WO2024078350A1 - 一种基于无线信号的车辆感知方法、装置、介质及设备 - Google Patents

一种基于无线信号的车辆感知方法、装置、介质及设备 Download PDF

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Publication number
WO2024078350A1
WO2024078350A1 PCT/CN2023/122376 CN2023122376W WO2024078350A1 WO 2024078350 A1 WO2024078350 A1 WO 2024078350A1 CN 2023122376 W CN2023122376 W CN 2023122376W WO 2024078350 A1 WO2024078350 A1 WO 2024078350A1
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Prior art keywords
vehicle
wireless signal
people
objects
around
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PCT/CN2023/122376
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English (en)
French (fr)
Inventor
赵瑞祥
尹作彪
张西洋
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清研智行(北京)科技有限公司
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Publication of WO2024078350A1 publication Critical patent/WO2024078350A1/zh

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • 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]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present application relates to the field of wireless communication technology, and in particular to a vehicle perception method, device, medium and equipment based on wireless signals.
  • Vehicle perception mainly includes environmental perception, body perception, etc. Among them, obtaining information about nearby vehicles, pedestrians, obstacles, etc. based on the external conditions of the vehicle is called environmental perception.
  • vehicle perception is mainly used in the field of artificial intelligence driving.
  • the vehicle uses on-board cameras to obtain information about people, buildings, traffic lights, etc. around it.
  • the vehicle perception function will be turned off because it will occupy a large amount of system resources.
  • abnormal situations may occasionally occur, such as the vehicle being scratched, scratched by others, and the window being broken to steal items in the car.
  • the vehicle perception function since the vehicle perception function is turned off, it is impossible to know the relevant situation in time, and it is impossible to retain relevant evidence.
  • the embodiments of the present application provide a vehicle perception method, device, storage medium and electronic device based on wireless signals to solve the technical problem in the prior art of how a vehicle perceives when the vehicle is in a stopped state.
  • a vehicle perception method based on wireless signals comprising:
  • multiple transmitting ends continuously transmit wireless signals to multiple receiving ends within a predetermined time, continuously obtain wireless signal information of multiple receiving ends;
  • the wireless signal information at the receiving end determine whether there are people or objects moving around the vehicle
  • judging whether there is movement of people or objects around the vehicle based on the wireless signal information of the receiving end includes:
  • the wireless signal information of one or more receiving ends arrives at the receiving end ahead of time or delayed, it is determined that there are people or objects moving around the vehicle.
  • the method further includes:
  • the vehicle image acquisition function will be automatically started to obtain image information around the vehicle
  • the step of determining whether a person or an object is moving based on the image information of the surrounding area of the vehicle further includes:
  • the pre-stored photo information of the vehicle owner is obtained
  • the method further includes:
  • the vehicle system preheating function is turned on, wherein the vehicle system preheating function includes: a vehicle self-check function or a vehicle welcome function.
  • the executing the corresponding vehicle monitoring function includes:
  • Self-starting driving recorder function to record the movement of people or objects around the vehicle
  • the driving recorder function is automatically turned off and recording stops.
  • the wireless signal is a UWB ultra-wideband wireless signal, which is used to accurately and efficiently determine whether there is movement of people or objects around the vehicle.
  • a vehicle sensing device based on wireless signals comprising:
  • a wireless signal information acquisition module used to continuously acquire wireless signal information of multiple receiving ends based on the premise that multiple transmitting ends continuously transmit wireless signals to multiple receiving ends within a predetermined time;
  • Module for judging the movement of people or objects used to judge whether there are people or objects moving around the vehicle based on the wireless signal information from the receiving end;
  • Execution function module used to execute corresponding vehicle monitoring or risk warning functions if there are people or objects moving around the vehicle.
  • the module for determining the movement of people or objects includes:
  • the wireless signal information of one or more receiving ends arrives at the receiving end ahead of time or delayed, it is determined that there are people or objects moving around the vehicle.
  • the module for determining the movement of personnel or objects further includes:
  • the vehicle image acquisition function will be automatically started to obtain image information around the vehicle
  • the module for determining the movement of personnel or objects further includes:
  • the pre-stored photo information of the vehicle owner is obtained
  • the wireless signal-based vehicle sensing device further includes a vehicle system preheating module, which is used to:
  • the vehicle system preheating function is turned on, wherein the vehicle system preheating function includes: a vehicle self-check function or a vehicle welcome function.
  • the execution function module includes:
  • the driving recorder function is automatically turned off and recording stops.
  • a computer-readable storage medium which stores a computer program.
  • the computer program is executed by a processor, the steps of the above-mentioned vehicle perception method based on wireless signals are implemented.
  • an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned vehicle perception method based on wireless signals when executing the computer program.
