A tailgate control method, system, device and storage medium

Abstract

The application discloses a tail gate control method, system, device and storage medium, wherein the method comprises the following steps: when it is detected that a to-be-authenticated client enters a preset effective range and the identity verification result of the to-be-authenticated client is valid, a projection lamp is controlled to project a projection area at a preset angle; a sensor is started, object reflection information in the projection area is detected through the sensor, and whether the motion state in the projection area is compliant is judged according to the object reflection information; when it is judged that the motion state is compliant, the current tail gate state is acquired, if the current tail gate state is an open state, the tail gate is controlled to be closed, and if the current tail gate state is a closed state, the tail gate is controlled to be opened. According to the application, whether the motion state in the projection area is compliant is judged according to the object reflection information, and then whether the tail gate is opened or closed is judged, so that the hand needs not to be moved to the projection area to realize the opening or closing of the tail gate, and the convenience of tail gate control is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of automotive intelligent control technology, and in particular to a tailgate control method, system, device, and storage medium. Background Technology

[0002] With technological advancements, automobiles are becoming increasingly intelligent. Electric tailgates are widely used in the automotive industry. Existing tailgate control systems typically require users to manually activate the tailgate switch to open or close it. This is inconvenient when users are holding items, making it difficult to conveniently open or close the tailgate. Summary of the Invention

[0003] This invention provides a tailgate control method, system, device, and storage medium to solve the technical problem that existing tailgate control systems typically require users to manually trigger the tailgate switch to open or close the tailgate, which is inconvenient when users are holding things in their hands, making it difficult to conveniently open or close the tailgate.

[0004] This invention provides a tailgate control method, comprising: When the client to be authenticated is detected to have entered the preset valid range and the authentication result of the client to be authenticated is valid, the projector is controlled to project a projection area at a preset angle. The sensor is activated to detect the reflection information of objects within the projection area, and the motion status within the projection area is determined to be compliant based on the object reflection information. When the action state is determined to be compliant, the current tailgate state is obtained. If the current tailgate state is open, the tailgate is controlled to close; if the current tailgate state is closed, the tailgate is controlled to open.

[0005] Furthermore, when the client to be authenticated is detected to have entered a preset valid range, and the authentication result of the client to be authenticated is valid, controlling the projection lamp to project a projection area at a preset angle includes: The system continuously sends communication signals to the area around the vehicle and detects clients to be authenticated through these communication signals. If a client to be authenticated is detected, it is determined that the client to be authenticated has entered a preset valid range. Establish a communication connection with the client to be authenticated, obtain the authentication information sent by the client to be authenticated, compare the authentication information with the preset authentication information, and if they match, determine that the identity of the client to be authenticated is valid, and control the projector to project a projection area at a preset angle.

[0006] Furthermore, determining whether the action state within the projection area is compliant based on the object's reflection information includes: Based on the object reflection information, identify the moving object within the projection area, and superimpose the point cloud information generated by the moving object during its movement into the first point cloud information; Based on the sensor's installation posture, the first point cloud information is transformed into the second point cloud information in the vehicle coordinate system; The second point cloud information is filtered to obtain the third point cloud information; If the amount of the third point cloud information exceeds the first preset threshold within the preset flow time window, the action is initiated. After the action begins, if the number of point clouds in the third point cloud information is less than the first preset threshold within the preset flow time window, the action is determined to end. During the movement from the start of the action to the end of the action, it is determined whether the action state is compliant.

[0007] Furthermore, the filtering process of the second point cloud information to obtain the third point cloud information includes: Based on the sensor's mounting orientation, determine the sensor's x-axis offset and z-axis offset; Remove point cloud information with a z-axis offset less than 0 from the second point cloud information; Remove point cloud information with an x-axis offset less than 0 from the second point cloud information; Remove point cloud information from the second point cloud information where the movement speed is less than the compliant kicking speed or compliant foot stepping speed; The point cloud information located outside the projection area in the second point cloud information is removed to obtain the third point cloud information.

[0008] Furthermore, determining whether the action state is compliant during the movement period from the start of the action to the end of the action includes: If the action angle and spot distance of the action state both meet the preset conditions, then the action state is determined to be a potentially compliant action state. If the equilibrium speed of the potential compliant action state is less than the third preset threshold, then the action of the potential compliant action state is determined to be a compliant kicking action; if the speed of all point clouds of the potential compliant action state is greater than zero and the equilibrium speed is greater than the third preset threshold, then the action of the potential compliant action state is determined to be a compliant stomping action. When the action state is a compliant kicking action or a compliant stomping action, the action state is determined to be compliant.

