Vehicle electric tail gate control method, device and equipment and storage medium

Abstract

The invention relates to the technical field of vehicle control, and discloses a vehicle electric tail gate control method, device and equipment and a storage medium, the method comprises the following steps: when a vehicle is in a safe state, performing dual authentication on an opening condition of an electric tail gate to obtain an authentication result; when the authentication result is that the dual authentication is passed, performing visual detection and motion capture on a sensing area of the electric tail gate to obtain a user intention; and controlling the electric tail gate according to the user intention. The control accuracy of the vehicle electric tail door can be effectively improved, and accidental opening of the electric tail door is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle electric tailgate control method, device, equipment and storage medium. Background Art

[0002] The kick function to open the trunk is a way for users to open the trunk door by sweeping their legs at the bottom of the rear of the car. When users are carrying a lot of items and it is inconvenient to touch the traditional buttons with their hands, this function can quickly and accurately open the trunk door, greatly improving the user experience. This function is also increasingly being applied to a variety of models. The current mainstream solutions for the kick function use pure radar or voice control to open / close the trunk, but the above solutions have the problems of low recognition accuracy, great environmental impact, and high implementation cost, which can easily lead to the trunk door opening accidentally.

[0003] Therefore, how to effectively improve the control accuracy of the vehicle's electric tailgate and prevent the electric tailgate from accidentally opening is a problem that urgently needs to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a vehicle electric tailgate control method, device, equipment and storage medium, aiming to solve the technical problem of how to effectively improve the control accuracy of the vehicle electric tailgate and avoid accidental opening of the electric tailgate.

[0006] To achieve the above objectives, the present application proposes a vehicle electric tailgate control method, the method comprising:

[0007] When the vehicle is in a safe state, double authentication is performed on the opening conditions of the electric tailgate to obtain an authentication result;

[0008] When the authentication result is that the dual authentication is passed, visual detection and motion capture are performed on the sensing area of ​​the electric tailgate to obtain the user's intention;

[0009] The electric tailgate is controlled according to the user intention.

[0010] In one embodiment, when the vehicle is in a safe state, the opening condition of the electric tailgate is double authenticated to obtain the authentication result, including:

[0011] When the vehicle is in a safe state, obtaining a visual signal from a rearview camera of the vehicle;

[0012] Inputting the visual signal into a target detection model to obtain a target detection result;

[0013] Perform ranging authentication through the reversing radar and obtain the radar ranging result;

[0014] The opening condition of the electric tailgate is double-authenticated according to the target detection result and the radar ranging result to obtain an authentication result.

[0015] In one embodiment, the double authentication of the opening condition of the electric tailgate according to the target detection result and the radar ranging result to obtain the authentication result includes:

[0016] When the target detection result is that a preset target exists in the visual signal and the radar ranging result is that a column obstacle exists within a preset range of the electric tailgate, determining that the authentication result is double authentication passed;

[0017] When the target detection result is that there is no preset target in the visual signal or the radar ranging result is that there is a wall obstacle within the preset range of the electric tailgate, it is determined that the authentication result is double authentication failure.

[0018] In one embodiment, when the vehicle is in a safe state, the double authentication of the opening condition of the electric tailgate is performed, before obtaining the authentication result, further comprising:

[0019] Get the vehicle's engine status, current gear position, and handbrake status;

[0020] When the engine state is in the ignition state and the current gear is the parking gear and the handbrake state is in the pulled state, or the engine state is in the flameout state, it is determined that the vehicle is in a safe state.

[0021] In one embodiment, when the authentication result is that the dual authentication is passed, visual detection and motion capture are performed on the sensing area of ​​the electric tailgate to obtain the user intention, including:

[0022] When the authentication result is that the dual authentication is passed, the underbody camera and the underbody fill light at the rear of the vehicle are turned on, and the underbody camera is used to continuously shoot the sensing area of ​​the electric tailgate to obtain a sensing video;

[0023] Detecting whether a user's feet appear in the perceived video;

[0024] When the user's feet appear in the perception video, motion capture is performed based on the perception video to obtain the user's intention.

[0025] In one embodiment, performing motion capture according to the perceived video to obtain the user intention includes:

[0026] Performing motion capture according to the perception video to obtain multiple key frames;

[0027] Generate corresponding capture frames according to the multiple key frames, and obtain coordinate data of each capture frame;

[0028] The user intention is determined based on the coordinate data of each capture frame.

