Multi-sensor fusion vehicle control system and method

Abstract

The invention discloses a multi-sensor fusion vehicle control system and method. The system comprises a living body detection radar, an in-vehicle temperature sensor and a positioning module. If the living body detection radar detects that a living body exists in the vehicle, a reference temperature threshold value of in-vehicle temperature regulation and control intervention is obtained according to the position information and the time information, and in-vehicle temperature regulation and control intervention triggering conditions and a temperature regulation and control strategy corresponding to the reference temperature threshold value are determined; and if the in-vehicle temperature meets the triggering condition, the in-vehicle temperature of the vehicle is controlled and adjusted based on a temperature regulation and control strategy corresponding to a reference temperature threshold value. According to the scheme, the temperature in the vehicle is regulated and controlled by adopting differentiated temperature regulation and control intervention strategies. Compared with the prior art that ventilation and cooling are carried out by controlling a car window and starting an air conditioner, the method has obvious advantages.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control system and method for multi-sensor fusion. Background Art

[0002] Relevant data show that if a car is exposed to direct sunlight at 35℃ for 15 minutes, the temperature inside the car can quickly rise to 65℃. In response to this, the "Child Presence Detection" (CPD) came into being.

[0003] As the CPD function of automobiles becomes more and more popular, it is gradually becoming known to the majority of automobile users, and with it comes the increasing demand for intelligent CPD functions. The current mainstream strategy is that CPD uses sensors such as radar and cameras in the car to monitor vital signs, determine whether a child is left in the car, and can send out alarms by pushing messages, making beeps, calling the owner, contacting rescue agencies, etc. Some CPDs can also ventilate and cool down by controlling windows and turning on air conditioning. However, current technologies do not consider how to take corresponding strategies to maximize the protection of life safety in the car when the temperature is low. Summary of the invention

[0004] Based on the above problems, the present application provides a multi-sensor fusion vehicle control system and method, the purpose of which is to adopt differentiated intervention strategies based on the specific temperature conditions when a living body is detected in the vehicle, so as to ensure life safety to the greatest extent.

[0005] The embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, the present application provides a multi-sensor fusion vehicle control system, the system comprising: a liveness detection radar, an in-vehicle temperature sensor and a positioning module: the in-vehicle temperature sensor and the positioning module are both communicatively connected to the liveness detection radar;

[0007] The positioning module is used to collect the location information of the vehicle, and provide the location information and the time information when the location information is collected to the living body detection radar;

[0008] The in-vehicle temperature sensor is used to collect the in-vehicle temperature corresponding to the time information, and provide the in-vehicle temperature to the living body detection radar;

[0009] The living body detection radar is used to obtain a reference temperature threshold for in-vehicle temperature control intervention according to the position information and the time information if a living body is detected in the vehicle, and determine a trigger condition and a temperature control strategy for in-vehicle temperature control intervention corresponding to the reference temperature threshold; if the in-vehicle temperature meets the trigger condition, the in-vehicle temperature of the vehicle is controlled and adjusted based on the temperature control strategy corresponding to the reference temperature threshold;

[0010] The reference temperature threshold includes starting to increase the reference temperature threshold or starting to decrease the reference temperature threshold.

[0011] Optionally, the living body detection radar is specifically used for:

[0012] When it is determined according to the time information and the location information that it is winter, if the vehicle interior temperature is lower than the start-up reference temperature threshold, raising the vehicle interior temperature;

[0013] When it is determined to be summer according to the time information and the location information, if the vehicle interior temperature is higher than the start-down reference temperature threshold, the vehicle interior temperature is lowered.

[0014] Optionally, the system further comprises: an alarm prompt module:

[0015] The alarm prompt temperature threshold includes a high temperature alarm temperature threshold or a low temperature alarm temperature threshold; the high temperature alarm temperature threshold is lower than the start-down reference temperature threshold, and the low temperature alarm temperature threshold is higher than the start-up reference temperature threshold;

[0016] The liveness detection radar is further used to obtain an in-vehicle temperature alarm prompt temperature threshold according to the position information and the time information, and determine a triggering condition and an alarm mode of an in-vehicle temperature alarm corresponding to the alarm prompt temperature threshold; if the in-vehicle temperature meets the alarm triggering condition, an alarm signal is sent to the alarm prompt module based on the alarm mode corresponding to the alarm prompt temperature threshold;

[0017] The alarm prompt module is used to prompt the vehicle user based on the received alarm signal.

