则触发发送通知消息。这种实现方式中，第一车载装置发送通知消息之前，还可以通过获取车辆所处环境的视频信息，通过图像识别技术，进一步判断车辆所处环境内是否存在移动物体，以防止第一车载装置根据Wi-Fi探测信号的CSI对车辆所处环境的环境状况出现误判，提高车辆环境监测方法结果的准确性。
结合第一方面，在一种可选择的实现方式中，在第一车载装置获取视频信息之前，所述方法还包括：第一车载装置根据CSI，确定移动物体的位置信息；根据位置信息判断移动物体是否位于第一预设范围内，第一预设范围为车辆在水平面的投影范围；若移动物体位于第一预设范围内，触发获取视频信息，视频信息为车辆的车内环境视频信息。这种实现方式中，第一车载装置可以根据CSI确定移动物体的位置信息，然后根据位置信息判断该移动物体是否在第一预设范围内，即车内环境中。如果该移动物体在车内环境中，则触发获取视频信息，即车内环境视频信息，以用于进一步确定车内环境中是否真的存在移动物体。这样，第一车载装置可以通过拍摄得到的真实图像实现对车内环境的监测，提高监测的准确性。
结合第一方面，在一种可选择的实现方式中，在第一车载装置获取视频信息之前，所述方法还包括：第一车载装置根据CSI，确定移动物体的位置信息；根据位置信息判断移动物体是否位于第二预设范围内，第二预设范围大于车辆在水平面的投影范围；若移动物体位于第二预设范围内，触发获取视频信息，视频信息为车辆的车内环境视频信息和车外环境视频信息。这种实现方式中，第一车载装置可以根据CSI确定移动物体的位置信息，然后根据位置信息判断该移动物体是否在第一预设范围内，即车内环境和车外环境中。如果移动物体在车内环境和车外环境中，则获取视频信息，即车内环境视频信息和车外环境视频信息，以用于进一步确定车内环境中和车外环境中是否真的存在移动物体。这样，第一车载装置可以判断移动物体的大致区域，并对该区域进行拍摄，进而通过拍摄得到的真实图像实现对车内环境和车外环境的监测，不仅可以通过真实图像的识别提高监测的准确性，而且在预设区域内才获取视频信息，进一步降低功耗。
结合第一方面，在一种可选择的实现方式中，在第一车载装置获取视频信息之前，所述方法还包括：发送采集指令，采集指令用于开启车辆的图像采集装置采集视频信息。这种实现方式中，第一车载装置可以通过车辆的图像采集装置获取视频信息。图像采集装置可以保持低功耗的休眠状态，当接收到第一车载装置发送的采集指令后，响应该采集指令开始采集视频信息。这样，可以降低图像采集装置的功耗，从而降低整车功耗。
结合第一方面，在一种可选择的实现方式中，在第一车载装置发送通知消息之前，还包括：第一车载装置获取车辆的惯性测量单元(inertial measurement unit，IMU)数据；根据IMU数据判断车辆是否存在震动；若车辆存在震动，则发送通知消息。这种实现方式中，第一车载装置发送通知消息之前，通过获取车辆的惯性测量单元IMU数据，进一步判断车辆所处环境内是否存在移动物体，并且该移动物体是否与车辆进行了接触，即是否存在会对车辆造成破坏的风险，以进一步提高车辆环境监测方法结果的准确性。
结合第一方面，在一种可选择的实现方式中，若车辆存在震动，还包括：获取图像信息，图像信息包括移动物体的图像；发送图像信息。这种实现方式中，第一车载装置可以将包括移动物体图像的图像信息，发送至用户。使用户可以直观的看到车辆所处环境中的移动物体，以便于用 户及时做出处理，提高用户体验。
结合第一方面，在一种可选择的实现方式中，在接收来自第二车载装置的Wi-Fi探测信号之前，还包括：响应用户发送的启动指令，开启无线接入点(access point，AP)模式，向第二车载装置发送配置指令，该配置指令用于指示第二车载装置开启站点(station，STA)模式，并向第一车载装置发送连接请求；根据连接请求与第二车载装置建立Wi-Fi连接。这种实现方式中，第一车载装置响应启动指令开启AP模式，并通过发送配置指令指示第二车载装置开启STA模式，使第二车载装置可以接入第一车载装置，以实现第一车载装置与第二车载装置建立Wi-Fi连接，简化系统设计。
结合第一方面，在一种可选择的实现方式中，还包括：第一车载装置响应启动指令，向车辆的图像采集装置发送第一休眠指令，第一休眠指令用于指示图像采集装置开启休眠状态。这种实现方式中，图像采集装置响应第一休眠指令进入低功耗的休眠状态，当接收到第一车载装置的采集指令后才开始采集视频信息，无需一直保持采集模式。这样，可以降低图像采集装置的功耗，从而降低整车功耗。
结合第一方面，在一种可选择的实现方式中，在第一车载装置发送通知消息之后，还包括：若根据CSI确定连续时间内Wi-Fi信道的信道状态未发生变化，则向车辆的图像采集装置发送第二休眠指令，第二休眠指令用于指示图像采集装置开启休眠状态。这种实现方式中，第一车载装置发送通知消息之后，如果车辆所处环境中已经不存在移动物体，则第一车载装置已经不需要获取视频信息，因此，图像采集装置也无需继续采集视频信息。第一车载装置通过发送第二休眠指令指示图像采集装置开启低功耗的休眠状态。这样，可以进一步降低整车功耗，提高车辆续航。
第二方面提供一种车辆环境监测系统，包括第一车载装置和第二车载装置，第一车载装置通过Wi-Fi与第二车载装置连接，第一车载装置与第二车载装置设置在车辆内；第二车载装置，用于向第一车载装置发送Wi-Fi探测信号；第一车载装置，用于接收来自第二车载装置的Wi-Fi探测信号，根据Wi-Fi探测信号，确定第一车载装置与第二车载装置之间的Wi-Fi信道的CSI；其中CSI用于表征Wi-Fi信道的信道状态，根据CSI确定车辆所处环境的环境状况。
本申请实施例提供的车辆环境监测系统，包括可通过Wi-Fi连接的第一车载装置和第二车载装置。第二车载装置向第一车载装置发送Wi-Fi探测信号，第一车载装置接收第二车载装置发送的Wi-Fi探测信号，根据Wi-Fi探测信号确定CSI，根据CSI确定车辆所处环境的环境状况。无需在车辆内设置其他监测装置，降低了车辆的造价成本。并且，CSI为物理层信息，第一车载装置获取Wi-Fi探测信号的物理层信息，即可确定CSI。这样，第一车载装置和第二车载装置在车辆环境监测作业中产生的功耗较低，从而可以降低整车的功耗，提高车辆的续航。
第三方面提供一种电子设备，包括：存储器、一个或多个处理器；存储器与处理器耦合；其中，存储器中存储有计算机程序代码，计算机程序代码包括计算机指令，当计算机指令被处理器执行时，使得电子设备执行上述第一方面任一项的车辆环境监测方法。
第四方面提供一种车辆，该车辆包括如第二方面所述的车辆环境监测系统或者包括如第三方面所述的电子设备。
第五方面提供一种计算机可读存储介质，包括计算机指令，当计算机指令在电子设备上运行时，使得电子设备执行上述第一方面任一项的车辆环境监测方法。
第六方面提供一种计算机程序产品，当计算机程序产品在计算机上运行时，使得计算机执行上述第一方面任一项的车辆环境监测方法。