  • the above-mentioned vehicle sensing method, device, storage medium and electronic device based on wireless signals continuously obtain the wireless signal information of multiple receiving ends based on the premise that multiple transmitting ends continuously transmit wireless signals to multiple receiving ends at a predetermined time, and judge whether there is movement of people or objects around the vehicle according to the wireless signal information of the receiving end.
  • the corresponding vehicle monitoring or risk warning function is performed.
  • the present application can sense the vehicle when the vehicle is in a stopped state in a way with a relatively low system resource occupancy rate, and record evidence collection or risk warning in advance when an abnormal situation occurs, thereby improving the efficiency of vehicle monitoring and the emergency response capability when encountering abnormal situations.
  • the present application based on the premise that there are people or objects approaching the vehicle, can sense in advance that the owner is ready to drive through the pre-stored owner's photo information and the surrounding image pictures of the vehicle, and promptly turn on the vehicle system preheating function, further improving the user experience of intelligent driving.
  • FIG1 is a schematic diagram of an application environment of a vehicle sensing method based on wireless signals in an embodiment of the present application
  • FIG2 is a flow chart of a vehicle sensing method based on wireless signals in an embodiment of the present application
  • FIG3 is a schematic flow chart of a specific implementation of step S20 in FIG2 ;
  • FIG4 is a schematic diagram illustrating a specific implementation principle of step S20 in FIG2 ;
  • FIG5 is a schematic flow chart of a specific implementation of step S30 in FIG2 ;
  • FIG6 is a schematic diagram of a structure of a vehicle sensing device based on wireless signals in an embodiment of the present application
  • FIG. 7 is a schematic diagram of a structure of a computer device in an embodiment of the present application.
  • the vehicle perception method based on wireless signals provided in the embodiment of the present application can be applied in the application environment as shown in Figure 1, wherein a UWB (Ultra Wide Band) transmitter device is installed at the left end of the front of the vehicle, and a UWB receiver device is installed at the right end of the front of the vehicle; at the same time, a UWB receiver device is installed at the left end of the rear of the vehicle, and a UWB transmitter device is installed at the right end of the rear of the vehicle. It is set that in a certain fixed time period, the above two UWB transmitters continuously transmit UWB signals to the two UWB receivers. At the same time, the UWB signal information of the two UWB receivers is continuously obtained.
  • a UWB Ultra Wide Band
  • the driving recorder function can be automatically started to record the process of the movement of people or objects around the vehicle, and the vehicle monitoring function can be executed; on the other hand, a reminder message can also be sent to the owner's mobile phone to execute the vehicle risk warning function.
  • the above-mentioned vehicle sensing method based on wireless signals can sense the vehicle when the vehicle is in a stopped state in a way that takes up relatively little system resources, thereby improving the efficiency of vehicle monitoring and the emergency response capability when encountering abnormal situations.
  • the above-mentioned vehicle sensing method based on wireless signals can be applied to the automobile central control system, which can control the opening and closing of the driving recorder function and the sending of risk warning messages through the central control.
  • the present application is described in detail below through specific embodiments.
  • FIG. 2 is a flow chart of a vehicle sensing method based on wireless signals in an embodiment of the present application, including the following steps:
  • S10 Continuously acquiring wireless signal information of multiple receiving ends based on the premise that multiple transmitting ends continuously transmit wireless signals to multiple receiving ends within a predetermined time;
  • the transmitter continuously transmits a wireless signal to the receiver at a predetermined time.
  • the predetermined time is set by the owner, which can be one hour or two hours after the vehicle stops driving.
  • the owner can set the time period for the transmitter to transmit the wireless signal according to the parking time. For example, after the owner returns home at night, he parks the vehicle in the parking lot and needs to go out during the day of the next day, so the predetermined time can be from 7 pm to 7 am the next day. If the owner is only staying somewhere for a short time, the predetermined time can be half an hour or an hour.
  • the number and placement of the transmitter and the receiver will vary depending on the model and size of the car, and this application does not limit this.
  • the number and placement of the transmitter and the receiver can adopt the scheme shown in Figure 1, in which a transmitter device is installed at the left end of the front of the car and a receiver device is installed at the right end of the front of the car; at the same time, a receiver device is installed at the left end of the rear of the car and a transmitter device is installed at the right end of the rear of the car.
  • a transmitter device is installed at the left end of the front of the car and a transmitter device is installed at the right end of the rear of the car.
  • FIG. 3 is a schematic flow chart of a specific implementation of step S20 in FIG. 2 , mainly including:
  • S21 Determine whether wireless signal information of one or more receiving ends arrives at the receiving end in advance or delayed;
  • FIG. 4 is a schematic diagram illustrating the principle of a specific implementation of step S20 in FIG. 2.
  • the amplitude A 1 represents the strength of the reflected signal
  • the reflector changes, for example, the reflector moves slightly toward the radar, the reflected signal becomes Since the reflector will not move a large distance in a short time, the intensity of the reflected signal does not change much, and the change is mainly in phase.
  • the reflector moves ⁇ x in the direction of the radar. ⁇ x is very small, much smaller than the wavelength.