[0018] The alarm prompt module includes a body control module and / or a wireless communication module:

[0019] The body control module is used to flash lights or sound the horn based on the received alarm signal;

[0020] The wireless communication module is used to send a message prompt to the vehicle user based on the received alarm signal.

[0021] Optionally, the living body detection radar is specifically used for:

[0022] When it is determined according to the time information and the location information that it is winter, if the temperature inside the vehicle is lower than the low temperature alarm temperature threshold, sending an alarm signal to the alarm prompt module;

[0023] When it is determined to be summer according to the time information and the location information, if the temperature inside the vehicle is higher than the high temperature alarm temperature threshold, an alarm signal is sent to the alarm prompt module.

[0024] Optionally, the living body detection radar is specifically used for:

[0025] If it is detected that there is still a living body in the vehicle after the alarm is prompted, and the temperature inside the vehicle continues to rise until it reaches the reference temperature threshold, then the temperature inside the vehicle is lowered;

[0026] If it is detected that there is still a living body in the vehicle after the alarm is prompted, and the temperature inside the vehicle continues to drop until it reaches the reference temperature threshold, the temperature inside the vehicle is then increased.

[0027] Optionally, the system further includes: an outside temperature sensor:

[0028] The vehicle outside temperature sensor is used to collect the vehicle outside temperature corresponding to the time information, and provide the vehicle outside temperature to the living body detection radar;

[0029] Acquire an ambient temperature monitoring threshold according to the time information and the location information;

[0030] The liveness detection radar is also used to lower the vehicle's interior temperature when the vehicle's outside temperature rises to the ambient temperature monitoring threshold and the vehicle's interior temperature continues to rise until the reference temperature threshold is started to be lowered; and to increase the vehicle's interior temperature when the vehicle's outside temperature drops to the ambient temperature monitoring threshold and the vehicle's interior temperature continues to drop until the reference temperature threshold is started to be raised.

[0031] Optionally, the system includes the vehicle body control module, and the living body detection radar is specifically used for:

[0032] When it is determined to be spring or autumn according to the time information and the location information, when the temperature inside the vehicle exceeds the reference temperature threshold of the season and the temperature inside the vehicle is higher than the temperature outside the vehicle, a window lowering ventilation instruction is sent to the body control module; the body control module controls the window to be lowered according to the instruction;

[0033] If the temperature inside the vehicle is still higher than the reference temperature threshold of the season after lowering the windows for ventilation, the temperature inside the vehicle is adjusted downward.

[0034] Optionally, the system further includes: an engine control module and a battery management module:

[0035] The battery management module is used to monitor the battery voltage signal and provide the battery voltage signal to the living body detection radar;

[0036] The living body detection radar is also used to determine whether the battery voltage is lower than the voltage setting value based on the battery voltage signal sent by the battery management module, and if it is lower than the voltage setting value, send a start instruction to the engine control module;

[0037] The engine control module is used to receive a start instruction of the living body detection radar.

[0038] The second aspect of the present application provides a multi-sensor fusion vehicle control method, which is applied to the multi-sensor fusion vehicle control system provided in the first aspect. The method includes:

[0039] The positioning module collects the position information of the vehicle, and provides the position information and the time information when the position information is collected to the living body detection radar;

[0040] The in-vehicle temperature sensor collects the in-vehicle temperature corresponding to the time information, and provides the in-vehicle temperature to the living body detection radar;

[0041] If the living body detection radar detects the presence of a living body in the vehicle, a reference temperature threshold for in-vehicle temperature control intervention is obtained according to the position information and the time information, and a trigger condition and a temperature control strategy for in-vehicle temperature control intervention corresponding to the reference temperature threshold are determined; if the in-vehicle temperature meets the trigger condition, the in-vehicle temperature of the vehicle is controlled and adjusted based on the temperature control strategy corresponding to the reference temperature threshold;

[0042] The reference temperature threshold includes starting to increase the reference temperature threshold or starting to decrease the reference temperature threshold.

[0043] The controlling and adjusting the interior temperature of the vehicle includes:

[0044] When the living body detection radar determines that it is winter according to the time information and the location information, if the temperature inside the vehicle is lower than the start-up reference temperature threshold, the temperature inside the vehicle is increased;

[0045] When the living body detection radar determines that it is summer according to the time information and the location information, if the temperature inside the vehicle is higher than the start-down reference temperature threshold, the temperature inside the vehicle is lowered.