可以理解地，上述第三方面的电子设备，第四方面的车辆，第五方面的计算机可读存储介质，第六方面的计算机程序产品所能达到的有益效果，可参考第一方面及其任一种可能的设计方式中的有益效果，此处不再赘述。
附图说明
图1为本申请实施例示出的一种车辆环境监测场景的示意图；
图2为本申请实施例示出的另一种车辆环境监测场景的示意图；
图3为本申请实施例示出的一种包括车辆环境监测系统的车辆结构的示意图；
图4为本申请实施例示出的一种车载系统的硬件结构示意图；
图5为本申请实施例示出的车辆环境监测方法的流程示意图一；
图6为本申请实施例示出的车载装置对车辆环境进行监测的示意图一；
图7为本申请实施例示出的车载装置对车辆环境进行监测的示意图二；
图8为本申请实施例示出的一种用户设备展示通知消息的示意图；
图9为本申请实施例示出的车辆环境监测方法的流程示意图二；
图10为本申请实施例示出的车辆环境监测方法的流程示意图三；
图11为本申请实施例示出的车辆环境监测方法的流程示意图四；
图12为本申请实施例示出的车辆环境监测方法的流程示意图五；
图13为本申请实施例示出的车辆环境监测方法的流程示意图六；
图14为本申请实施例示出的一种车载装置的结构示意图；
图15为本申请实施例示出的一种电子设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。其中，在本申请的描述中，除非另有说明，“/”表示前后关联的对象是一种“或”的关系，例如，A/B可以表示A或B；本申请中的“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，其中A，B可以是单数或者复数。并且，在本申请的描述中，除非另有说明，“多个”是指两个或多于两个。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a，b，c，a-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。
另外，为了便于清楚描述本申请实施例的技术方案，在本申请的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分。本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定，并且“第一”、“第二”等字样也并不限定一定不同。同时，在本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念，便于理解。
为了便于技术人员理解本申请实施例的技术方案，下面先对本申请实施例涉及的技术术语进行解释说明。
CSI：在无线通信领域，CSI就是通信链路的信道属性。CSI描述了信号在每条传输路径上的衰弱因子，即信道增益矩阵H中每个元素的值，如信号散射(scattering)，环境衰弱(fading，multipath fading or shadowing fading)，距离衰减(power decay of distance)等信息。CSI具有以下优点：1.对于每一个接收数据包，CSI可以得到30个信道频率响应，即CSI是一种细粒度的信号；2.CSI对于环境敏感，用于分辨位置更加有效；3.对于固定位置，CSI分组接收数据包比无线信号强度(received signal strength，RSS)更加稳定。因此，CSI可以应用于环境识别，动作识别，手势识别，击键识别，跟踪等领域。
随着智能网联汽车技术的发展，汽车的功能越来越丰富化。为了避免出现车主在停车离车后车辆被剐蹭和/或离车时不小心将儿童或宠物遗落在车内造成伤害等问题，越来越多的车辆具有“儿童遗落提醒”、“哨兵模式”等功能。“儿童遗落提醒”是基于车辆对车内环境监测，在车主离车并锁车后检查车内是否有儿童或者宠物等活体，在锁车后如果还在车内检测到活体，就会通知车主，以免造成儿童或者宠物在车内窒息等伤害。“哨兵模式”是基于车辆对车外周边环境的监测，当外来物体靠近车辆时会被记录，当车辆遭受破坏时会发出告警声以及通知车主。
在相关技术中，通常通过部署在车辆的摄像头、毫米波雷达、超声波雷达、红外传感器等设备实现对车内环境、车外周围环境的监测，识别车内环境、车外周围环境中的物体，以实现车辆的“儿童遗落提醒”、“哨兵模式”等功能。图1为本申请实施例示出的一种车辆环境监测场景的示意图。如图1所示，在车辆的四周部署有摄像头，通过座舱域控制器(cockpit domain controller，CDC)(或者称为车机)开启部署在车辆内的摄像头，获取车内环境、车外周围环境 的视频信息，基于视觉动态侦测，可以判断车内环境和车外周围环境中是否存在移动物体。图2为本申请实施例示出的另一种车辆环境监测场景的示意图；如图2所示，在车辆内部部署有毫米波雷达，通过CDC开启毫米波雷达，发出雷达信号，以根据雷达信号探测车内环境和车外周围环境中是否存在移动物体。由于上述设备在对车内环境、车外周围环境进行监测时需要一直处于开启状态，因此，会产生较大的功率消耗(或者称为功耗)，导致整个车辆(或者称为整车)的功耗增加，从而降低了车辆的续航。
为了改善现有的车辆环境监测技术导致的整车功耗增加的问题，本申请实施例中提供了一种车辆环境监测方法。能够通过车辆内的具有Wi-Fi模块的车载装置组成环境监测网络，车载装置根据Wi-Fi信道的CSI判断车辆环境中是否存在移动物体，即车载装置可以通过监测车载装置之间的Wi-Fi信道的信道状态来监测车辆所处环境，这种监测方式产生较低的功耗，从而可以降低整车功耗，提高车辆的续航。
下面结合说明书附图，对本申请实施例提供的方案进行介绍。
本申请实施例提供的车辆环境监测方法，可以应用于如图3所示的车辆，该车辆包括车辆环境监测系统。如图3所示，该车辆环境监测系统可以包括第一车载装置、第二车载装置，由第一车载装置和第二车载装置交互执行本申请所述的车辆环境监测方法，实现对车辆所处环境状况的监测。第一车载装置和第二车载装置均设置有Wi-Fi模块。第一车载装置与第二车载装置可以通过Wi-Fi方式通信。
进一步可选的，图3所示车辆还可以包括其他部件，比如可以包括至少一个图像采集装置。需要说明的是，本申请实施例所述的图像采集装置可以包括但不限于摄像机、雷达等。
其中，第一车载装置与第二车载装置之间可以遵循无线传输协议，通过无线连接收发器传输信息。其中，该无线传输协议可以包含但不限于蓝牙(bluetooth，BT)传输协议或Wi-Fi传输协议等。例如，Wi-Fi传输协议可以是Wi-Fi P2P传输协议。该无线连接收发器包含但不限于蓝牙，Wi-Fi等收发器。通过无线配对，实现第一车载装置与第二车载装置之间的信息传输。