[0029] In one embodiment, determining the user intention according to the coordinate data of each capture frame includes:

[0030] Determine a first frame number according to the plurality of key frames;

[0031] Fitting and comparing the coordinate data of each capture frame with a preset rule range to obtain a second frame number;

[0032] A user intention is determined based on the first frame number and the second frame number.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle electric tailgate control device, the vehicle electric tailgate control device comprising:

[0034] An authentication module, used to perform double authentication on the opening conditions of the electric tailgate when the vehicle is in a safe state, and obtain an authentication result;

[0035] A capture module, used for performing visual detection and motion capture on the sensing area of ​​the electric tailgate to obtain the user's intention when the authentication result is that the dual authentication is passed;

[0036] A control module is used to control the electric tailgate according to the user's intention.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle electric tailgate control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle electric tailgate control method as described above.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the vehicle electric tailgate control method as described above are implemented.

[0039] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle electric tailgate control method as described above are implemented.

[0040] The present application provides a method for controlling an electric tailgate of a vehicle. The present application first performs a double authentication on the opening condition of the electric tailgate when the vehicle is in a safe state to obtain an authentication result; when the authentication result is that the double authentication is passed, visual detection and motion capture are performed on the sensing area of ​​the electric tailgate to obtain the user's intention; and the electric tailgate is controlled according to the user's intention, which can effectively improve the control accuracy of the vehicle's electric tailgate and avoid accidental opening of the electric tailgate.

[0041] In summary, the present application effectively reduces the possibility of accidental opening of the electric tailgate by performing double authentication on the opening conditions of the electric tailgate when the vehicle is in a safe state, and then performs visual detection and motion capture on the sensing area of ​​the electric tailgate, which can quickly and accurately determine the user's intention and accurately control the movement of the electric tailgate, overcoming the technical defects of the existing tailgate control method, such as low recognition accuracy, great influence by the environment, and easy to cause accidental opening of the trunk door, and can effectively improve the control accuracy of the vehicle's electric tailgate and avoid accidental opening of the electric tailgate. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A flowchart diagram of a first embodiment of a vehicle electric tailgate control method of the present application;

[0045] Figure 2 A flow chart of the second embodiment of the vehicle electric tailgate control method provided in the present application;

[0046] Figure 3 This is a schematic diagram of the module structure of the vehicle electric tailgate control device according to an embodiment of the present application;

[0047] Figure 4 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle electric tailgate control method of the embodiment of the present application.

[0048] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0050] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The main solution of the embodiment of the present application is: when the vehicle is in a safe state, the opening conditions of the electric tailgate are double-authenticated to obtain an authentication result; when the authentication result is that the double authentication is passed, visual detection and motion capture are performed on the perception area of ​​the electric tailgate to obtain the user's intention; and the electric tailgate is controlled according to the user's intention.

[0052] The kick function to open the trunk is a way for the user to open the trunk door by sweeping his legs at the bottom of the rear of the car. When the user is holding a lot of items and it is inconvenient to touch the traditional buttons with his hands, this function can quickly and accurately open the trunk door, greatly improving the user experience. This function is also increasingly being applied to various models. The current mainstream solutions for the kick function use pure radar or voice control to implement commands to open / close the trunk, but the above solutions have problems such as low recognition accuracy, great environmental impact, and high implementation cost, which can easily lead to accidental opening of the trunk door. Therefore, how to effectively improve the control accuracy of the vehicle's electric tailgate and prevent the electric tailgate from opening accidentally is a problem that needs to be solved urgently.

[0053] The present application effectively reduces the possibility of accidental opening of the electric tailgate by performing double authentication on the opening conditions of the electric tailgate when the vehicle is in a safe state, and then performs visual detection and motion capture on the sensing area of ​​the electric tailgate, which can quickly and accurately determine the user's intention and accurately control the movement of the electric tailgate. It overcomes the technical defects of the existing tailgate control method, such as low recognition accuracy, great influence by the environment, and easy to cause accidental opening of the trunk door. It can effectively improve the control accuracy of the vehicle's electric tailgate and avoid accidental opening of the electric tailgate.

[0054] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle electric tailgate control device, etc. The following takes the vehicle electric tailgate control device as an example to illustrate this embodiment and the following embodiments.

[0055] Based on this, the embodiment of the present application provides a vehicle electric tailgate control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle electric tailgate control method of the present application.

[0056] In this embodiment, the vehicle electric tailgate control method includes steps S10 to S30:

[0057] Step S10, when the vehicle is in a safe state, double authentication is performed on the opening condition of the electric tailgate to obtain an authentication result.

[0058] It should be noted that the safe state means that the vehicle system detects that all necessary safety protection measures have been activated, including but not limited to locking doors, closing windows, and shutting down the engine, etc., to ensure that the vehicle is stationary and no one is in the danger zone. This embodiment does not impose specific restrictions on this.