  • the typical value of the wavelength is 4cm, and ⁇ x is less than 1cm.
  • the reflected signal 2 will reach the receiving end later than the reflected signal 1. Therefore, it is possible to determine whether there are people or objects moving around the vehicle based on the wireless signal information at the receiving end.
  • the method further includes:
  • the vehicle image acquisition function will be automatically started to obtain image information around the vehicle;
  • A2 Based on the image information around the vehicle, determine whether it is a person moving or an object moving.
  • the vehicle camera is turned on to obtain the image information of the vehicle's surroundings. Then, relevant feature information is extracted from the image information of the vehicle's surroundings to determine whether there is human feature information. If there is no human feature information, it is determined that the object is moving; if there is human feature information, it is determined that the person is moving.
  • the vehicle owner when it is determined that there are people moving around the vehicle, the vehicle owner can be sensed in advance to be ready to drive through pre-stored photo information of the vehicle owner and images of the vehicle surroundings, specifically including:
  • B2 Determine whether the owner is approaching the vehicle based on the owner's photo information and the vehicle's surrounding image information.
  • the owner's head portrait information is pre-stored in the car's central control system, and the character feature information extracted in the previous step is compared with the owner's head portrait information.
  • the matching rate reaches a certain proportion, such as more than 95%, it is determined that the owner is approaching the vehicle.
  • the method further includes: if it is determined that the owner is approaching the vehicle, the vehicle system preheating function is activated, wherein the vehicle system preheating function includes: a vehicle self-check function or a vehicle welcome function.
  • Vehicle self-check means that when the vehicle is started, the on-board computer checks whether certain functions and vehicle components are normal. If not, a fault light is used to indicate.
  • the vehicle welcome is to install lights around the bottom of the vehicle, rearview mirrors, etc. to welcome guests, so as to enhance the user's driving experience.
  • FIG. 5 is a flowchart of a specific implementation of step S30 in FIG. 2 , and the corresponding vehicle monitoring function is mainly performed, including:
  • S31 Automatically start the driving recorder function to record the movement of people or objects around the vehicle;
  • the dashcam function in the vehicle is usually used to retain the recorded images of the vehicle during driving, so as to provide them as evidence in the subsequent handling of disputes. Similarly, when the vehicle stops driving and is located in a parking lot or other places, it may occasionally be scratched by others, or the items in the vehicle may be stolen through the broken window. In order to preserve the on-site evidence in time, when the vehicle senses that there is a relevant risk, the vehicle can also be monitored through the dashcam function. It should be noted that if the dashcam is always turned on, it will occupy a large amount of system resources. Therefore, it can be decided whether to turn on the dashcam according to the dynamic situation around the vehicle.
  • the dashcam when it is judged that there is movement of people or objects around the vehicle, the dashcam is automatically started; when it is judged again based on the wireless signal information of the receiving end that there is no movement of people or objects around the vehicle, the dashcam function is automatically turned off, thereby further improving the efficiency of vehicle monitoring.
  • the vehicle risk warning function can also be used to promptly inform the owner of the risk message.
  • the vehicle central control system can send a reminder message to the owner's mobile client; on the other hand, it can also issue a warning by honking the horn.
  • the wireless signal may be a UWB ultra-wideband wireless signal.
  • UWB ultra-wideband wireless communication technology is a wireless carrier communication technology that uses a frequency bandwidth of more than 1 GHz and transmits data using nanosecond non-sinusoidal narrow pulses. It has high data transmission rate, strong anti-multipath interference capability, low power consumption, low cost, strong penetration capability, low interception rate, and can more accurately and efficiently determine the surrounding area of the vehicle.
  • the wireless signal can also be a microwave signal, and wireless communication is performed by using 300MHz-300GHz electromagnetic waves, which is not limited in this application.
  • the wireless signal information of multiple receiving terminals is continuously obtained, and based on the wireless signal information of the receiving terminal, it is judged whether there is movement of people or objects around the vehicle.
  • the corresponding vehicle monitoring or risk warning function is executed, which further improves the efficiency of vehicle monitoring and the emergency response capability when encountering abnormal situations.
  • the present application can sense in advance that the owner is ready to drive through the pre-stored owner's photo information and the surrounding image pictures of the vehicle, and promptly turn on the vehicle system preheating function to improve the user experience of intelligent driving.
  • a vehicle sensing device based on wireless signals is provided, and the sensing device corresponds to the vehicle sensing method based on wireless signals in the above embodiment.
  • the sensing device includes: a wireless signal information acquisition module 301, a personnel or object movement judgment module 302, an execution function module 303, and a vehicle system preheating module 304.
  • Each functional module is described in detail as follows:
  • the wireless signal information acquisition module 301 is used to continuously acquire wireless signal information of multiple receiving ends based on the premise that multiple transmitting ends continuously transmit wireless signals to multiple receiving ends within a predetermined time.