或者，第一车载装置与第二设备之间可以建立有线通信连接。例如，第一车载装置与第二车载装置之间通过视频图像配接器(video graphics array，VGA)、数字视频接口(digital visual interface，DVI)、高清多媒体接口(high definition multimedia interface，HDMI)或数据传输线等建立有线通信连接。第一车载装置与第二车载装置之间通过建立的有线通信连接实现信息传输。本申请不限定第一车载装置与第二车载装置之间的具体连接方式。
具体的，第一车载装置和第二车载装置可以包括但不限于车辆中的CDC、车载盒子(telematics box，T-Box)等。或者，第一车载装置和第二车载装置还可以是车辆中其他类型或结构的车载装置，本申请不予限定。
图4为本申请实施例示出的一种车载系统的硬件结构示意图；如图4所示，该车辆11包括车载系统10，该车载系统10可以包括例如，图4示出了车载系统10包括的部件，如图4所示，车载系统10可以包括车载通信盒子(telematics Box，T-Box)101、网关(或者称为车载网关)102、车载自诊断(on-board diagnostics，OBD)103、多个电子控制单元(electronic control unit，ECU)104、车载信息娱乐(in-vehicle infotainment，IVI)系统105和入侵检测系统(intrusion detection system，IDS)106等。其中，车载系统10内的部件可以通过控制器区域网络(controller area network，CAN)总线相互连接。ECU104可以是不同功能的控制单元，如ECU104可以为座舱域控制器(cockpit domain controller，CDC)、惯性测量单元(inertial measurement unit，IMU)、移动数据中心(mobile data center，MDC)、整车控制单元(vehicle control unit，VCU)等。
其中，第一车载装置可以为图4中的ECU(例如：CDC)，第二车载装置可以为T-Box。或者第一车载装置可以为T-Box，第二车载装置为ECU(例如：VCU)等，本申请不予限制。
图4中，T-Box 101可以具备与车辆11的外部设备以及车辆11的内部设备通信的能力。其中，车辆11的外部设备可以描述为车辆11之外的设备。
示例性的，当T-Box 101是前述实施例中的第一车载装置时，T-Box 101可通过Wi-Fi模块与第二车载装置建立Wi-Fi连接，并接收第二车载装置发送的Wi-Fi探测信号。T-Box 101根据 Wi-Fi探测信号，确定第一车载装置与第二车载装置之间的Wi-Fi信道的CSI，根据CSI确定车辆所处环境的环境状况，以实现对车辆环境进行监测。
示例性的，当T-Box 101是前述实施例中的第二车载装置时，T-Box101可通过Wi-Fi模块与第一车载装置建立Wi-Fi连接，并向第一车载装置发送Wi-Fi探测信号。
网关102是车辆11的核心部件，网关102可以将CAN总线上的报文数据在不同网络中进行路由。OBD 103可以具备监控车辆的运行状态的能力，并在车辆出现问题时，生成故障代码。
ECU104可以是车辆11的微机控制器，可以具备执行预设控制功能的能力，例如，可以用于控制发动机运行、保护车辆安全等。
示例性的，当ECU104为CDC时，CDC可以是前述实施例中的第一车载装置，CDC可通过Wi-Fi模块与第二车载装置建立Wi-Fi连接，并接收第二车载装置发送的Wi-Fi探测信号。CDC根据Wi-Fi探测信号，确定第一车载装置与第二车载装置之间的Wi-Fi信道的CSI，根据CSI确定车辆所处环境的环境状况，以实现对车辆环境进行监测。
示例性的，当ECU104为CDC时，CDC还可以是前述实施例中的第二车载装置，CDC可通过Wi-Fi模块与第一车载装置建立Wi-Fi连接，并向第一车载装置发送Wi-Fi探测信号。
示例性的，当ECU104为IMU时，通过IMU可以对车辆进行惯性测量检测，得到车辆的IMU数据，并将IMU数据发送至第一车载装置。第一车载装置接收IMU数据，并根据IMU数据进一步判断车辆所处环境内是否存在移动物体。
IVI系统105可以是车辆11的信息娱乐系统。其中，MDC可以是车辆11的智能车载计算平台。
IDS106可以具备诊断车辆故障的能力，如检测CAN总线上传输的报文数据是否出现异常等。IDS106可以部署在车内部件中，如可以部署在T-box101、网关102、MDC、CDC或者VCU中。
应理解，图4所示的车载系统10的架构用于举例，并非用于限制本申请的技术方案。本领域的技术人员应当明白，在具体实现过程中，车载系统10还可以包括其他设备，同时也可根据具体需要来确定网关以及ECU的数量。
可选的，本申请实施例图4中的各个部件，例如，T-Box 101、网关102、ECU 104、或者IDS106等，可以是一个物理器件，也可以是某个物理器件或者设备内的一个功能模块。该功能模块既可以是硬件设备中的元件，也可以是在专用硬件上运行的软件功能，或者是平台(例如，云平台)上实例化的虚拟化功能。
需要说明的是，图3、图4仅为示例性附图，本申请实施例不限定图3、图4所示车辆包括的部件以及包括的部件的数量。除图3、图4所示部件之外，图3、图4还可以包括其他部件。此外，图3、图4中各个部件的名称不受限制，除图3所示名称之外，各个设备还可以命名为其他名称，例如替换成具备相同或相似功能的名称，不予限制。
以下将以第一车载装置为CDC，第二车载装置为T-Box为例，对本申请实施例提供的车辆环境监测方法进行说明。如图3所示，第一车载装置和第二车载装置设置在车辆中，第一车载装置和第二车载装置通过Wi-Fi进行连接。图5为本申请实施例示出的车辆环境监测方法的流程示意图一，如图5所示，该方法可以包括如下步骤S101-S107。
其中，S101-S103为第一车载装置与第二车载装置建立Wi-Fi连接的过程，为可选步骤，比如一种可选的实现方式中，可以先执行S101-S103，第一车载装置与第二车载装置建立Wi-Fi连接，再执行S104-S106。又一种可选的实现方式中，可以在车辆启动时，第一车载装置与第二车载装置自动建立Wi-Fi连接，无需执行S101-S103。
S101、第一车载装置响应用户发送的启动指令，开启无线AP模式，向第二车载装置发送配置指令。
在本申请实施例中，启动指令是由用户发送给第一车载装置的指令，用于指示第一车载装置开始进行车辆环境监测。示例性的，用户可以通过CDC进行操作，在CDC的显示界面中，手动选择开启车辆环境监测的选项，以向CDC输入启动指令，用户还可以通过与CDC建立有通信连接的用户设备(user equipment，UE)进行操作，手动选择开启车辆环境监测的选项，向CDC发送启动指令。