[0059] It is understandable that the dual authentication mechanism further enhances the safety of opening the tailgate, which usually includes identity authentication (such as key recognition, owner identity authentication of keyless entry system) and physical action confirmation (such as gesture recognition, kick sensing, etc.). Both must be met at the same time to proceed to the next step.

[0060] It is worth mentioning that the electric tailgate refers to a trunk door system that automatically opens and closes through electric drive, providing users with a more convenient and efficient experience. The application of the dual authentication mechanism not only ensures the safety of the vehicle, but also improves the user experience through intelligent means.

[0061] In a feasible implementation, step S10 may include: when the vehicle is in a safe state, obtaining a visual signal from a rearview camera of the vehicle; inputting the visual signal into a target detection model to obtain a target detection result; performing ranging authentication through a reversing radar to obtain a radar ranging result; and performing dual authentication on the opening condition of the electric tailgate according to the target detection result and the radar ranging result to obtain an authentication result.

[0062] It should be noted that the vehicle rearview camera refers to a camera installed at the rear of the vehicle to capture the environment behind the vehicle. It can not only provide clear images for the driver to observe, but also play an important role in the vehicle electric tailgate control system. In this embodiment, the vehicle rearview camera first captures the visual signals behind the vehicle, which contain rich environmental information, such as people, obstacles, and possible user actions.

[0063] It is understandable that the visual signal is transmitted in real time to a pre-trained target detection model, which uses a deep learning algorithm to intelligently identify key targets in the image, such as people or specific objects. Through the analysis of the visual signal, the model can output the target detection result, that is, whether someone is detected approaching. The target detection model can be a pre-trained YOLO model (YOLO V5 is used in this embodiment), which takes the visual signal of the rear-view camera as input and outputs the detection result (i.e., whether there is a person in the visual signal, and whether the trained YOLO recognition model can recognize the person within the camera field of view).

[0064] It is worth noting that in order to further improve the accuracy and safety of authentication, a reversing radar is also introduced for distance measurement authentication. The reversing radar is an auxiliary sensor installed at the rear of the vehicle. It uses ultrasonic or electromagnetic wave technologies to measure the distance between the vehicle and the rear obstacle. During the control of the vehicle's electric tailgate, the reversing radar can not only help the driver avoid collisions when reversing, but also serve as part of the dual authentication mechanism to further confirm the opening conditions of the electric tailgate.

[0065] In the specific implementation, when the vehicle's rearview camera captures the visual signal and preliminarily identifies the possible approach of a person through the target detection model, the reversing radar is immediately activated to accurately measure the distance between the vehicle and potential obstacles (including people). The radar ranging result serves as the second guarantee of dual authentication, which can effectively avoid the misjudgment of visual signals due to factors such as ambient light and obstructions. Only when the radar ranging result shows that there is a person within the preset safety distance range and the person is successfully identified by the target detection model, the dual authentication mechanism will be judged as passed and the next step of the tailgate opening operation will be allowed.

[0066] In a feasible implementation manner, the opening condition of the electric tailgate is double authenticated according to the target detection result and the radar ranging result to obtain an authentication result, including: when the target detection result is that a preset target exists in the visual signal and the radar ranging result is that a column-type obstacle exists within a preset range of the electric tailgate, determining that the authentication result is double authentication passed; when the target detection result is that there is no preset target in the visual signal or the radar ranging result is that a wall-type obstacle exists within the preset range of the electric tailgate, determining that the authentication result is double authentication failed.

[0067] It should be noted that the preset target refers to the object preset by the system that needs to be identified and authenticated. In this embodiment, it mainly refers to the person who may be close to the vehicle and intend to open the electric tailgate. The preset range refers to the distance interval that the system considers safe when the vehicle's electric tailgate is opened. This range is determined based on factors such as vehicle size, tailgate opening method, and potential risks. It can be 1.5 meters, and this embodiment does not impose specific restrictions on this.

[0068] It is understandable that for the target detection result, if the system captures the visual signal through the vehicle's rearview camera and confirms that there is a preset target (i.e., a person) within the camera's field of view after being processed by the target detection model, then this is the first step of the dual authentication success. However, visual signals alone are not enough to fully confirm safety, because there may be visual misjudgments or occlusions. Therefore, further distance measurement authentication is required through the reversing radar.