  • the module 302 for judging the movement of people or objects is used to judge whether there is movement of people or objects around the vehicle based on the wireless signal information from the receiving end.
  • Execution function module 303 used to execute corresponding vehicle monitoring or risk warning functions if there are people or objects moving around the vehicle.
  • the vehicle system preheating module 304 is used to start the vehicle system preheating function if it is determined that the vehicle owner is approaching the vehicle, wherein the vehicle system preheating function includes: a vehicle self-check function or a vehicle welcome function.
  • the module 302 for determining movement of personnel or objects further includes:
  • the wireless signal information of one or more receiving ends arrives at the receiving end ahead of time or delayed, it is determined that there are people or objects moving around the vehicle.
  • the module 302 for determining movement of personnel or objects further includes:
  • the vehicle image acquisition function will be automatically started to obtain image information around the vehicle
  • the module 302 for determining movement of personnel or objects further includes:
  • the pre-stored photo information of the vehicle owner is obtained
  • the execution function module 303 further includes:
  • Self-starting driving recorder function to record the movement of people or objects around the vehicle
  • the driving recorder function is automatically turned off and recording stops.
  • the wireless signals in the wireless signal information acquisition module 301 and the person or object movement determination module 302 are UWB ultra-wideband wireless signals, which are used to accurately and efficiently determine whether there are people or objects moving around the vehicle.
  • the present application provides a vehicle sensing device based on wireless signals. Based on the premise that multiple transmitting terminals continuously transmit wireless signals to multiple receiving terminals at a predetermined time, the wireless signal information of multiple receiving terminals is continuously obtained, and based on the wireless signal information of the receiving terminal, it is judged whether there is movement of people or objects around the vehicle. When it is judged that there is movement of people or objects around the vehicle, the corresponding vehicle monitoring or risk warning function is executed.
  • the present application can sense the vehicle in a way that takes up relatively little system resources, thereby improving the efficiency of vehicle monitoring and the emergency response capabilities when encountering abnormal situations.
  • the present application can sense in advance that the owner is ready to drive through pre-stored owner photo information and vehicle surrounding image pictures, and promptly turn on the vehicle system preheating function, further improving the user experience of intelligent driving.