[0009] Furthermore, if both the action angle and the light spot distance of the action state meet preset conditions, then the action state is determined to be a potentially compliant action state, including: During the motion, the normal vector of the third point cloud information is calculated; The angle between the normal vector and the Y-axis is taken as the action angle. If the action angle is less than the preset compliant action angle, it is determined that the action angle meets the preset conditions. The number of point clouds within a certain radius of the projection area is calculated. If the number of point clouds is greater than a second preset value, the spot distance of the action state is determined to meet the preset conditions.

[0010] The present invention also provides a tailgate control system, comprising: The projection module is used to control the projection lamp to project a projection area at a preset angle when it detects that the client to be authenticated has entered a preset valid range and the authentication result of the client to be authenticated is valid. The action state compliance judgment module is used to activate the sensor, detect the object reflection information in the projection area through the sensor, and judge whether the action state in the projection area is compliant based on the object reflection information. The tailgate control module is used to obtain the current tailgate status when the action status is deemed compliant. If the current tailgate status is open, it controls the tailgate to close; if the current tailgate status is closed, it controls the tailgate to open. The present invention also provides an electronic device including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; the memory is coupled to the processor, and the processor implements the tailgate control method as described above when executing the computer program.

[0011] The present invention also provides a computer-readable storage medium comprising a stored computer program; wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the tailgate control method as described above.

[0012] This invention detects the reflection information of objects within the projection area using the sensor, and determines whether the action state within the projection area is compliant based on the object reflection information, thereby determining whether to open or close the tailgate. This eliminates the need to move the hand to the projection area to open or close the tailgate, effectively improving the convenience of tailgate control. Furthermore, it can accurately judge and locate the position, speed, and action state of moving objects, effectively improving the accuracy and reliability of tailgate control.

[0013] Furthermore, in this invention, the action angle and spot distance in the action state both meet preset conditions, and the action state is determined to be a potentially compliant action state. Based on this, the invention further determines whether it is a compliant kicking action or a compliant foot stepping action by combining the balanced speed of the action state. This takes into account the impact of balanced speed on the action compliance judgment in actual application scenarios, thereby further improving the accuracy and reliability of tailgate control. Attached Figure Description

[0014] Figure 1 This is a flowchart illustrating the tailgate control method provided in an embodiment of the present invention; Figure 2 This is a speed statistics diagram provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the change of sensor detection points over time provided in an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the changes in kicking and retraction parameters over time, provided in an embodiment of the present invention. Figure 5 This is a schematic diagram illustrating the change in speed over time during kicking and retracting the leg, provided in an embodiment of the present invention. Figure 6 This is a schematic diagram illustrating a scenario where a ball rolls from the back of a car to the bottom of the trunk, as provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the tailgate control system provided in an embodiment of the present invention. Detailed Implementation

[0015] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0017] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0018] Please see Figure 1 The present invention provides a tailgate control method, comprising: S1. When the client to be authenticated is detected to have entered the preset valid range and the authentication result of the client to be authenticated is valid, control the projector to project a projection area at a preset angle. In this embodiment of the invention, the client to be authenticated can be a key to be authenticated. A projection light can be installed at the tailgate of the vehicle. When the authentication result of the client to be authenticated is valid, the projection light projects a projection area onto the ground at a 45° angle. This projection area can be used to indicate the user's tailgate control actions in this area, so that the processor can recognize the user's action status and further determine whether the tailgate should be opened or closed.

[0019] S2. Activate the sensor to detect the reflection information of objects in the projection area, and determine whether the action status in the projection area is compliant based on the object reflection information. In this embodiment of the invention, the sensor and the projection lamp are respectively connected to the processor. The sensor can be a millimeter-wave radar, and the center distance of the millimeter-wave radar from the horizontal ground is within a range of 30cm-40cm (when the vehicle is unloaded). The object reflection information in the projection area can be detected by the sensor. Based on this object emission information, it is possible to accurately determine whether the action state in the projection area is compliant, thereby ensuring that the accuracy of tailgate control is improved under the premise that the action state is compliant.