[0069] It is worth noting that the radar ranging result can provide more accurate distance information to help the system determine whether there are obstacles within the preset range of the vehicle's electric tailgate. In particular, this embodiment distinguishes between column obstacles and wall obstacles. Column obstacles usually refer to relatively slender objects such as the human body. Wall obstacles refer to continuous and difficult-to-circumvent objects such as walls and vehicles, which will significantly affect the safety of opening the tailgate. If the radar ranging result shows that there are column obstacles within the preset range of the electric tailgate, and the visual signal also confirms the presence of a preset target (person), then the system can deem it relatively safe to open the tailgate in this case, and therefore determines that the authentication result is double authentication passed.

[0070] It is worth noting that the reversing radar measures the distance between the vehicle and the rear object by emitting ultrasonic waves and receiving their echoes. This distance measurement result is crucial to determine whether the user is within the appropriate range to open the tailgate. For example, only when the user stands within the preset safe distance and triggers the radar signal through physical actions such as gestures or kicking, can it be considered a valid opening instruction. In this way, even if the visual signal is blocked or interfered, the reversing radar can independently provide a reliable authentication data, thereby enhancing the robustness of the dual authentication mechanism.

[0071] In the specific implementation, when it is determined that the vehicle is in a safe state, the rear-view camera and ranging radar detection at the rear of the vehicle are triggered by the PEPS module, and it is determined whether someone is approaching the vehicle based on the detection results. The detection process uses a pre-trained YOLO model (for example, YOLO V5), takes the visual signal of the rear-view camera as input, and outputs the detection result (i.e., whether there is a person in the visual signal, and whether the trained YOLO recognition model can recognize the person within the camera's field of view). Subsequently, the rear reversing radar is used for ranging authentication, which must meet the requirements of detecting column obstacles within 1.5 meters, rather than wall obstacles. Thus, dual authentication is performed by using a visual camera with radar ranging. Dual authentication rule: When the visual detection result is that someone is detected in the camera's field of view, and the radar ranging result is that a column obstacle is detected within 1.5 meters, the dual authentication is passed, otherwise it is not passed, so as to accurately judge the person who may intend to open the trunk. The pre-training process can be described as: training with relevant data sets so that it can accurately identify approaching people.

[0072] In a feasible implementation, before step S10, it also includes: obtaining the engine status, current gear position and handbrake status of the vehicle; when the engine status is in the ignition status and the current gear position is the parking gear position and the handbrake status is in the pulled up status, or the engine status is in the off status, determining that the vehicle is in a safe state.

[0073] It should be noted that the engine status includes the ignition status and the shutdown status. Only when the engine is in the ignition status and the gear is set to the parking gear, the handbrake is in the pulled state, or the engine is turned off, the vehicle can be regarded as being in a relatively stable and safe state, and then proceed to the subsequent tailgate opening authentication process to avoid accidentally triggering the tailgate opening mechanism during vehicle driving or when the gear is not right, thereby causing a safety accident.

[0074] It is worth noting that the handbrake, as part of the vehicle's braking system, is used to prevent the vehicle from moving due to external forces (such as sliding down a slope) when it is stationary. Therefore, only when the handbrake is correctly pulled up can the vehicle be deemed to have taken the necessary braking measures and can safely perform the subsequent tailgate opening operation. Once the vehicle is confirmed to be in a safe state, the system will start the rearview camera and reversing radar for dual authentication. During this process, the camera is responsible for capturing the visual signals behind the vehicle and performing target detection through the pre-trained YOLO model to identify whether there is a possible approach of a person. At the same time, the reversing radar uses ultrasonic or electromagnetic wave technology to accurately measure the distance between the vehicle and the rear obstacles, and distinguish between column obstacles and wall obstacles. The dual authentication mechanism ensures that the opening of the vehicle's tailgate will only be officially authorized under dual confirmation of vision and radar, that is, when both the dual confirmation of vision and radar meet the preset conditions. The design of this dual authentication mechanism fully considers the actual scenarios and safety requirements of vehicle use, and effectively improves the accuracy and safety of tailgate opening.

[0075] In the specific implementation, the vehicle's PEPS module can sense whether the wireless key is close to the vehicle. When the car key is detected within the set sensing range, it ensures that only the owner or authorized user can operate the trunk, and then allows the trunk opening function to be activated, so as to perform further detection operations. First, it is necessary to confirm whether the vehicle has completely stopped and is in a safe state. This can be achieved through the vehicle's internal sensing system. The detection vehicle must be in the state of off, or on but in the parking gear with the handbrake pulled. Ensure that the vehicle has stopped and is in a safe state before further detection can be performed. The vehicle status detection system can be activated when the vehicle is off.

[0076] Step S20, when the authentication result is that the dual authentication is passed, visual detection and motion capture are performed on the sensing area of ​​the electric tailgate to obtain the user's intention.