第一车载装置响应用户发送的启动指令，开始进行车辆环境监测。在一些实施例中，启动指 令包括第一车载装置的配置信息，该配置信息用于指示第一车载装置配置其Wi-Fi模式。第一车载装置根据启动指令，首先配置其Wi-Fi模式，使Wi-Fi开启AP模式，提供无线接入服务，以允许第二车载装置等设备接入，建立Wi-Fi连接，并进行数据交互。然后，第一车载装置向第二车载装置发送配置指令，该配置指令用于指示第二车载装置对其Wi-Fi模式进行配置，使Wi-Fi开启STA模式。
其中，本申请所述的AP模式可以指无线装置在该模式下提供无线接入服务，其他无线装置可以接入该装置，并提供数据访问。STA模式可以指无线装置在该模式下不提供无线接入服务，但可以接入开启AP模式的无线装置中，并进行数据访问。
在一些实施例中，第一车载装置可以通过车辆以太网通信网络向第二车载装置发送配置指令。第一车载装置还可以通过通用串行总线(universal serial bus，USB)数据传输线向第二车载装置发送配置指令。本申请对第一车载装置发送配置指令的方式不作具体限定。
S102、第二车载装置接收配置指令，响应配置指令开启STA模式，并向第一车载装置发送连接请求。
在本申请实施例中，第二车载装置接收到第一车载装置发送的配置指令，响应该配置指令。首先，第二车载装置根据配置指令配置其Wi-Fi模式，使Wi-Fi开启STA模式，以使第二车载装置可以接入第一车载装置，建立Wi-Fi连接。然后，第二车载装置向第一车载装置发送连接请求，该连接请求用于请求第一车载装置与其建立Wi-Fi连接。
S103、第一车载装置接收连接请求，第一车载装置根据连接请求，与第二车载装置建立Wi-Fi连接。
在一些实施例中，第一车载装置根据连接请求，与第二车载装置建立Wi-Fi连接的过程主要包括身份认证和关联。示例性的，第二车载装置发送的连接请求中包括第二车载装置的身份认证信息和关联请求信息。第一车载装置通过身份认证后，根据关联请求向第二车载装置返回关联响应信息。至此，第二车载装置接入第一车载装置的过程完成，第一车载装置与第二车载装置已建立Wi-Fi连接，第二车载装置可以开始向第一车载装置传送Wi-Fi探测信号。
S104、第二车载装置向第一车载装置发送Wi-Fi探测信号。
在一些实施例中，第一车载装置与第二车载装置建立Wi-Fi连接之后，第一车载装置可以通过ping命令给第二车载装置发送ping包。第二车载装置回复该ping包，通过Wi-Fi信道向第一车载装置发送Wi-Fi探测信号。
在一些实施例中，第二车载装置以一定监测频率周期性地向第一车载装置发送Wi-Fi探测信号。例如，第二车载装置每1秒向第一车载装置发送一次Wi-Fi探测信号。可选的，该监测频率可以为预设的固定值，也可以由用户根据实际需求进行设置。
其中，监测频率越高，第二车载装置发送Wi-Fi探测信号的间隔越短，可以及时地检测出车辆环境的变化，提高车辆环境监测结果的准确性。监测频率越低，单位时间内第二车载装置发送Wi-Fi探测信号的次数越少，第二车载装置产生的功耗也越低，可以进一步降低整车功耗。因此，监测频率可以由用户根据车辆环境监测结果的准确性以及整车功耗等需求进行设置。
S105、第一车载装置接收Wi-Fi探测信号，根据接收到的Wi-Fi探测信号，确定第一车载装置与第二车载装置之间的Wi-Fi信道的CSI，CSI用于表征Wi-Fi信道的信道状态。
在本申请实施例中，第一车载装置根据Wi-Fi探测信号，获取CSI。示例的，第一车载装置可以通过Wi-Fi芯片的固件(Firmware)提供的接口，读取CSI。CSI可以用于表征第一车载装置与第二车载装置之间的Wi-Fi信道的信道状态，以用于进一步判断车辆所处环境的环境状况。
具体的，CSI是一种细粒度的信号，对于信道的传输环境敏感，因此，第一车载装置根据CSI可以判断Wi-Fi信道的传输环境，进而根据Wi-Fi信道的传输环境车辆所处环境的环境状况。并且，由于CSI为物理层信息，第一车载装置获取Wi-Fi探测信号的物理层信息，即可确定CSI。因此第二车载装置发送Wi-Fi探测信号无需携带大量数据，降低了第二车载装置发送Wi-Fi探测信号的功耗，从而降低了整车的功耗。
S106、第一车载装置根据CSI确定车辆所处环境的环境状况。
在本申请实施例中，第一车载装置可以根据CSI确定车辆所处环境的环境状况。其中，车辆 所处环境可以包括车内环境和车外环境。环境状况为车辆所处环境中是否存在移动物体，本申请实施例提供的车辆环境监测方法可以监测到的移动物体包括但不限于：移动的人，移动的宠物，移动的车辆以及具有呼吸的活体等。
在一些实施例中，第一车载装置根据CSI确定车辆所处环境的环境状况的具体方法包括：若根据CSI确定连续时间内Wi-Fi信道的信道状态发生变化，则确定车辆所处环境内存在移动物体；若根据CSI确定连续时间内Wi-Fi信道的信道状态未发生变化，则确定车辆所处环境内未存在移动物体。
具体的，由于第一车载装置和第二车载装置固定在车辆中，第二车载装置相对于第一车载装置的位置固定不变，在车辆所处环境中不存在移动物体、车辆周围环境稳定的情况下，第一车载装置接收到的Wi-Fi信道的信道状态不会发生变化。反之，在车辆所处环境中存在移动物体、车辆周围环境发生波动的情况下，Wi-Fi信道会受到干扰。因此，第一车载装置接收到的Wi-Fi信道的信道状态发生变化。
例如，图6为本申请实施例示出的车载装置对车辆环境进行监测的示意图一，如图6所示，如果车辆所处环境中不存在移动物体，第二车载装置在连续时间内每次发出Wi-Fi探测信号均会经过固定物体(例如，墙体)的反射后，传递至第一车载装置。Wi-Fi探测信号的传播路径不会发生变化。因此，第一车载装置接收到的Wi-Fi信道的信道状态不会发生变化。
又例如，在图6基础上，图7为本申请实施例示出的车载装置对车辆环境进行监测的示意图二，如图7所示，如果车辆所处环境中存在移动物体，第二车载装置在连续时间内每次发出Wi-Fi探测信号均经过移动物体(移动物体每次处于不同位置)的反射后，传递至第一车载装置。受到移动物体不同位置反射Wi-Fi探测信号的影响，Wi-Fi探测信号的传播路径会产生变化，Wi-Fi信道会受到干扰，第一车载装置接收到的Wi-Fi信道的信道状态会发生变化。因此，第一车载装置根据CSI确定连续时间内Wi-Fi信道的信道状态是否发生变化，可以判断出车辆所处环境内是否存在移动物体。
在一些实施例中，第一车载装置根据CSI确定连续时间内Wi-Fi信道的信道状态发生变化的具体方法包括：若连续时间内Wi-Fi信道的CSI不同，则第一车载装置确定连续时间内Wi-Fi信道的信道状态发生变化；若连续时间内Wi-Fi信道的CSI相同，则第一车载装置确定连续时间内Wi-Fi信道的信道状态未发生变化。CSI为Wi-Fi探测信号的信道状态信息，第一车载装置根据CSI即可判断Wi-Fi信道的信道状态是否发生变化。
在一些实施例中，CSI包括：Wi-Fi探测信号的振幅信息和相位信息中至少一项；两个CSI不同包括两个CSI包括的Wi-Fi探测信号的振幅信息和相位信息中至少一项不同；两个CSI相同包括两个CSI包括的Wi-Fi探测信号的振幅信息和相位信息相同。