[0046] Optionally, the method further comprises:

[0047] The liveness detection radar obtains an in-vehicle temperature alarm prompt temperature threshold according to the position information and the time information, and determines a triggering condition and an alarm mode of the in-vehicle temperature alarm corresponding to the alarm prompt temperature threshold; if the in-vehicle temperature meets the alarm triggering condition, an alarm signal is sent to the alarm prompt module based on the alarm mode corresponding to the alarm prompt temperature threshold;

[0048] The alarm prompt module prompts a vehicle user based on the received alarm signal.

[0049] Compared with the prior art, this application has the following beneficial effects:

[0050] The present application provides a vehicle control system and method for multi-sensor fusion, the system comprising: a living body detection radar, an in-vehicle temperature sensor and a positioning module. If the living body detection radar detects the presence of a living body in the vehicle, the reference temperature threshold for in-vehicle temperature control intervention is obtained according to the location information and the time information, and the triggering condition and temperature control strategy for in-vehicle temperature control intervention corresponding to the reference temperature threshold are determined; if the in-vehicle temperature meets the triggering condition, the in-vehicle temperature of the vehicle is controlled and adjusted based on the temperature control strategy corresponding to the reference temperature threshold.

[0051] By adopting differentiated temperature control intervention strategies, we can not only reduce the number of children or pets who are locked in cars and suffer suffocation in hot summer, but also prevent frostbite in cold winter, thereby protecting the life safety of living things in the car to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0053] Figure 1 A schematic diagram of the structure of a multi-sensor fusion vehicle control system provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of the structure of another multi-sensor fusion vehicle control system provided in an embodiment of the present application;

[0055] Figure 3 A schematic diagram of the structure of another multi-sensor fusion vehicle control system provided in an embodiment of the present application;

[0056] Figure 4A schematic diagram of the structure of another multi-sensor fusion vehicle control system provided in an embodiment of the present application;

[0057] Figure 5 A flowchart of a multi-sensor fusion vehicle control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] As described above, the current mainstream strategy for dealing with living bodies left in cars is to send out alerts by pushing messages, making beeps, calling the owner, contacting rescue agencies, etc. Some CPDs can also ventilate and cool the car by controlling the windows and turning on the air conditioner. However, current technologies do not consider how to take corresponding strategies to maximize the protection of life safety in the car when the temperature is low.

[0059] In view of the above problems, the inventor has proposed a multi-sensor fusion vehicle control system and method after research, the system includes: a living body detection radar, an in-vehicle temperature sensor and a positioning module. If the living body detection radar detects the presence of a living body in the vehicle, the reference temperature threshold for in-vehicle temperature control intervention is obtained according to the location information and the time information, and the triggering condition and temperature control strategy for in-vehicle temperature control intervention corresponding to the reference temperature threshold are determined; if the in-vehicle temperature meets the triggering condition, the in-vehicle temperature of the vehicle is controlled and adjusted based on the temperature control strategy corresponding to the reference temperature threshold.

[0060] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] See also Figure 1 , which is a schematic diagram of the structure of a multi-sensor fusion vehicle control system provided in an embodiment of the present application. Figure 1 As shown, the system includes: a living body detection radar, an in-vehicle temperature sensor and a positioning module: the in-vehicle temperature sensor and the positioning module are both communicatively connected to the living body detection radar.

[0062] The positioning module is used to collect the location information of the vehicle, and provide the location information and the time information when the location information is collected to the living body detection radar.

[0063] The vehicle positioning module is a key technology in the car, which is used to determine the vehicle's geographic location and time information. The positioning module receives satellite signals through a satellite positioning system such as GPS to determine the longitude and latitude of the vehicle. Through the built-in clock chip, it records the specific time of collecting the location information, and transmits the location information and time information to the liveness detection radar through the communication module. The liveness detection radar takes timely measures or notifies the owner if there is a live body left in the car based on the received location information and time information.

[0064] The in-vehicle temperature sensor is used to collect the in-vehicle temperature corresponding to the time information, and provide the in-vehicle temperature to the living body detection radar.

[0065] The in-car temperature sensor is installed in the car and can measure the temperature in the car in real time and transmit the temperature data to the living body detection radar.