[0020] S3. When the action status is determined to be compliant, obtain the current tailgate status. If the current tailgate status is open, control the tailgate to close; if the current tailgate status is closed, control the tailgate to open.

[0021] In this embodiment of the invention, the sensor detects the reflection information of objects in the projection area, and judges whether the action state in the projection area is compliant based on the object reflection information, thereby determining whether to open or close the tailgate. There is no need to move the hand to the projection area to open or close the tailgate, which effectively improves the convenience of tailgate control. Moreover, it can accurately judge and locate the position, speed and action state of moving objects, which can effectively improve the accuracy and reliability of tailgate control.

[0022] In one embodiment, step S1, when the client to be authenticated is detected to have entered a preset valid range and the authentication result of the client to be authenticated is valid, controls the projection lamp to project a projection area at a preset angle, including: S11. Continuously send communication signals to the area around the vehicle and detect the client to be authenticated through the communication signals. If the client to be authenticated is detected, it is determined that the client to be authenticated has entered the preset valid range. S12. Establish a communication connection with the client to be authenticated, obtain the authentication information sent by the client to be authenticated, compare the authentication information with the preset authentication information, and if they match, determine that the identity of the client to be authenticated is valid, and control the projector to project a projection area at a preset angle.

[0023] In this embodiment of the invention, when it is confirmed that the client to be authenticated has entered the preset effective range, the client is authenticated, and after the identity of the client to be authenticated is confirmed to be legitimate, the projection light is controlled to project onto the projection area, which can effectively improve the accuracy of tailgate control and avoid the situation where other clients accidentally trigger tailgate control.

[0024] In one embodiment, step S2, determining whether the action state within the projection area is compliant based on object reflection information, includes: S21. Identify moving objects within the projection area based on the object reflection information, and superimpose the point cloud information generated by the moving objects during their motion into the first point cloud information. In this embodiment of the invention, the object reflection information includes distance information, angle information, velocity information, and reflection intensity information. Specifically, multiple frequency-modulated continuous waves can be periodically transmitted / received by a sensor. The distance between different objects can be determined by separating single-tone signals. Velocity information is obtained by measuring the phase difference. The azimuth angle is obtained by measuring the phase difference between different antennas. The object reflection information can be obtained by applying an FFT algorithm to the distance, angle, velocity, and transmission intensity information. Based on the object reflection information, this embodiment of the invention identifies moving objects within the projection area and superimposes objects within a certain time window into a 3D point cloud to obtain the first point cloud information.

[0025] Please see Figure 2 This is a speed statistics diagram provided in an embodiment of the present invention.

[0026] S22. Based on the sensor's installation posture, transform the first point cloud information into the second point cloud information in the vehicle coordinate system; In this embodiment of the invention, the sensor installation parameters can be determined based on the sensor's installation posture, including x-axis offset, y-axis offset, z-axis offset, yaw angle, pitch angle, and roll. Based on the sensor's installation parameters, this embodiment of the invention transforms the first point cloud information, i.e., the radar point cloud, from the measurement coordinates into point cloud information in the vehicle coordinate space, i.e., the second point cloud information.

[0027] S23. Filter the second point cloud information to obtain the third point cloud information; In this embodiment of the invention, the third point cloud information is obtained by filtering the second point cloud information, which can not only effectively reduce the amount of computation, but also effectively improve the accuracy of the point cloud information.

[0028] S24. If the number of third point cloud information exceeds the first preset threshold within the preset flow time window, the action is determined to start. S25. After the action starts, if the number of point clouds of the third point cloud information is less than the first preset threshold within the preset flow time window, the action is determined to end. In this embodiment of the invention, the percentage of the first preset threshold can be set according to actual needs. For example, the first preset threshold can be 95% of the point cloud distribution of normal kicking / stomping actions.

[0029] S26. During the movement from the start to the end of the action, determine whether the action state is compliant.

[0030] In this embodiment of the invention, by converting and filtering the first point cloud information, a third point cloud information is obtained. By comparing the number of points in the third point cloud information with a first preset threshold, the start and end of the action can be effectively determined, thereby accurately determining the period of motion. By making compliance judgments on the action status during the motion, the accuracy of tailgate control can be accurately improved.