示例性的，CSI包括Wi-Fi探测信号中每个子载波的振幅信息和相位信息。如果两个CSI中每个子载波的振幅信息和相位信息均相同，则两个CSI相同，即可表示两个CSI的时间段内Wi-Fi信道的信道状态没有发生变化，车辆所处环境内不存在移动物体。如果两个CSI中存在一个子载波的振幅信息或者相位信息不相同，则两个CSI不相同，即可表示两个CSI的时间段内Wi-Fi信道的信道状态发生变化，车辆所处环境内存在移动物体。
进一步的，为了及时向用户提醒车辆所处环境内存在移动物体，以便于及时进行处理，提高用户体验，如图5所示，该方法还可以包括：
S107、第一车载装置确定车辆所处环境内存在移动物体之后，发送通知消息。
在本申请实施例中，第一车载装置如果确定车辆所处环境内存在移动物体，则会发送通知消息，向外界提醒车辆所处环境内存在移动物体。或者，第一车载装置确定车辆所处环境内存在移动物体之后，进一步确定该移动物体与车辆进行了接触，则向外界提醒存在对车辆造成破坏或车内遗落有儿童等风险的通知消息。
在一些实施例中，以第一车载装置为CDC，第二车载装置为T-Box为例。当CDC确定车辆所处环境内存在移动物体之后，向T-Box发送通知指令。T-Box响应通知指令，可通过蜂窝网络向车主的用户设备20发送通知消息。图8为本申请实施例示出的一种用户设备展示通知消息的示意图，如图8所示，用户设备20可以通过窗口201展示通知消息，示例性的，通知消息的内容可 以包括“发现您车内存在移动物体，请您确定是否需要处理？”，并可提供处理选项“需要”和“不需要”。这样，可以提醒车主车辆所处环境内存在移动物体，车辆存在可能被破坏或者车内遗落有儿童等风险，以便于车主及时做出处理。
在一些实施例中，当第一车载装置确定车辆所处环境内存在移动物体之后，触发车辆的报警装置。示例性的，报警装置可以包括但不限于双闪报警灯、报警器等等。触发车辆的报警装置可以包括但不限于开启双闪报警灯，开启警报器发出警报声音等，以提醒车辆周围的人(比如离开的车主)，该车辆可能存在被撞击、被盗窃或车内遗落有儿童或宠物等风险。
在一些应用场景中，车辆所处的环境中可能存在一些噪声会对Wi-Fi探测信号造成干扰。为了防止第一车载装置根据Wi-Fi探测信号的CSI对车辆所处环境的环境状况出现误判，在S107，第一车载装置确定车辆所处环境内存在移动物体之后，向外界提醒车辆所处环境内存在移动物体的通知消息之前，还可以通过获取车辆所处环境的视频信息，通过图像识别技术，进一步判断车辆所处环境内是否存在移动物体，以提高车辆环境监测方法结果的准确性。具体的，该过程可以参照图9中的S201-S203。
图9为本申请实施例示出的车辆环境监测方法的流程示意图二，如图9所示，该方法可以通过以下步骤S201-S203实现：
S201、第一车载装置获取视频信息，该视频信息包括车辆所处环境的视频信息。
在本申请实施例中，在第一车载装置确定车辆所处环境内存在移动物体之后，获取视频信息，根据视频信息进一步确定车辆所处环境内是否存在移动物体，防止第一车载装置出现误判。其中，该视频信息包括车内环境视频信息和/或车外环境视频信息，视频信息的具体内容可根据实际应用场景进行确定。
在一些实施例中，由图像采集装置采集视频信息，并发送给第一车载装置。示例性的，如图3所示，车辆上共设置有4个图像采集装置，4个图像采集装置分别设置在车辆的前、后、左、右四个位置。图像采集装置与第一车载装置连接。本申请对图像采集装饰的数量和设置位置不做具体限定，图像采集装置可以实现采集车内环境和车外环境的视频信息即可。
在一些实施例中，为降低图像采集装置的功耗，将图像采集装置的初始状态设置为休眠状态。示例性的，启动指令中还包括使图像采集装置进入休眠状态的指令信息。图10为本申请实施例示出的车辆环境监测方法的流程示意图三，如图10所示，第一车载装置响应启动指令，会向图像采集装置发送第一休眠指令。图像采集装置响应第一休眠指令，开启休眠状态，即图像采集装置停止采集视频信息，进入低功耗状态。这样，可以进一步降低整车的功耗。
在一些实施例中，如图10所示，第一车载装置获取视频信息前，第一车载装置向图像采集装置发送采集指令，以唤醒处于休眠状态的图像采集装置。图像采集装置响应采集指令采集视频信息，并将视频信息发送至第一车载装置。这样，图像采集装置接收到采集指令后才开始采集视频信息，无需一直保持采集状态，可以降低图像采集装置的功耗，进一步降低整车功耗。
S202、第一车载装置根据视频信息判断车辆所处环境内是否存在移动物体。
具体的，第一车载装置可以通过图像识别技术对视频信息进行移动物体检测，以判断出视频信息中是否存在移动物体。
示例性的，移动物体检测的方法包括：帧间差分法、光流法、背景建模法和神经网络法等。帧间差分法利用视频中时间相近的若干幅图像的差异，检测出移动目标。光流法利用视频中多个点在不同帧间的移动，检测移动的目标。背景建模法通过建立视频中的背景模型，再利用当前图像帧与背景模型的差异，分离出移动目标。神经网络法利用待识别的物体的多幅图像，训练神经网络，再用训练好的神经网络分离图像中的目标物体。本申请对第一车载装置对视频信息进行移动物体检测的方法不作具体限定。
在一些实施例中，如果需要判断车辆所处环境内是否存在移动人(包括有呼吸动作的人)，则第一车载装置还可以结合人脸识别技术对视频信息进行人脸识别，提取出视频信息中出现的人物信息。这样，可以进一步提高车辆环境监测结果的准确性。
S203、若车辆所处环境内存在移动物体，则执行S107。
具体的，第一车载装置如果根据视频信息再次确定车辆所处环境内存在移动物体，则发送通 知消息，提醒外界车辆所处环境内存在移动物体，车辆可能存在被移动物体撞击、盗窃或者车内遗落有儿童、宠物等风险。
在一些实施例中，第一车载装置如果根据视频信息确定车辆所处环境内不存在移动物体，则说明第一车载装置根据Wi-Fi探测信号的CSI对车辆所处环境的环境状况出现误判，第一车载装置无需发送通知消息。
在一些实施例中，在S201，第一车载装置获取视频信息之前，为了降低整车的功耗。第一车载装置还可以：首先，根据CSI确定移动物体的位置信息，然后，根据位置信息判断移动物体是否在预设范围内，即移动物体是否位于车辆内部或者在车辆外部靠近车辆位置，有对车辆造成危险的可能性。最后，如果移动物体在预设范围内，则获取车辆所处环境的视频信息，进一步判断车辆所处环境是否真的存在移动物体。如果移动物体没有在预设范围内，则说明移动物体没有对车辆造成危险的可能性，就无须获取车辆所处环境的视频信息。这样，不仅可以降低整车的功耗，而且可以提高车辆环境监测结果的准确性。
在实际的应用场景中，用户可以对车内环境进行监测，或者可以对车内环境和车外环境均进行监测。示例性的，通过设置判断移动物体位置的预设范围，可以调整车辆环境监测的范围(即车内环境，或者车内环境和车外环境)。如果该预设范围为车辆在水平面的投影范围，则对车内环境进行监测。如果该预设范围大于车辆在水平面的投影范围，则对车内环境和车外环境均进行监测。下面结合图11描述对车内环境进行监测的过程，结合图12描述对车内环境和车外环境均进行监测的过程。