[0066] The living body detection radar is used to obtain a reference temperature threshold for in-vehicle temperature control intervention based on the location information and the time information if a living body is detected in the vehicle, and to determine a trigger condition and a temperature control strategy for the in-vehicle temperature control intervention corresponding to the reference temperature threshold; if the in-vehicle temperature meets the trigger condition, the in-vehicle temperature of the vehicle is controlled and adjusted based on the temperature control strategy corresponding to the reference temperature threshold.

[0067] The reference temperature threshold includes starting to increase the reference temperature threshold or starting to decrease the reference temperature threshold.

[0068] The liveness detection radar is specifically used to control the upward adjustment of the vehicle's interior temperature when it is determined according to the time information and the location information that it is winter and if the vehicle interior temperature is lower than the start-up reference temperature threshold.

[0069] Exemplarily, it is determined that the time is winter according to the time and location information, and the reference temperature threshold for starting the increase is obtained from the database or preset rules as 10°C. When the temperature inside the car drops to 10°C or below, the temperature is increased.

[0070] The liveness detection radar is specifically used to control the downward adjustment of the vehicle's interior temperature when it is determined that it is summer according to the time information and the location information, and if the vehicle interior temperature is higher than the start downward adjustment reference temperature threshold.

[0071] Exemplarily, it is determined that the time is summer based on the time and location information, and the reference temperature threshold for starting the increase is obtained from the database or preset rules as 35°C. When the temperature inside the vehicle rises to 35°C or above, the temperature is lowered.

[0072] The present embodiment provides a multi-sensor fusion vehicle control system. When a living body is detected in the car, a reference temperature threshold for temperature control intervention in the car is obtained according to location information and time information, and a trigger condition for temperature control intervention is determined. A corresponding temperature control strategy is formulated according to the trigger condition, and the temperature in the car is flexibly adjusted according to actual conditions. This method can not only reduce the situation of suffocation of children or pets when they are locked in the car in hot summer, but also prevent frostbite of children or pets when they are locked in the car in cold winter, thereby protecting the life safety in the car to the greatest extent.

[0073] See also Figure 2 , which is a schematic diagram of the structure of another multi-sensor fusion vehicle control system provided in an embodiment of the present application. In order to further improve the multi-sensor fusion vehicle control system, an alarm prompt module is added. Figure 2 As shown, the system includes: a living body detection radar, an in-vehicle temperature sensor, an alarm prompt module and a positioning module: the in-vehicle temperature sensor, the alarm prompt module and the positioning module are all communicatively connected with the living body detection radar.

[0074] The liveness detection radar is also used to obtain an in-vehicle temperature alarm prompt temperature threshold based on the location information and the time information, and determine the triggering condition and alarm mode of the in-vehicle temperature alarm corresponding to the alarm prompt temperature threshold; if the in-vehicle temperature meets the alarm triggering condition, an alarm signal is sent to the alarm prompt module based on the alarm mode corresponding to the alarm prompt temperature threshold.

[0075] The alarm prompt module is used to prompt the vehicle user based on the received alarm signal.

[0076] The alarm prompt module includes a body control module and / or a wireless communication module: the body control module is used to flash lights or sound a horn based on a received alarm signal; the wireless communication module is used to send a message prompt to the vehicle user based on the received alarm signal.

[0077] The body control system controls the vehicle's lighting system to flash lights and the vehicle's horn system to sound the horn according to the alarm signal. The wireless communication module sends a message to the owner's mobile phone through GSM or GPRS technology based on the alarm signal, informing the owner that there is a living thing in the car and providing the vehicle's location information.

[0078] The alarm prompt temperature threshold includes a high temperature alarm temperature threshold or a low temperature alarm temperature threshold; the high temperature alarm temperature threshold is lower than the start-down reference temperature threshold, and the low temperature alarm temperature threshold is higher than the start-up reference temperature threshold.

[0079] For example, a temperature exceeding 35°C is generally considered a high temperature environment, and a temperature below 5°C is considered a low temperature environment. The start-down reference temperature threshold is 35°C, the start-up reference temperature threshold is 5°C, the high temperature alarm temperature threshold is lower than the start-down reference temperature threshold and is set to 30°C, and the low temperature alarm temperature threshold is higher than the start-up reference temperature threshold and is set to 10°C. When the temperature inside the vehicle meets the alarm triggering condition, the alarm prompt module gives a prompt.