  • each module in the above-mentioned vehicle sensing device based on wireless signals can be implemented in whole or in part through software, hardware and a combination thereof.
  • the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • a computer device in one embodiment, is provided, and its internal structure diagram may be shown in FIG7.
  • the computer device includes a processor, a memory, a network interface, a display screen, and an input device connected via a system bus.
  • the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium.
  • the network interface of the computer device is used to communicate with an external server via a network connection. When the computer program is executed by the processor, the functions or steps of a vehicle perception method based on wireless signals are implemented.
  • a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:
  • multiple transmitting ends continuously transmit wireless signals to multiple receiving ends within a predetermined time, continuously obtain wireless signal information of multiple receiving ends;
  • the wireless signal information at the receiving end determine whether there are people or objects moving around the vehicle
  • a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the following steps are implemented:
  • multiple transmitting ends continuously transmit wireless signals to multiple receiving ends within a predetermined time, continuously obtain wireless signal information of multiple receiving ends;
  • the wireless signal information at the receiving end determine whether there are people or objects moving around the vehicle
  • Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
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Abstract

本申请涉及无线通信技术领域，公开了一种基于无线信号的车辆感知方法、装置、存储介质及电子设备，包括：基于多个发送端持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息；根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动；如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预警功能。通过该方法，能够以一种系统资源占用率比较小的方式进行车辆感知。

Description

一种基于无线信号的车辆感知方法、装置、介质及设备
本申请要求于2022年10月09日提交中国专利局、申请号为202211227210.5申请名称为“一种基于无线信号的车辆感知方法、装置、介质及设备”的中国专利申请的优先权，其全部内容通过引用结合在申请中。
技术领域
本申请涉及无线通信技术领域，尤其涉及一种基于无线信号的车辆感知方法、装置、介质及设备。
背景技术
车辆感知主要包括环境感知、车身感知等。其中，根据车辆的外界情况，获取附近车辆、行人及障碍物等信息，被称为环境感知。
目前，车辆感知主要应用于人工智能驾驶领域，当车辆正在行驶时，通过车载摄像头等来获取周围的人、建筑物、信号灯等信息。当车辆停止行驶时，由于车辆感知功能会占用较大地系统资源，车辆感知功能就会被关闭。然而，现实场景中，当车辆停止行驶，位于停车场等场所时，偶尔会发生车辆剐蹭、被他人划破、破窗盗窃车内物品等非正常情况。此时，由于车辆感知功能被关闭，就无法及时知道相关情况，也不能保留相关证据。
在现有的一种技术中，当车辆处于停止状态时，如果车辆发生震动等情况，则会通过传感器进行感知，然后启动行车记录仪功能。然而，这种方案并不能实现提前记录取证，也不能避免车辆遭到破坏的情况。因此，如何以一种系统资源占用率比较小的方式，在车辆处于停止状态时进行车辆感知，并在发生非正常情况时，提前记录取证或风险预警，成为亟需解决的技术问题。
申请内容
本申请实施例提供一种基于无线信号的车辆感知方法、装置、存储介质及电子设备，以解决现有技术中，在车辆处于停止状态时，车辆如何进行感知的技术问题。
第一方面，提供了一种基于无线信号的车辆感知方法，包括：
基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息；
根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动；
如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预 警功能。
在一种实施方式中，所述根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动，包括：
判断是否有一个或多个接收端的无线信号信息提前或延迟到达接收端；
如果有一个或多个接收端的无线信号信息提前或延迟到达接收端，则判断车辆周围有人员或物品的移动。
在一种实施方式中，所述根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动之后，还包括：
如果判断车辆周围有人员或物品的移动，则自启动车辆影像采集功能，并获取车辆周边影像图片信息；