图11为本申请实施例示出的车辆环境监测方法的流程示意图四，如图11所示，在一些实施例中，以对车内环境进行监测为例，在步骤S201，第一车载装置获取视频信息之前，还包括以下步骤S301-S303：
S301、第一车载装置根据CSI，确定移动物体的位置信息。
在本申请实施例中，第一车载装置可以根据CSI中的振幅信息和相位信息确定移动物体的位置信息。移动物体的位置信息包括但不限于：移动物体距离第一车载装置的距离和角度，移动物体分别距离第一车载装置和第二车载装置的距离，或者移动物体处于车辆坐标系的横纵坐标值。
示例性的，第一车载装置根据振幅信息和相位信息确定物体的位置信息的方法包括：首先，选取车辆待定位区域并构建平面坐标系，在待定位区域内选取多个参考点，每个参考点在平面坐标系中存在横纵坐标值。然后，对于每个参考点，采集参考点对应的CSI数据并对CSI数据进行滤波处理及主要成分分析处理，得到参考点每个子载波的振幅信息和相位信息，将参考点每个子载波的振幅信息和相位信息作为参考点的位置指纹，基于多个参考点的位置指纹构建位置指纹库。最后，第一车载装置根据接收到的Wi-Fi探测信号CSI中的振幅信息和相位信息，基于指纹库以及各个参考点的横纵坐标值，通过K-近邻算法(k-nearest neighbor，KNN)计算移动物体的横纵坐标值。
S302、第一车载装置根据位置信息判断移动物体是否位于第一预设范围内，第一预设范围为车辆在水平面的投影范围。
具体的，第一车载装置可以通过S301步骤中确定的移动物体的位置信息(例如，横纵坐标值)判断其是否位于第一预设范围内。其中，第一预设范围用于判断移动物体是否位于车内环境中，在该应用场景下，第一预设范围为车辆在水平面的投影范围，即第一预设范围覆盖整个车辆在水平面的投影。在申请实施例中，第一预设范围可以由车辆生产商进行标定设置，第一预设范围固定不变。
S303、若移动物体位于第一预设范围内，第一车载装置获取视频信息，视频信息为车辆的车内环境视频信息。
具体的，如果第一车载装置根据位置信息判断移动物体位于第一预设范围内，则说明在车内环境中可能存在移动物体。第一车载装置为防止误判，触发获取视频信息，根据视频信息，通过图像识别技术，进一步判断车辆所处环境内是否存在移动物体。其中，视频信息为车辆的车内环境视频信息。由于第一车载装置判断车内环境中是否存在移动物体，因此获取车内环境的视频信息即可。
在一些实施例中，视频信息由车辆内的图像采集装置采集。图像采集装置采集车内环境的视频信息即可，无需采集车外环境的视频信息。这样，图像采集装置产生的功耗可以减小，进一步降低了整车功耗。
图12为本申请实施例示出的车辆环境监测方法的流程示意图五，如图12所示，在一些实施例中，以对车内环境和车外环境进行监测为例，在步骤S201，第一车载装置获取视频信息之前，还包括以下步骤S401-S403：
S401、第一车载装置根据CSI，确定移动物体的位置信息。
在本申请实施例中，第一车载装置根据CSI，确定移动物体的位置信息的方法可以与上述步骤S301中描述的方法相同，在此不做赘述。
S402、第一车载装置根据位置信息判断移动物体是否位于第二预设范围内，第二预设范围大于车辆在水平面的投影范围；
具体的，第一车载装置可以通过S401步骤中确定的移动物体的位置信息判断其是否位于第二预设范围内。其中，第二预设范围用于判断移动物体是否位于车内环境或车外环境中，在该应用场景下，第二预设范围大于车辆在水平面的投影范围，即第二预设范围超过整个车辆在水平面的投影。例如，第二预设范围车辆在水平面的投影再外延3米的范围。在申请实施例中，第二预设范围可以由车辆生产商进行标定设置。
S403、若移动物体位于第二预设范围内，第一车载装置获取视频信息，视频信息为车辆的车内环境视频信息和车外环境视频信息。
具体的，如果第一车载装置根据位置信息判断移动物体位于第二预设范围内，则说明在车内环境或车外环境中可能存在移动物体。第一车载装置为防止误判，获取视频信息，根据视频信息，通过图像识别技术，进一步判断车辆所处环境内是否存在移动物体。其中，视频信息为车辆的车内环境视频信息和车外环境视频信息。
这样，第一车载装置可以判断移动物体的大致区域，并对该区域进行拍摄，进而通过拍摄得到的真实图像实现对车内环境和车外环境的监测，不仅可以通过真实图像的识别提高监测的准确性，而且在预设区域内才获取视频信息，进一步降低功耗。
在一些实施例中，为了满足用户对车辆环境监测的不同需求，提高车辆环境监测范围的灵活性，上文所述的判断移动物体位置的预设范围还可以由用户进行设置。例如，用户可以提高预设范围，使车辆环境监测的范围更大，从而提高车辆的安全性。
在一些应用场景中，车辆所处环境中的移动物体为路过车辆，该路过车辆并没有与车辆进行接触，也不会存在对车辆造成撞击等破坏的风险。因此，为了防止第一车载装置根据Wi-Fi探测信号的CSI对车辆所处环境的环境状况出现误判，在第一车载装置发送通知消息之前，还可以通过获取车辆的惯性测量单元IMU数据，进一步判断车辆所处环境内是否存在移动物体，并且该移动物体是否与车辆进行了接触，即是否存在会对车辆造成撞击等破坏的风险，以进一步提高车辆环境监测方法结果的准确性。图13为本申请实施例示出的车辆环境监测方法的流程示意图六；如图13所示，该方法可以通过以下步骤S501-S503实现：
S501、第一车载装置获取车辆的惯性测量单元IMU数据。
在本申请实施例中，第一车载装置可以通过IMU获取车辆的IMU数据。IMU数据用于判断车辆是否存在震动。IMU是一种测量物体三轴姿态角(或角速率)以及加速度的装置。通常，一个IMU包含了三个单轴的加速度计和三个单轴的陀螺，加速度计检测物体在载体坐标系统独立三轴的加速度信号，而陀螺检测载体相对于导航坐标系的角速度信号，测量物体在三维空间中的角速度和加速度，并以此解算出物体的姿态。因此，第一车载装置可以通过IMU数据判断出车辆的姿态(车辆的位置及结构)是否发生变化，即车辆是否存在震动。
S502、第一车载装置根据IMU数据判断车辆是否存在震动。
在本申请实施例中，第一车载装置根据获取的IMU数据可以判断车辆是否存在震动。车辆是否震动即为车辆的相对位置及结构是否发生变化。例如，车辆受到外部撞击而导致车辆的位置和结构产生变化，车辆被盗贼使用外力破坏车辆结构等。
在一些实施例中，IMU数据中包括加速度计信息和陀螺信息，根据加速度计信息和陀螺信息 可以判断出车辆是否存在震动。示例性的，如果连续时间内加速度计信息和陀螺信息均未发生变化，则说明车辆不存在震动。如果连续时间内加速度计信息和陀螺信息至少一项发生变化，则说明车辆存在震动。
S503、若车辆存在震动，则第一车载装置发送通知消息。