[0080] A low temperature alarm temperature threshold is set, and when it is determined to be winter according to the time information and the location information, if the temperature inside the vehicle is lower than the low temperature alarm temperature threshold, an alarm signal is sent to the alarm prompt module.

[0081] A high temperature alarm temperature threshold is set, and when it is determined to be summer according to the time information and the location information, if the temperature inside the vehicle is higher than the high temperature alarm temperature threshold, an alarm signal is sent to the alarm prompt module.

[0082] If it is detected that there is still a living body in the vehicle after the alarm is prompted, and the temperature inside the vehicle continues to rise until it reaches the reference temperature threshold, then the temperature inside the vehicle is adjusted downward;

[0083] After the alarm is prompted, if it is detected that there is still a living body in the vehicle, and the temperature inside the vehicle continues to drop until it reaches the reference temperature threshold, the temperature inside the vehicle is adjusted upward.

[0084] This embodiment provides another multi-sensor fusion vehicle control system, which is combined with an alarm prompt module to further control the vehicle. The preset alarm prompt temperature threshold can trigger an alarm when the temperature inside the car reaches a certain dangerous level. The liveness detection radar detects again after the alarm prompt. If the occupant or pet is still in the car and the temperature continues to rise or fall to reach the reference temperature threshold, the corresponding temperature control measures are taken to intervene and prevent the temperature inside the car from being too high or too low, causing harm to the occupants or pets in the car.

[0085] See also Figure 3 , which is a schematic diagram of the structure of another multi-sensor fusion vehicle control system provided in the embodiment of the present application. In order to further improve the multi-sensor fusion vehicle control system, an external temperature sensor is added. Figure 3 As shown, the system includes: a liveness detection radar, an in-vehicle temperature sensor, an out-vehicle temperature sensor, an alarm prompt module and a positioning module, and the alarm prompt module includes the body control module: the in-vehicle temperature sensor, the out-vehicle temperature sensor, the alarm prompt module and the positioning module are all communicatively connected to the liveness detection radar.

[0086] The liveness detection radar is also used to lower the vehicle's interior temperature when the vehicle's outside temperature rises to the ambient temperature monitoring threshold and the vehicle's interior temperature continues to rise until the reference temperature threshold is started to be lowered; and to increase the vehicle's interior temperature when the vehicle's outside temperature drops to the ambient temperature monitoring threshold and the vehicle's interior temperature continues to drop until the reference temperature threshold is started to be raised.

[0087] The ambient temperature monitoring threshold is acquired according to the time information and the location information.

[0088] The vehicle exterior temperature sensor is used to collect the vehicle exterior temperature corresponding to the time information, and provide the vehicle exterior temperature to the living body detection radar.

[0089] When the outside temperature rises to the ambient temperature monitoring threshold, such as 40°C, and the inside temperature continues to rise to the start-down reference temperature threshold, such as 35°C, the temperature is lowered to a suitable range. When the outside temperature drops to the ambient temperature monitoring threshold, such as 0°C, and the inside temperature continues to drop to the start-up reference temperature threshold, such as 10°C, the temperature is raised to a suitable range.

[0090] When the living body detection radar determines that it is spring or autumn according to the time information and the location information, when the temperature inside the vehicle exceeds the reference temperature threshold of the season and the temperature inside the vehicle is higher than the temperature outside the vehicle, a window lowering ventilation instruction is sent to the body control module, and the body control module controls the window to be lowered according to the instruction.

[0091] If the temperature inside the vehicle is still higher than the reference temperature threshold of the season after lowering the windows for ventilation, the temperature inside the vehicle is adjusted downward.

[0092] For example, if it is determined that the current season is spring, the outside temperature is 26°C, the inside temperature is 32°C, the preset spring reference temperature threshold is 30°C, the inside temperature exceeds the reference temperature threshold, and the inside temperature is higher than the outside temperature, a window lowering and ventilation instruction is sent to the body control system. After the window is lowered for ventilation, the inside temperature is 30°C, reaching the reference temperature threshold, and the temperature is lowered to a comfortable temperature such as about 25°C.

[0093] This embodiment provides another multi-sensor fusion vehicle control system, which controls the vehicle in combination with an outdoor temperature sensor, and adds control measures in spring or autumn. The windows can be lowered for ventilation first, and then the temperature inside the vehicle can be further regulated and intervened when the trigger conditions are met, so that the temperature inside the vehicle is maintained within a comfortable range, thereby ensuring the life safety of the living organisms in the vehicle to the greatest extent.