根据车辆周边影像图片信息，判断是人员移动，还是物品移动。
在一种实施方式中，所述根据车辆周边影像图片信息，判断是人员移动，还是物品移动之后，还包括：
如果判断是人员移动，则获取预存储的车主照片信息；
根据车主照片信息和车辆周边影像图片信息，判断是否是车主靠近车辆。
在一种实施方式中，所述根据车主照片信息和车辆周边影像图片信息，判断是否是车主靠近车辆之后，还包括：
如果判断是车主靠近车辆，则开启车辆系统预热功能，其中，所述车辆系统预热功能包括：车辆自检功能或者车辆迎宾功能。
在一种实施方式中，所述执行相对应的车辆监控功能，包括：
自启动行车记录仪功能，记录车辆周围人员或物品移动的过程；
当再次根据接收端的无线信号信息，判断车辆周围没有人员或物品的移动后，自动关闭行车记录仪功能，并停止记录。
在一种实施方式中，所述无线信号为UWB超宽带无线信号，用于精准、高效地判断车辆周围是否有人员或物品的移动。
第二方面，提供了一种基于无线信号的车辆感知装置，包括：
获取无线信号信息模块：用于基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息；
判断人员或物品移动模块：用于根根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动；
执行功能模块：用于如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预警功能。
在一种实施方式中，所述判断人员或物品移动模块，包括用于：
判断是否有一个或多个接收端的无线信号信息提前或延迟到达接收端；
如果有一个或多个接收端的无线信号信息提前或延迟到达接收端，则判断车辆周围有人员或物品的移动。
在一种实施方式中，所述判断人员或物品移动模块，还包括用于：
如果判断车辆周围有人员或物品的移动，则自启动车辆影像采集功能，并获取车辆周边影像图片信息；
根据车辆周边影像图片信息，判断是人员移动，还是物品移动。
在一种实施方式中，所述判断人员或物品移动模块，还包括用于：
如果判断是人员移动，则获取预存储的车主照片信息；
根据车主照片信息和车辆周边影像图片信息，判断是否是车主靠近车辆。
在一种实施方式中，所述基于无线信号的车辆感知装置，还包括车辆系统预热模块，用于：
如果判断是车主靠近车辆，则开启车辆系统预热功能，其中，所述车辆系统预热功能包括：车辆自检功能或者车辆迎宾功能。
在一种实施方式中，所述执行功能模块，包括：
用于自启动行车记录仪功能，记录车辆周围人员或物品移动的过程；
当再次根据接收端的无线信号信息，判断车辆周围没有人员或物品的移动后，自动关闭行车记录仪功能，并停止记录。
第三方面，提供了一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序被处理器执行时实现上述基于无线信号的车辆感知方法的步骤。
第四方面，提供了一种电子设备，包括存储器、处理器以及存储在存储器中并可在处理器上运行的计算机程序，处理器执行计算机程序时实现上述基于无线信号的车辆感知方法的步骤。
上述基于无线信号的车辆感知方法、装置、存储介质及电子设备，基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息，并根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动，当判断车辆周围有人员或物品的移动时，执行相对应的车辆监控或风险预警功能。本申请能够以一种系统资源占用率比较小的方式，在车辆处于停止状态时进行车辆感知，并在发生非正常情况时，提前记录取证或风险预警，提高了车辆监控的效率和遇到非正常情形时的应急能力。与此同时，本申请，在基于有人员或物品靠近车辆的前提下，通过预存储的车主照片信息和车辆周边影像图片，能够提前感知车主要准备开车，并及时开启车辆系统预热功能，进一步提升智能化驾驶的用户体验。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一实施例中基于无线信号的车辆感知方法的一应用环境示意图；
图2是本申请一实施例中基于无线信号的车辆感知方法的一流程示意图；
图3是图2中步骤S20的一具体实施方式流程示意图；
图4是图2中步骤S20的一具体实施方式原理说明图；
图5是图2中步骤S30的一具体实施方式流程示意图；
图6是本申请一实施例中基于无线信号的车辆感知装置的一结构示意图；
图7是本申请一实施例中计算机设备的一结构示意图。
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清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供的基于无线信号的车辆感知方法，可应用在如图1所示的应用环境中，其中，在车头左端安装UWB(Ultra Wide Band)发送端设备、车头右端安装UWB接收端设备；同时在车尾的左端安装UWB接收端设备、车尾右端安装UWB发送端设备。设置在某一个固定时间段，上述两个UWB发送端持续发射UWB信号至两个UWB接收端。同时，持续获取两个UWB接收端的UWB信号信息。当根据上述UWB信号信息，判断车辆周围有人员或物品移动时，一方面可以自启动行车记录仪功能，记录车辆周围人员或物品移动的过程，执行车辆监控功能；另一方面也可以发送提醒消息至车主的手机端，执行车辆风险预警功能。
上述基于无线信号的车辆感知方法，能够以一种系统资源占用率比较小的方式，在车辆处于停止状态时进行车辆感知，提高了车辆监控的效率和遇到非正常情形时的应急能力。其中，上述基于无线信号的车辆感知方法，可以应用于汽车中控系统，通过中控控制行车记录仪功能的开启关闭及风险预警消息的发送。下面通过具体的实施例对本申请进行详细的描述。
请参阅图2所示，图2是本申请一实施例中基于无线信号的车辆感知方法的一流程示意图，包括如下步骤：
S10：基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息；
在本申请实施例中，发送端在预定时间持续发射无线信号至接收端。预定时间由车主设定，可以为车辆停止行驶后的一个小时或者两个小时等。车主可以根据停车时间，自行设定发送端发射无线信号的时间段。比如，车主晚上回家后，将车辆停放在停车场，需要在第二天白天出行，那么预定时间可以为晚上7点至第二天早上7点。如果车主只是在某个地方短暂停留，那么预定时间可以为半个小时或一个小时等。与此同时，发送端、接收端的数量、摆放位置会根据车的型号、大小而有所不同，本申请对此不作限制。可选的，在本申请实施例中，发送端、接收端的数量、摆放位置可以采取图1所示中的方案，其中，在车头左端安装一个发送端设备、车头右端安装一个接收端设备；同时在车尾的左端安装一个接收端设备、车尾右端安装一个发送端设备。如此一来，车辆四周任何一个方向有人员或者车辆活动时，都会被系统监测到。
S20：根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动；
请参阅图3所示，图3是图2中步骤S20的一具体实施方式流程示意图，主要包括：
S21：判断是否有一个或多个接收端的无线信号信息提前或延迟到达接收端；