具体的，若车辆不存在震动，则说明车辆所处的环境中不存在移动物体，第一车载装置出现误判。或者，车辆所处的环境中存在移动物体，但是移动物体只是经过车辆，并不存在对车辆造成破坏的风险，因此，第一车载装置无需发送通知消息。
若车辆存在震动，则说明车辆所处的环境中存在移动物体，并且该移动物体存在对车辆造成撞击或盗窃等风险。例如，该移动物体存在撞击车辆、使用外力破坏车辆结构、盗窃车辆等风险。在这种情况下，第一车载装置应及时发送通知消息，提醒外界车辆可能存在风险。
在一些实施例中，在S107，第一车载装置确定车辆所处环境内存在移动物体之后，发送通知消息之前，还可以通过获取车辆所处环境的视频信息，通过图像识别技术，进一步判断车辆所处环境内是否存在移动物体。并获取车辆的惯性测量单元IMU数据，判断该移动物体是否车辆进行了接触，存在对车辆造成破坏的风险。防止第一车载装置出现误判，进一步提高车辆环境监测方法结果的准确性。具体的方法可通过上述步骤S201-S203和步骤S501-S503实现。
在一些实施例中，在发送通知消息之前，还包括：第一车载装置获取图像信息，图像信息包括移动物体的图像。示例性的，第一车载装置可以直接通过图像采集装置获取图像信息，第一车载装置还可以根据视频信息截取图像信息。
具体的，根据移动物体所处的位置以及实际车辆环境监测的应用场景，图像信息可以包括车内环境中移动物体的图像，还可以包括车外环境中移动物体的图像，或者包括车内环境和车外环境中移动物体的图像。第一车载装置将获取的图像信息发送给用户设备，向用户展示车辆环境中的移动物体。使用户通过用户设备可以直观的看到车辆所处环境中的移动物体，以便于用户及时做出处理。例如，图像信息中包括车内环境中的婴儿，用户通过用户设备接收到图像信息后，可以远程开启车辆通风装置，并及时返回车辆接出婴儿。再例如，图像信息中包括车外环境中正在破坏车辆进行盗窃的盗贼，用户通过用户设备接收到图像信息后，可以及时报警，并可将图像信息进行保存，作为证据。
在一些实施例中，在S107，第一车载装置发送通知消息之后。第一车载装置还会继续获取第二车载装置发送的Wi-Fi探测信号，根据Wi-Fi探测信号的CSI确定车辆所处环境的环境状况。如果第一车载装置根据CSI确定连续时间内Wi-Fi信道的信道状态未发生变化，即车辆所处环境中移动物体已经远离车辆，车辆所处环境中已经不存在移动物体。第一车载装置已经不需要获取视频信息，因此，图像采集装置也无需继续采集视频信息。此时，第一车载装置向图像采集装置发送第二休眠指令。图像采集装置响应第二休眠指令，停止采集视频信息，开启休眠状态，进入低功耗状态。这样，可以进一步降低整车功耗，提高车辆续航。
上述主要从各个节点之间交互的角度对本申请实施例提供的方案进行了介绍。可以理解的是，各个节点，例如第一车载装置、第二车载装置等为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例可以根据上述方法示例对第一车载装置、第二车载装置等进行功能模块的分组，例如，可以对应各个功能分组各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的分组是示意性的，仅仅为一种逻辑功能分组，实际实现时可以有另外的分组方式。
本申请实施例还提供一种车载装置，图14示出了一种车载装置30的结构示意图，该车载装置30可以为第一车载装置，或者第一车载装置中的芯片，或者片上系统。该车载装置30可以用 于执行上述实施例中涉及的第一车载装置的功能。
作为一种可实现方式，如图14所示，该车载装置30包括：接收单元301和处理单元302。其中，接收单元301用于接收来自第二车载装置的Wi-Fi探测信号。处理单元302用于根据Wi-Fi探测信号，确定第一车载装置与第二车载装置之间的Wi-Fi信道的信道状态信息CSI；其中CSI用于表征Wi-Fi信道的信道状态；根据CSI确定所述车辆所处环境的环境状况。
本申请实施例还提供一种电子设备，如图15所示，该电子设备40可以包括一个或者多个处理器401、存储器402和通信接口403。
其中，存储器402、通信接口403与处理器401耦合。例如，存储器402、通信接口403与处理器401可以通过总线404耦合在一起。
其中，通信接口403用于与其他设备进行数据传输。存储器402中存储有计算机程序代码。计算机程序代码包括计算机指令，当计算机指令被处理器401执行时，使得电子设备执行本申请实施例中的车辆环境监测方法。
其中，处理器401可以是处理器或控制器，例如可以是中央处理器(central processing unit，CPU)，通用处理器，数字信号处理器(digital signal processor，DSP)，专用集成电路(application-specific integrated circuit，ASIC)，现场可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。其可以实现或执行结合本公开内容所描述的各种示例性的逻辑方框，模块和电路。所述处理器也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，DSP和微处理器的组合等等。
其中，总线404可以是外设部件互连标准(peripheral component interconnect，PCI)总线或扩展工业标准结构(extended industry standard architecture，EISA)总线等。上述总线404可以分为地址总线、数据总线、控制总线等。为便于表示，图14中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
本申请实施例还提供一种车辆环境监测系统，包括第一车载装置和第二车载装置，第一车载装置通过无线保真Wi-Fi与第二车载装置连接，第一车载装置与第二车载装置设置在车辆内。第二车载装置向第一车载装置发送Wi-Fi探测信号，第一车载装置接收第二车载装置发送的Wi-Fi探测信号，根据Wi-Fi探测信号确定CSI，根据CSI确定车辆所处环境的环境状况。无需在车辆内设置其他监测装置，降低了车辆的造价成本。并且，CSI为物理层信息，第一车载装置获取Wi-Fi探测信号的物理层信息，即可确定CSI。这样，第一车载装置和第二车载装置在车辆环境监测作业中产生的功耗较低，从而可以降低整车的功耗，提高车辆的续航。
本申请实施例还提供一种车辆，该车辆包括上述实施例中提供的电子设备或者车辆环境监测系统。该车辆通过电子设备或者车辆环境监测系统可以实现本申请实施例中的车辆环境监测方法。
本申请实施例还提供一种计算机可读存储介质，该计算机存储介质中存储有计算机程序代码，当上述处理器执行该计算机程序代码时，电子设备执行上述方法实施例中车辆环境监测方法的相关步骤。
本申请实施例还提供了一种计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述方法实施例中车辆环境监测方法的相关步骤。