[0094] See also Figure 4, which is a schematic diagram of the structure of another multi-sensor fusion vehicle control system provided in an embodiment of the present application. In order to further improve the multi-sensor fusion vehicle control system, an engine control module and a battery management module are added. Figure 4 As shown, the system includes: a liveness detection radar, an in-vehicle temperature sensor, an out-vehicle temperature sensor, an engine control module, a battery management module, an alarm prompt module and a positioning module: the in-vehicle temperature sensor, the out-vehicle temperature sensor, the engine control module, the battery management module, the alarm prompt module and the positioning module are all communicatively connected to the liveness detection radar.

[0095] The living body detection radar is used to determine whether the battery voltage is lower than the voltage setting value based on the battery voltage signal sent by the battery management module, and if it is lower than the voltage setting value, send a start instruction to the engine control module.

[0096] When the presence of a living organism is detected in the vehicle and the temperature inside the vehicle meets the trigger conditions for temperature control intervention, the vehicle's interior temperature will be controlled and adjusted. This will reduce the battery voltage. If the battery voltage is too low, the engine will be started to charge to ensure that the battery voltage returns to normal levels.

[0097] The battery management module is used to monitor the battery voltage signal and provide the battery voltage signal to the living body detection radar.

[0098] The engine control module is used to receive a start instruction of the living body detection radar.

[0099] Another multi-sensor fusion vehicle control system provided in this embodiment includes an engine control module and a battery management module. The battery management module monitors the battery voltage signal. When the battery voltage is lower than a preset voltage setting value, it requests the engine control module to ignite the engine to maintain the normal operation of the temperature control strategy, thereby maximizing the waiting time for rescue of living beings left in the vehicle.

[0100] Based on the multi-sensor fusion vehicle control system in the above-mentioned embodiment, the present application also provides an embodiment of a multi-sensor fusion vehicle control method, which is described in detail below.

[0101] See also Figure 5 , which is a flow chart of a vehicle control method of multi-sensor fusion provided in an embodiment of the present application. Figure 5 As shown, the method comprises the following steps:

[0102] Before executing the following steps, it is determined that the vehicle is armed and a living person is detected inside the vehicle.

[0103] S501. The positioning module collects the location information of the vehicle, and provides the location information and the time information when the location information is collected to the living body detection radar.

[0104] The positioning module obtains the vehicle's geographic location information, such as accuracy, latitude and altitude, through the global positioning system GPS or Beidou satellite navigation system, and attaches a timestamp to record the time when the location information is collected.

[0105] S502: The in-vehicle temperature sensor collects the in-vehicle temperature corresponding to the time information, and provides the in-vehicle temperature to the living body detection radar.

[0106] The in-car temperature sensor is installed in the car to monitor the temperature in the car in real time.

[0107] S503, the living body detection radar obtains the in-vehicle temperature alarm prompt temperature threshold according to the position information and the time information, and determines the triggering condition and alarm mode of the in-vehicle temperature alarm corresponding to the alarm prompt temperature threshold; if the in-vehicle temperature meets the alarm triggering condition, an alarm signal is sent to the alarm prompt module based on the alarm mode corresponding to the alarm prompt temperature threshold; the alarm prompt module is used to prompt the vehicle user based on the received alarm signal.

[0108] When it is determined according to the time information and the location information that it is winter, if the temperature inside the vehicle is lower than the low temperature alarm temperature threshold, sending an alarm signal to the alarm prompt module;

[0109] When it is determined to be summer according to the time information and the location information, if the temperature inside the vehicle is higher than the high temperature alarm temperature threshold, an alarm signal is sent to the alarm prompt module.

[0110] The alarm prompt module includes a body control module and / or a wireless communication module. The body control module is used to flash lights or sound a horn based on a received alarm signal; the wireless communication module is used to send a message prompt to a vehicle user based on the received alarm signal.

[0111] S504. After the alarm is prompted, if the living body detection radar detects that there is still a living body in the vehicle, the reference temperature threshold for the temperature control intervention in the vehicle is obtained according to the location information and the time information, and the trigger condition and temperature control strategy for the temperature control intervention in the vehicle corresponding to the reference temperature threshold are determined; if the temperature in the vehicle meets the trigger condition, the temperature in the vehicle is controlled and adjusted based on the temperature control strategy corresponding to the reference temperature threshold.