[0031] In one embodiment, step S23, filtering the second point cloud information to obtain the third point cloud information, includes: S231. Determine the x-axis offset and z-axis offset of the sensor based on the sensor's installation orientation; In this embodiment of the invention, the offset of each axis in the sensor coordinate system can be determined based on the sensor's mounting orientation.

[0032] S232. Remove point cloud information with a z-axis offset less than 0 from the second point cloud information; S233. Remove point cloud information with x-axis offset less than 0 from the second point cloud information; S234. Remove point cloud information in the second point cloud information where the movement speed is less than the compliant kicking speed or compliant foot stepping speed. S235. Remove the point cloud information located outside the projection area from the second point cloud information to obtain the third point cloud information.

[0033] In this embodiment of the invention, by filtering the second point cloud information, some irrelevant or misjudged point cloud information can be excluded, thereby reducing the occurrence of false triggering and effectively improving the reliability and stability of the vehicle tailgate control system. Furthermore, by filtering the second point cloud information, unnecessary data volume can be reduced, information processing and calculation speed can be optimized, and the response speed and real-time performance of the vehicle tailgate control system can be effectively improved, enabling control actions to be responded to and executed more quickly.

[0034] In one embodiment, step S26, determining whether the action state is compliant during the movement period from the start to the end of the action, includes: S261. If the action angle and spot distance of the action state both meet the preset conditions, the action state is determined to be a potentially compliant action state. S262. If the equilibrium speed of a potential compliant action state is less than the third preset threshold, then the action of the potential compliant action state is determined to be a compliant kicking action; if the speed of all point clouds in a potential compliant action state is greater than zero and the equilibrium speed is greater than the third preset threshold, then the action of the potential compliant action state is determined to be a compliant stomping action. When the action state is a compliant kicking action or a compliant stomping action, the action state is determined to be compliant.

[0035] In this embodiment of the invention, the kicking motion has speed balance, meaning the number of forward and backward motion points are of equal order of magnitude. Speed ​​balance is defined as: v_balance = fabs(num[v>0] - num[v<0]) / num(total)×100%. The speed balance of a compliant kicking motion follows a normal distribution, and the 95% distribution range is the threshold of the compliant kicking speed balance parameter, i.e., the third preset threshold.

[0036] In one embodiment, step S261, if both the action angle and the spot distance of the action state meet preset conditions, then the action state is determined to be a potentially compliant action state, including: S2611. During the motion, calculate the normal vector of the third point cloud information; In this embodiment of the invention, the normal vector of the third point cloud information can be obtained by solving the eigenvector based on the point cloud covariance matrix, and its eigenvalue is 1.

[0037] S2612. The angle between the normal vector and the Y-axis is taken as the action angle. If the action angle is less than the preset compliant action angle, the action angle is determined to meet the preset conditions. In this embodiment of the invention, the angle between the normal vector and the Y-axis of the vehicle coordinate system is the action angle of the action. In this embodiment of the invention, preset and compliant action angles can be set according to actual needs.

[0038] S2613. Calculate the number of point clouds within a certain radius of the projection area of ​​the third point cloud information. If the number of point clouds is greater than the second preset value, then determine that the light spot distance of the action state meets the preset conditions.

[0039] In this embodiment, a certain radius range in the projection area can be used as the spot area. If the number of points in the spot area of ​​the third point cloud information is greater than the second preset value, the second preset value can be 95% of the number of points in the spot area of ​​the compliant action, that is, the spot distance of the action state corresponding to the third point cloud information meets the preset conditions.

[0040] In this embodiment of the invention, the compliance of the action state can be further determined by judging the action consistency parameter. Specifically, the angle between the vector of each point cloud relative to the centroid and the normal vector in the third point cloud information is calculated. The angle should be distributed around 90 degrees and follow a normal distribution. The standard deviation of the point cloud angle distribution and the standard deviation threshold of the angle of the compliant action are obtained. The standard deviation threshold of the angle can be within the range of 95% probability distribution.

[0041] In this embodiment of the invention, the motion state within the projection area is judged to be compliant based on the object reflection information, and the following non-compliant actions can be excluded, including random walking, large-angle or lateral movement, standing still, movement beyond the range and non-lower limb movement, such as box movement.