S22：如果有一个或多个接收端的无线信号信息提前或延迟到达接收端，则判断车辆周围有人员或物品的移动。
当车辆周围没有人员或物品移动的时候，接收端接收的多个无线信号之间的时间差都是固定的、不变的。然而，当车辆周围有人员或物品移动的时候，接收端接收的多个无线信号之间的时间差就不一样了。请参阅图4所示，图4是图2中步骤S20的一具体实施方式原理说明图。
以连续两个反射信号为例，假设反射信号1的值为S1是复数，幅值A1代表反射信号的强度，角度代表反射信号的相位。当反射物发生变化时，例如反射物稍微向雷达方向移动一点，则反射信号变为由于反射物在很短的时间不会移动很大的距离，反射信号的强度变化不大，主要是相位的变化。例如，反射物向雷达方向移动Δx，Δx很小，比波长要小很多，当载波8GHz时，波长的典型值是4cm，Δx小于1cm。则反射信号2相比反射信号1，会提前达到接收端，提前的距离为：Δl＝2Δx*sinθ。那么，反射信号2的相位会比反射信号1的相位提前，提前的幅度为： 若发送端的发送间隔为Δt，则信号变化的角频率为：其中， V为反射物的速度，向着雷达移动为正。因此，根据反射信号变化的角频率，就可以得到反射物的速度。
基于相同的道理，当反射物远离雷达的方向移动一点，那么反射信号2相比反射信号1，会延迟达到接收端。因此，就可以根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动。
在一种实施方式中，为了进一步判断是人员移动还是物品移动，所述根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动之后，还包括：
A1：如果判断车辆周围有人员或物品的移动，则自启动车辆影像采集功能，并获取车辆周边影像图片信息；
A2：根据车辆周边影像图片信息，判断是人员移动，还是物品移动。
比如，当根据接收端的无线信号信息，判断车辆周围有人员或物品的移动时，打开车载摄像头，获取车辆周边影像图片信息。然后，从车辆周边影像图片信息中提取相关特征信息，判断是否存在人物特征信息。如果不存在人物特征信息，则判断是物品移动；如果存在人物特征信息，则判断是人员移动。
在一种实施方式中，当判断车辆周边有人员移动时，可以通过预存储的车主照片信息和车辆周边影像图片，提前感知车主要准备开车，具体包括：
B1：如果判断是人员移动，则获取预存储的车主照片信息；
B2：根据车主照片信息和车辆周边影像图片信息，判断是否是车主靠近车辆。
比如，在汽车中控系统中预存储了车主的头像信息，将上一步所提取的人物特征信息与车主的头像信息进行比对，当比对的匹配率达到一定比例时，比如95％以上，那么判断是车主靠近车辆。
在一种实施方式中，为了进一步提升智能化驾驶的用户体验，所述根据车主照片信息和车辆周边影像图片信息，判断是否是车主靠近车辆之后，还包括：如果判断是车主靠近车辆，则开启车辆系统预热功能，其中，所述车辆系统预热功能包括：车辆自检功能或者车辆迎宾功能。车辆自检是指车辆启动时，行车电脑检查某些功能和汽车部件是否正常。如果不正常的话，则通过故障灯进行提示。车辆迎宾是在车辆底部、后视镜等周围安装灯进行迎宾，以提升用户的驾驶体验感。
S30：如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预警功能。
请参阅图5所示，图5是图2中步骤S30的一具体实施方式流程示意图，执行相对应的车辆监控功能，主要包括：
S31：自启动行车记录仪功能，记录车辆周围人员或物品移动的过程；
S32：当再次根据接收端的无线信号信息，判断车辆周围没有人员或物品的移动后，自动关闭行车记录仪功能，并停止记录。
车辆中的行车记录仪功能，通常用来留存车辆行驶过程中的记录影像，以备后续处理纠纷时，作为证据进行提供。同样地，车辆停止行驶时位于停车场等场所，偶尔也会发生车辆剐蹭、被他人划破、破窗盗窃车内物品等非正常情况。为了及时保存现场证据，当车辆感知有相关风险的时候，也可以通过行车记录仪的功能，进行车辆监控。需要说明的是，如果行车记录仪一直处于开启的状态，会占用较大地系统资源。因此，可以根据车辆周围的动态情况，来决定是否开启行车记录仪。比如，当判断车辆周围有人员或物品的移动的时候，自启动行车记录仪；当再次根据接收端的无线信号信息，判断车辆周围没有人员或物品的移动后，自动关闭行车记录仪功能，从而，进一步提高了车辆监控效率。
与此同时，当判断车辆周围有人员或物品的移动，也可以通过车辆风险预警功能，将风险消息及时告知车主。一方面，可以通过车辆中控系统，发送提醒消息至车主手机客户端；另一方面，也可以通过鸣笛等方式进行预警。
在一种实施方式中，所述无线信号可以为UWB超宽带无线信号。UWB超宽带无线通信技术是一种使用1GHz以上频率带宽的无线载波通信技术，利用纳秒级的非正弦波窄脉冲传输数据，数据传输速率高、抗多径干扰能力强、功耗低、成本低、穿透能力强、截获率低，能够更加精准、高效地判断车辆周 围是否有人员或物品的移动。同时，所述无线信号也可以为微波信号，通过使用300MHz-300GHz的电磁波进行无线通信，本申请对此不作限制。
可见，本申请实施例中，基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息，并根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动，当判断车辆周围有人员或物品的移动时，执行相对应的车辆监控或风险预警功能，进一步提高了车辆监控的效率和遇到非正常情形时的应急能力。与此同时，本申请，在基于有人员或物品靠近车辆的前提下，通过预存储的车主照片信息和车辆周边影像图片，能够提前感知车主要准备开车，并及时开启车辆系统预热功能，提升智能化驾驶的用户体验。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。此外，术语“包括”及其变体要被解读为“包括但不限于”的开放式术语。
在一实施例中，提供一种基于无线信号的车辆感知装置，该感知装置与上述实施例中基于无线信号的车辆感知方法一一对应。如图6所示，该感知装置包括：获取无线信号信息模块301、判断人员或物品移动模块302、执行功能模块303、车辆系统预热模块304。各功能模块详细说明如下：
获取无线信号信息模块301：用于基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息。
判断人员或物品移动模块302：用于根根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动。
执行功能模块303：用于如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预警功能。
车辆系统预热模块304：用于如果判断是车主靠近车辆，则开启车辆系统预热功能，其中，所述车辆系统预热功能包括：车辆自检功能或者车辆迎宾功能。
在一实施例中，判断人员或物品移动模块302，还包括用于：
判断是否有一个或多个接收端的无线信号信息提前或延迟到达接收端；
如果有一个或多个接收端的无线信号信息提前或延迟到达接收端，则判断车辆周围有人员或物品的移动。
在一实施例中，判断人员或物品移动模块302，还包括用于：