其中，本申请提供的电子设备、车辆、计算机存储介质或者计算机程序产品均用于执行上文所提供的对应的方法，因此，其所能达到的有益效果可参考上文所提供的对应的方法中的有益效果，此处不再赘述。
通过以上实施方式的描述，所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个装置，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合 或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是一个物理单元或多个物理单元，即可以位于一个地方，或者也可以分布到多个不同地方。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个可读取存储介质中。基于这样的理解，本申请实施例的技术方案本质上或者说做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该软件产品存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上内容，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何在本申请揭露的技术范围内的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (15)

  1. 一种车辆环境监测方法，其特征在于，应用于第一车载装置，所述第一车载装置通过无线保真Wi-Fi与第二车载装置连接，所述第一车载装置与所述第二车载装置设置在车辆内，所述方法包括：
    接收来自所述第二车载装置的Wi-Fi探测信号；
    根据所述Wi-Fi探测信号，确定所述第一车载装置与所述第二车载装置之间的Wi-Fi信道的信道状态信息CSI，其中所述CSI用于表征所述Wi-Fi信道的信道状态；
    根据所述CSI确定所述车辆所处环境的环境状况。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述CSI确定所述车辆所处环境的环境状况包括：
    若连续时间内所述Wi-Fi信道的CSI不同，则确定所述车辆所处环境内存在移动物体；
    若连续时间内所述Wi-Fi信道的CSI相同，则确定所述车辆所处环境内未存在移动物体。
  3. 根据权利要求2所述的方法，其特征在于，
    所述CSI包括：所述Wi-Fi探测信号的振幅信息和相位信息中至少一项；
    两个CSI不同包括所述两个CSI包括的Wi-Fi探测信号的振幅信息和相位信息中至少一项不同；两个CSI相同包括所述两个CSI包括的Wi-Fi探测信号的振幅信息和相位信息相同。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，在所述确定所述车辆所处环境内存在移动物体之后，所述方法还包括：发送通知信息。
  5. 根据权利要求4所述的方法，其特征在于，在所述发送通知信息之前，所述方法还包括：
    获取视频信息，所述视频信息包括所述车辆所处环境的视频信息；
    根据所述视频信息确定所述车辆所处环境内是否存在移动物体；
    若所述车辆所处环境内存在移动物体，则触发发送所述通知信息。
  6. 根据权利要求5所述的方法，其特征在于，在所述获取视频信息之前，所述方法还包括：
    根据所述CSI，确定所述移动物体的位置信息；
    根据所述位置信息判断所述移动物体是否位于第一预设范围内，所述第一预设范围为所述车辆在水平面的投影范围；
    若所述移动物体位于所述第一预设范围内，触发获取所述视频信息，所述视频信息为所述车辆的车内环境视频信息。
  7. 根据权利要求5所述的方法，其特征在于，在所述获取视频信息之前，所述方法还包括：
    根据所述CSI，确定所述移动物体的位置信息；
    根据所述位置信息判断所述移动物体是否位于第二预设范围内，所述第二预设范围大于所述车辆在水平面的投影范围；
    若所述移动物体位于所述第二预设范围内，触发获取所述视频信息，所述视频信息为所述车辆的车内环境视频信息和车外环境视频信息。
  8. 根据权利要求5-7任一项所述的方法，其特征在于，在所述获取视频信息之前，所述方法还包括：
    发送采集指令，所述采集指令用于开启所述车辆的图像采集装置并采集视频信息。
  9. 根据权利要求4-8任一项所述的方法，其特征在于，在所述发送通知信息之前，还包括：
    获取所述车辆的惯性测量单元IMU数据；
    根据所述IMU数据判断所述车辆是否存在震动；
    若所述车辆存在震动，则发送所述通知消息。
  10. 根据权利要求9所述的方法，其特征在于，若所述车辆存在震动，还包括：
    获取图像信息，所述图像信息包括所述移动物体的图像；
    发送所述图像信息。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，在所述接收来自所述第二车载装置的Wi-Fi探测信号之前，还包括：
    响应用户发送的启动指令，开启无线接入点AP模式，向所述第二车载装置发送配置指令，所 述配置指令用于指示所述第二车载装置开启站点STA模式，并向所述第一车载装置发送连接请求；
    根据所述连接请求与所述第二车载装置建立Wi-Fi连接。
  12. 根据权利要求11所述的方法，其特征在于，还包括：
    响应所述启动指令，向所述车辆的图像采集装置发送第一休眠指令，所述第一休眠指令用于指示所述图像采集装置开启休眠状态。
  13. 根据权利要求4-12任一项所述的方法，其特征在于，在所述发送通知信息之后，还包括：
    若根据所述CSI确定连续时间内所述Wi-Fi信道的信道状态未发生变化，则向所述车辆的图像采集装置发送第二休眠指令，所述第二休眠指令用于指示所述图像采集装置开启休眠状态。
  14. 一种电子设备，其特征在于，包括：存储器、一个或多个处理器；所述存储器与所述处理器耦合；其中，所述存储器中存储有计算机程序代码，所述计算机程序代码包括计算机指令，当所述计算机指令被所述处理器执行时，使得所述电子设备执行如权利要求1-13任一项所述的车辆环境监测方法。
  15. 一种计算机可读存储介质，其特征在于，包括计算机指令，当所述计算机指令在电子设备上运行时，使得所述电子设备执行如权利要求1-13任一项所述的车辆环境监测方法。
PCT/CN2023/110300 2022-08-02 2023-07-31 一种车辆环境监测方法及电子设备 WO2024027655A1 (zh)

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