[0042] Please see Figure 3 This is a schematic diagram illustrating the change of sensor detection points over time according to an embodiment of the present invention. The center point represents a valid kicking motion, while the left and right sides represent other interference signals.

[0043] Please see Figure 4 This is a schematic diagram illustrating the changes in kicking and retraction parameters over time according to an embodiment of the present invention. The upper left corner shows the output point cloud curve of the kicking height changing over time, the upper right corner shows the output point cloud curve of the retraction height changing over time, the lower left corner shows the output point cloud curve of the kicking distance changing over time, and the lower right corner shows the output point cloud curve of the retraction distance changing over time.

[0044] Please see Figure 5 This is a schematic diagram of the speed change over time during kicking and retracting the leg, provided in an embodiment of the present invention. The left side is the output point cloud curve of the speed change over time during the kicking process, and the right side is the output point cloud curve of the speed change over time during the retracting process.

[0045] In one embodiment, the simulation included whether a pedestrian crossing the tailgate would accidentally trigger the door to open, whether placing or retrieving items after the owner has opened the tailgate would accidentally trigger the door to close, and whether a ball rolling from the rear of the vehicle under the trunk, as well as the lateral rolling of balls of varying sizes. Each scenario was tested 1000 times, with zero false triggers in all scenarios. Please refer to [link to relevant documentation]. Figure 6 This is a schematic diagram illustrating a scenario where a ball rolls from the back of a car down into the trunk, as provided in an embodiment of the present invention.

[0046] Implementing the embodiments of the present invention has the following beneficial effects: This invention uses sensors to detect the reflection information of objects within the projection area. Based on the reflection information, it determines whether the movement status within the projection area is compliant and thus determines whether to open or close the tailgate. This eliminates the need to move hands to the projection area to open or close the tailgate, effectively improving the convenience of tailgate control. Furthermore, it can accurately judge and locate the position, speed, and movement status of moving objects, thus effectively improving the accuracy and reliability of tailgate control.

[0047] Furthermore, in this embodiment of the invention, if the angle of the action and the distance of the light spot in the action state both meet the preset conditions, the action state is determined to be a potentially compliant action state. Based on this, the balanced speed of the action state is combined to further determine whether it is a compliant kicking action or a compliant foot stepping action. This takes into account the impact of the balanced speed on the action compliance judgment in actual application scenarios, thereby further improving the accuracy and reliability of tailgate control.

[0048] Please see Figure 7 Based on the same inventive concept as the above embodiments, the present invention also provides a tailgate control system, comprising: The projection module 10 is used to control the projection lamp to project a projection area at a preset angle when it detects that the client to be authenticated has entered the preset valid range and the authentication result of the client to be authenticated is valid. The action state compliance judgment module 20 is used to activate the sensor, detect the object reflection information in the projection area through the sensor, and judge whether the action state in the projection area is compliant based on the object reflection information. The tailgate control module 30 is used to obtain the current tailgate status when the action status is deemed compliant. If the current tailgate status is open, it controls the tailgate to close; if the current tailgate status is closed, it controls the tailgate to open.

[0049] In one embodiment, the projection module 10 is further configured to: The system continuously sends communication signals to the area around the vehicle and detects clients to be authenticated through these signals. If a client to be authenticated is detected, it is determined that the client has entered the preset valid range. Establish a communication connection with the client to be authenticated, obtain the authentication information sent by the client to be authenticated, compare the authentication information with the preset authentication information, if they match, determine that the identity of the client to be authenticated is valid, and control the projector to project a projection area at a preset angle.

[0050] In one embodiment, the action state compliance judgment module 20 is further configured to: Based on the object reflection information, identify moving objects within the projection area, and superimpose the point cloud information generated by the moving objects during their movement into the first point cloud information; Based on the sensor's installation posture, the first point cloud information is transformed into the second point cloud information in the vehicle coordinate system; The second point cloud information is filtered to obtain the third point cloud information; If the number of third point cloud information exceeds the first preset threshold within the preset flow time window, the action is initiated. After the action begins, if the number of point clouds in the third point cloud information is less than the first preset threshold within the preset flow time window, the action is determined to end. During the movement from the start to the end of the movement, determine whether the movement status is compliant.