如果判断车辆周围有人员或物品的移动，则自启动车辆影像采集功能，并获取车辆周边影像图片信息；
根据车辆周边影像图片信息，判断是人员移动，还是物品移动。
在一实施例中，判断人员或物品移动模块302，还包括用于：
如果判断是人员移动，则获取预存储的车主照片信息；
根据车主照片信息和车辆周边影像图片信息，判断是否是车主靠近车辆。
在一实施例中，执行功能模块303，还包括用于：
自启动行车记录仪功能，记录车辆周围人员或物品移动的过程；
当再次根据接收端的无线信号信息，判断车辆周围没有人员或物品的移动后，自动关闭行车记录仪功能，并停止记录。
在一实施例中，获取无线信号信息模块301和判断人员或物品移动模块302中的无线信号为UWB超宽带无线信号，用于精准、高效地判断车辆周围是否有人员或物品的移动。
本申请提供了一种基于无线信号的车辆感知装置，基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息，并根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动，当判断车辆周围有人员或物品的移动时，执行相对应的车辆监控或风险预警功能。本申请能够以一种系统资源占用率比较小的方式进行车辆感知，提高了车辆监控的效率和遇到非正常情形时的应急能力。与此同时，本申请，在基于有人员或物品靠近车辆的前提下，通过预存储的车主照片信息和车辆周边影像图片，能够提前感知车主要准备开车，并及时开启车辆系统预热功能，进一步提升智能化驾驶的用户体验。
关于基于无线信号的车辆感知装置的具体限定可以参见上文中基于无线信号的车辆感知方法的限定，在此不再赘述。上述基于无线信号的车辆感知装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种计算机设备，其内部结构图可以如图7所示。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的网络接口用于与外部服务器通过网络连接通信。该计算机程序被处理器执行时以实现一种基于无线信号的车辆感知方法的功能或步骤。
在一个实施例中，提供了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，处理器执行计算机程序时实现以下步骤：
基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息；
根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动；
如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预警功能。
在一个实施例中，提供了一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现以下步骤：
基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息；
根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动；
如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预警功能。
需要说明的是，上述关于计算机可读存储介质或计算机设备所能实现的功能或步骤，可对应参阅前述方法实施例中的相关描述，为避免重复，这里不再一一描述。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、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单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种基于无线信号的车辆感知方法，其中，包括：
    基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息；
    根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动；
    如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预警功能。
  2. 根据权利要求1所述的方法，其中，所述根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动，包括：
    判断是否有一个或多个接收端的无线信号信息提前或延迟到达接收端；
    如果有一个或多个接收端的无线信号信息提前或延迟到达接收端，则判断车辆周围有人员或物品的移动。
  3. 根据权利要求1所述的方法，其中，所述根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动之后，还包括：
    如果判断车辆周围有人员或物品的移动，则自启动车辆影像采集功能，并获取车辆周边影像图片信息；
    根据车辆周边影像图片信息，判断是人员移动，还是物品移动。
  4. 根据权利要求3所述的方法，其中，所述根据车辆周边影像图片信息，判断是人员移动，还是物品移动之后，还包括：
    如果判断是人员移动，则获取预存储的车主照片信息；
    根据车主照片信息和车辆周边影像图片信息，判断是否是车主靠近车辆。
  5. 根据权利要求4所述的方法，其中，所述根据车主照片信息和车辆周边影像图片信息，判断是否是车主靠近车辆之后，还包括：
    如果判断是车主靠近车辆，则开启车辆系统预热功能，其中，所述车辆 系统预热功能包括：车辆自检功能或者车辆迎宾功能。
  6. 根据权利要求1所述的方法，其中，所述执行相对应的车辆监控功能，包括：
    自启动行车记录仪功能，记录车辆周围人员或物品移动的过程；
    当再次根据接收端的无线信号信息，判断车辆周围没有人员或物品的移动后，自动关闭行车记录仪功能，并停止记录。
  7. 根据权利要求1至6任一所述的方法，其中，所述无线信号为UWB超宽带无线信号，用于精准、高效地判断车辆周围是否有人员或物品的移动。
  8. 一种基于无线信号的车辆感知装置，其中，包括：
    获取无线信号信息模块：用于基于多个发送端在预定时间持续发射无线信号至多个接收端的前提下，持续获取多个接收端的无线信号信息；
    判断人员或物品移动模块：用于根根据接收端的无线信号信息，判断车辆周围是否有人员或物品的移动；
    执行功能模块：用于如果车辆周围有人员或物品的移动，则执行相对应的车辆监控或风险预警功能。
  9. 一种存储介质，其中，所述存储介质中存储有计算机程序，其中，所述计算机程序被配置为运行时执行权利要求1至7中任一项所述的方法。
  10. 一种电子设备，其中，包括处理器和存储器，其中所述存储器中存储有计算机程序，所述处理器被配置为运行所述计算机程序以执行权利要求1至7中任一项所述的方法。
PCT/CN2023/122376 2022-10-09 2023-09-28 一种基于无线信号的车辆感知方法、装置、介质及设备 WO2024078350A1 (zh)

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