[0112] When it is determined according to the time information and the location information that it is winter, if the vehicle interior temperature is lower than the start-up reference temperature threshold, controlling to increase the vehicle interior temperature;

[0113] When it is determined to be summer according to the time information and the location information, if the temperature inside the vehicle is higher than the start downward adjustment reference temperature threshold, the temperature inside the vehicle is controlled to be adjusted downward.

[0114] S505. The living body detection radar determines whether the battery voltage is lower than the voltage setting value based on the battery voltage signal sent by the battery management module. If the battery voltage is lower than the voltage setting value, a start instruction is sent to the engine control module.

[0115] When the presence of a living organism is detected in the vehicle and the temperature inside the vehicle meets the trigger conditions for temperature control intervention, the vehicle's interior temperature will be controlled and adjusted. This will reduce the battery voltage. If the battery voltage is too low, the engine will be started to charge to ensure that the battery voltage returns to normal levels.

[0116] The multi-sensor fusion vehicle control method provided in this embodiment can not only reduce the suffocation of children or pets locked in the car in hot summer, but also prevent frostbite of children or pets locked in the car in cold winter, thereby protecting the life safety of the living things in the car to the greatest extent. In addition, by monitoring the battery voltage signal, when the battery voltage is lower than the preset voltage setting value, the engine control module is requested to ignite the engine to maintain the normal operation of the temperature control strategy, thereby extending the waiting time for rescue of the living things in the car to the greatest extent.

[0117] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. The system embodiments described above are merely schematic, in which the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0118] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A multi-sensor fusion vehicle control system, characterized in that: The system comprises: a liveness detection radar, an in-vehicle temperature sensor and a positioning module: the in-vehicle temperature sensor and the positioning module are both communicatively connected with the liveness detection radar; The positioning module is used to collect the location information of the vehicle, and provide the location information and the time information when the location information is collected to the living body detection radar; The in-vehicle temperature sensor is used to collect the in-vehicle temperature corresponding to the time information, and provide the in-vehicle temperature to the living body detection radar; The living body detection radar is used to obtain a reference temperature threshold for in-vehicle temperature control intervention according to the position information and the time information if a living body is detected in the vehicle, and determine a trigger condition and a temperature control strategy for in-vehicle temperature control intervention corresponding to the reference temperature threshold; if the in-vehicle temperature meets the trigger condition, the in-vehicle temperature of the vehicle is controlled and adjusted based on the temperature control strategy corresponding to the reference temperature threshold; The reference temperature threshold includes starting to increase the reference temperature threshold or starting to decrease the reference temperature threshold.

2. The system according to claim 1, characterized in that The living body detection radar is specifically used for: When it is determined according to the time information and the location information that it is winter, if the vehicle interior temperature is lower than the start-up reference temperature threshold, raising the vehicle interior temperature; When it is determined to be summer according to the time information and the location information, if the vehicle interior temperature is higher than the start-down reference temperature threshold, the vehicle interior temperature is lowered.

3. The system according to claim 1, characterized in that The system also includes an alarm prompt module: The alarm prompt temperature threshold includes a high temperature alarm temperature threshold or a low temperature alarm temperature threshold; the high temperature alarm temperature threshold is lower than the start-down reference temperature threshold, and the low temperature alarm temperature threshold is higher than the start-up reference temperature threshold; The liveness detection radar is further used to obtain an in-vehicle temperature alarm prompt temperature threshold according to the position information and the time information, and determine a triggering condition and an alarm mode of an in-vehicle temperature alarm corresponding to the alarm prompt temperature threshold; if the in-vehicle temperature meets the alarm triggering condition, an alarm signal is sent to the alarm prompt module based on the alarm mode corresponding to the alarm prompt temperature threshold; The alarm prompt module is used to prompt the vehicle user based on the received alarm signal.

4. The system according to claim 3, characterized in that The alarm prompt module includes a body control module and / or a wireless communication module: The body control module is used to flash lights or sound the horn based on the received alarm signal; The wireless communication module is used to send a message prompt to the vehicle user based on the received alarm signal.