[0051] In one embodiment, filtering the second point cloud information to obtain the third point cloud information includes: Based on the sensor's installation orientation, determine the sensor's x-axis offset and z-axis offset; Remove point cloud information with a z-axis offset less than 0 from the second point cloud information; Remove point cloud information with an x-axis offset less than 0 from the second point cloud information; Remove point cloud information from the second point cloud information where the movement speed is less than the compliant kicking speed or compliant foot stepping speed; The point cloud information located outside the projection area in the second point cloud information is removed to obtain the third point cloud information.

[0052] In one embodiment, determining whether the action state is compliant during the movement period from the start to the end of the action includes: If the angle of motion and the distance of the light spot in the action state both meet the preset conditions, then the action state is determined to be a potentially compliant action state. If the equilibrium speed of a potential compliant action state is less than the third preset threshold, the action in the potential compliant action state is determined to be a compliant kicking action; if the speed of all point clouds in a potential compliant action state is greater than zero and the equilibrium speed is greater than the third preset threshold, the action in the potential compliant action state is determined to be a compliant stomping action.

[0053] In one embodiment, if both the action angle and the spot distance of the action state meet preset conditions, the action state is determined to be a potentially compliant action state, including: During the motion, the normal vector of the third point cloud information is calculated; The angle between the normal vector and the Y-axis is taken as the action angle. If the action angle is less than the preset compliant action angle, the action angle is determined to meet the preset conditions. The number of point clouds within a certain radius of the projection area is calculated. If the number of point clouds is greater than the second preset value, the spot distance of the action state is determined to meet the preset conditions.

[0054] The present invention also provides an electronic device including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; the memory is coupled to the processor, and the processor implements the tailgate control method as described above when executing the computer program.

[0055] The present invention also provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the tailgate control method as described above.

[0056] Accordingly, one embodiment of the present invention also provides a terminal device, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the tailgate control method of any of the above embodiments.

[0057] The terminal device in this embodiment includes a processor, a memory, and a computer program and computer instructions stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps described in Embodiment 1 above, for example... Figure 1 The steps S1 to S3 are shown. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the above system embodiment, such as the action state compliance judgment module 20.

[0058] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory and executed by a processor to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in a terminal device. For example, the action state compliance judgment module 20 is used to activate a sensor, detect object reflection information within the projection area through the sensor, and determine whether the action state within the projection area is compliant based on the object reflection information.

[0059] Terminal devices can be computing devices such as desktop computers, laptops, handheld computers, and cloud servers. Terminal devices may include, but are not limited to, processors and memory. Those skilled in the art will understand that the schematic diagrams are merely examples of terminal devices and do not constitute a limitation on the terminal devices. They may include more or fewer components than illustrated, or combine certain components, or different components. For example, terminal devices may also include input / output devices, network access devices, buses, etc.

[0060] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device through various interfaces and lines.

[0061] Memory can be used to store computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function, etc.; the data storage area may store data created based on the use of the mobile terminal, etc. In addition, memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital (SD) cards, flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0062] If the modules / units integrated into the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or system capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0063] Accordingly, one embodiment of the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the tailgate control method of any of the above embodiments.

[0064] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention in detail. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A tailgate control method, characterized in that, include: When the client to be authenticated is detected to have entered the preset valid range and the authentication result of the client to be authenticated is valid, the projector is controlled to project a projection area at a preset angle. The sensor is activated to detect the reflection information of objects within the projection area, and the motion status within the projection area is determined to be compliant based on the object reflection information. When the action state is determined to be compliant, the current tailgate state is obtained. If the current tailgate state is open, the tailgate is controlled to close. If the tailgate is currently closed, control the tailgate to open; The step of determining whether the action state within the projection area is compliant based on the object reflection information includes: Based on the object reflection information, identify the moving object within the projection area, and superimpose the point cloud information generated by the moving object during its movement into the first point cloud information; Based on the sensor's installation posture, the first point cloud information is transformed into the second point cloud information in the vehicle coordinate system; The second point cloud information is filtered to obtain the third point cloud information; If the amount of the third point cloud information exceeds the first preset threshold within the preset flow time window, the action is initiated. After the action begins, if the number of point clouds in the third point cloud information is less than the first preset threshold within the preset flow time window, the action is determined to end. During the movement from the start of the action to the end of the action, it is determined whether the action state is compliant; Determining whether the action state is compliant during the movement period from the start of the action to the end of the action includes: If the action angle and spot distance of the action state both meet the preset conditions, then the action state is determined to be a potentially compliant action state. If the equilibrium speed of the potential compliant action state is less than the third preset threshold, then the action of the potential compliant action state is determined to be a compliant kicking action; if the speed of all point clouds of the potential compliant action state is greater than zero and the equilibrium speed is greater than the third preset threshold, then the action of the potential compliant action state is determined to be a compliant stomping action. When the action state is a compliant kicking action or a compliant stomping action, the action state is determined to be compliant.

2. The tailgate control method as described in claim 1, characterized in that, When the client to be authenticated is detected to have entered a preset valid range, and the authentication result of the client to be authenticated is valid, the step of controlling the projection lamp to project a projection area at a preset angle includes: The system continuously sends communication signals to the area around the vehicle and detects clients to be authenticated through these communication signals. If a client to be authenticated is detected, it is determined that the client to be authenticated has entered a preset valid range. Establish a communication connection with the client to be authenticated, obtain the authentication information sent by the client to be authenticated, compare the authentication information with the preset authentication information, and if they match, determine that the identity of the client to be authenticated is valid, and control the projector to project a projection area at a preset angle.

3. The tailgate control method as described in claim 2, characterized in that, The step of filtering the second point cloud information to obtain the third point cloud information includes: Based on the sensor's mounting orientation, determine the sensor's x-axis offset and z-axis offset; Remove point cloud information with a z-axis offset less than 0 from the second point cloud information; Remove point cloud information with an x-axis offset less than 0 from the second point cloud information; Remove point cloud information from the second point cloud information where the movement speed is less than the compliant kicking speed or compliant foot stepping speed; The point cloud information located outside the projection area in the second point cloud information is removed to obtain the third point cloud information.

4. The tailgate control method as described in claim 3, characterized in that, If both the action angle and the spot distance of the action state meet preset conditions, then the action state is determined to be a potentially compliant action state, including: During the motion, the normal vector of the third point cloud information is calculated; The angle between the normal vector and the Y-axis is taken as the action angle. If the action angle is less than the preset compliant action angle, it is determined that the action angle meets the preset conditions. The number of point clouds within a certain radius of the projection area is calculated. If the number of point clouds is greater than a second preset threshold, the spot distance of the action state is determined to meet the preset conditions.

5. A tailgate control system, characterized in that, include: The projection module is used to control the projection lamp to project a projection area at a preset angle when it detects that the client to be authenticated has entered a preset valid range and the authentication result of the client to be authenticated is valid. The action state compliance judgment module is used to activate the sensor, detect the object reflection information in the projection area through the sensor, and judge whether the action state in the projection area is compliant based on the object reflection information. The tailgate control module is used to obtain the current tailgate status when it is determined that the action status is compliant. If the current tailgate status is open, it controls the tailgate to close. If the tailgate is currently closed, control the tailgate to open; The step of determining whether the action state within the projection area is compliant based on the object reflection information includes: Based on the object reflection information, identify the moving object within the projection area, and superimpose the point cloud information generated by the moving object during its movement into the first point cloud information; Based on the sensor's installation posture, the first point cloud information is transformed into the second point cloud information in the vehicle coordinate system; The second point cloud information is filtered to obtain the third point cloud information; If the amount of the third point cloud information exceeds the first preset threshold within the preset flow time window, the action is initiated. After the action begins, if the number of point clouds in the third point cloud information is less than the first preset threshold within the preset flow time window, the action is determined to end. During the movement from the start of the action to the end of the action, it is determined whether the action state is compliant; Determining whether the action state is compliant during the movement period from the start of the action to the end of the action includes: If the action angle and spot distance of the action state both meet the preset conditions, then the action state is determined to be a potentially compliant action state. If the equilibrium speed of the potential compliant action state is less than the third preset threshold, then the action of the potential compliant action state is determined to be a compliant kicking action; if the speed of all point clouds of the potential compliant action state is greater than zero and the equilibrium speed is greater than the third preset threshold, then the action of the potential compliant action state is determined to be a compliant stomping action. When the action state is a compliant kicking action or a compliant stomping action, the action state is determined to be compliant.

6. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; the memory is coupled to the processor, and the processor, when executing the computer program, implements the tailgate control method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program; wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the tailgate control method as described in any one of claims 1-4.

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