5. The system according to claim 3, characterized in that The living body detection radar is specifically used for: When it is determined according to the time information and the location information that it is winter, if the temperature inside the vehicle is lower than the low temperature alarm temperature threshold, sending an alarm signal to the alarm prompt module; When it is determined to be summer according to the time information and the location information, if the temperature inside the vehicle is higher than the high temperature alarm temperature threshold, an alarm signal is sent to the alarm prompt module.

6. The system according to claim 5, characterized in that The living body detection radar is specifically used for: If it is detected that there is still a living body in the vehicle after the alarm is prompted, and the temperature inside the vehicle continues to rise until it reaches the reference temperature threshold, then the temperature inside the vehicle is lowered; If it is detected that there is still a living body in the vehicle after the alarm is prompted, and the temperature inside the vehicle continues to drop until it reaches the reference temperature threshold, the temperature inside the vehicle is then increased.

7. The system according to claim 4, characterized in that The system also includes: an outside temperature sensor: The vehicle outside temperature sensor is used to collect the vehicle outside temperature corresponding to the time information, and provide the vehicle outside temperature to the living body detection radar; Acquire an ambient temperature monitoring threshold according to the time information and the location information; The liveness detection radar is also used to lower the vehicle's interior temperature when the vehicle's outside temperature rises to the ambient temperature monitoring threshold and the vehicle's interior temperature continues to rise until the reference temperature threshold is started to be lowered; and to increase the vehicle's interior temperature when the vehicle's outside temperature drops to the ambient temperature monitoring threshold and the vehicle's interior temperature continues to drop until the reference temperature threshold is started to be raised.

8. The system according to claim 7, characterized in that The system includes the vehicle body control module, and the living body detection radar is specifically used for: When it is determined to be spring or autumn according to the time information and the location information, when the temperature inside the vehicle exceeds the reference temperature threshold of the season and the temperature inside the vehicle is higher than the temperature outside the vehicle, a window lowering ventilation instruction is sent to the body control module; the body control module controls the window to be lowered according to the instruction; If the temperature inside the vehicle is still higher than the reference temperature threshold of the season after lowering the windows for ventilation, the temperature inside the vehicle is adjusted downward.

9. The system according to claim 1, characterized in that The system also includes: an engine control module and a battery management module: The battery management module is used to monitor the battery voltage signal and provide the battery voltage signal to the living body detection radar; The living body detection radar is also used to determine whether the battery voltage is lower than the voltage setting value based on the battery voltage signal sent by the battery management module, and if it is lower than the voltage setting value, send a start instruction to the engine control module; The engine control module is used to receive a start instruction of the living body detection radar.

10. A vehicle control method using multi-sensor fusion, characterized in that: The method is applied to the multi-sensor fusion vehicle control system according to claim 1; The method comprises: The positioning module collects the position information of the vehicle, and provides the position information and the time information when the position information is collected to the living body detection radar; The in-vehicle temperature sensor collects the in-vehicle temperature corresponding to the time information, and provides the in-vehicle temperature to the living body detection radar; If the living body detection radar detects the presence of a living body in the vehicle, a reference temperature threshold for in-vehicle temperature control intervention is obtained according to the position information and the time information, and a trigger condition and a temperature control strategy for in-vehicle temperature control intervention corresponding to the reference temperature threshold are determined; if the in-vehicle temperature meets the trigger condition, the in-vehicle temperature of the vehicle is controlled and adjusted based on the temperature control strategy corresponding to the reference temperature threshold; The reference temperature threshold includes starting to increase the reference temperature threshold or starting to decrease the reference temperature threshold.

11. The method according to claim 10, characterized in that The controlling and adjusting the interior temperature of the vehicle includes: When the living body detection radar determines that it is winter according to the time information and the location information, if the temperature inside the vehicle is lower than the start-up reference temperature threshold, the temperature inside the vehicle is increased; When the living body detection radar determines that it is summer according to the time information and the location information, if the temperature inside the vehicle is higher than the start-down reference temperature threshold, the temperature inside the vehicle is lowered.

12. The method according to claim 10, characterized in that The method further comprises: The liveness detection radar obtains an in-vehicle temperature alarm prompt temperature threshold according to the position information and the time information, and determines a triggering condition and an alarm mode of the in-vehicle temperature alarm corresponding to the alarm prompt temperature threshold; if the in-vehicle temperature meets the alarm triggering condition, an alarm signal is sent to the alarm prompt module based on the alarm mode corresponding to the alarm prompt temperature threshold; The alarm prompt module prompts a vehicle user based on the received alarm signal.

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