[0077] It should be noted that, based on the authentication result, if the dual authentication is passed, the sensing area of ​​the electric tailgate is enabled for visual detection and motion capture. In this embodiment, sensor technology, such as infrared sensors, radars or cameras, is used to monitor a specific area at the rear of the vehicle in real time. The system can identify and analyze the shape, size, movement trajectory and other characteristics of objects or human bodies close to the tailgate to distinguish the user's true intention from unintentional touches or external interference.

[0078] It is understandable that the captured visual signals are deeply analyzed through the pre-set algorithm. For example, when an adult-sized person is detected approaching the tailgate and its action pattern conforms to the conventional posture of opening the tailgate (such as kicking or waving), it will be determined that the user intends to open the tailgate. At the same time, in order to further improve the accuracy, the system will also consider the duration and continuity of the user's actions to distinguish the user's real needs from accidental actions. This meticulous analysis not only improves the user experience, but also ensures the accuracy of the tailgate opening.

[0079] It is worth noting that during the visual detection and motion capture process, if the system recognizes that the user's intention is to open the tailgate, but the user does not directly touch the tailgate, but triggers it through a preset gesture or kicking action, then the system will automatically activate the tailgate's contactless opening function. The design of this function fully considers the needs of users in different scenarios. For example, when holding objects with both hands, the tailgate can be opened conveniently without putting down the objects, which greatly improves the convenience of use.

[0080] In the specific implementation, the system will also verify the user's identity to ensure that only authorized users can open the tailgate in a contactless manner. This is usually achieved through the vehicle's PEPS module, which can recognize the approach of the wireless key and confirm the user's identity and authority through a preset encryption and verification mechanism.

[0081] Step S30, controlling the electric tailgate according to the user's intention.

[0082] It should be noted that the user's intention includes opening the tailgate, closing the tailgate, or keeping the tailgate unchanged. When the system confirms that the user intends to open the tailgate through visual detection and motion capture, combined with user identity verification, the command to open the tailgate will be executed immediately. After receiving the command, the electric tailgate will be driven by the motor to open smoothly upward or outward until the preset opening degree is reached, accompanied by a soft opening sound and light prompts, giving the user intuitive feedback.

[0083] It is understandable that if the user intends to close the tailgate, the system will also respond quickly and control the tailgate to close slowly. During this process, the system will continue to monitor whether there are obstacles near the tailgate that have not been evacuated to ensure the safe closing action. Once an object or a person is detected on the closing path, the tailgate will immediately stop and open in the opposite direction for a short distance to avoid collision, and then try to close again until it is successfully closed or the user intervenes.

[0084] It is worth noting that if the user intends to keep the tailgate status unchanged, the system will also maintain the current open or closed status of the tailgate and will no longer perform any automatic operations. This flexibility ensures that the user's needs in different usage scenarios can be met.

[0085] In the specific implementation, if the user has no intention to open the trunk, the underbody camera, underbody fill light, rear camera and radar will be turned off. After completing the camera action detection and determining that the person has a "kick" action and intends to open the trunk, the signal is transmitted to the vehicle control system, activating the vehicle's double flash warning light, which flashes 3 times to remind the person that the trunk is about to be opened and to keep a safe distance. The PEPS module detects whether the trunk is closed. If the trunk is detected to be closed, the trunk is opened.

[0086] The present embodiment provides a method for controlling an electric tailgate of a vehicle. The present embodiment first performs a double authentication on the opening condition of the electric tailgate when the vehicle is in a safe state to obtain an authentication result; when the authentication result is that the double authentication is passed, visual detection and motion capture are performed on the sensing area of ​​the electric tailgate to obtain the user's intention; and the electric tailgate is controlled according to the user's intention, which can effectively improve the control accuracy of the vehicle's electric tailgate and avoid accidental opening of the electric tailgate.

[0087] In summary, this embodiment effectively reduces the possibility of accidental opening of the electric tailgate by performing double authentication on the opening conditions of the electric tailgate when the vehicle is in a safe state, and then performs visual detection and motion capture on the sensing area of ​​the electric tailgate, which can quickly and accurately determine the user's intention and accurately control the movement of the electric tailgate, overcoming the technical defects of the existing tailgate control method, such as low recognition accuracy, great influence by the environment, and easy to cause the trunk door to open accidentally, and can effectively improve the control accuracy of the vehicle's electric tailgate and avoid the electric tailgate from opening accidentally.

[0088] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 , the step S20 further includes steps S201-S203:

[0089] Step S201, when the authentication result is that the dual authentication is passed, the underbody camera and the underbody fill light at the rear of the vehicle are turned on, and the underbody camera is used to continuously shoot the perception area of ​​the electric tailgate to obtain a perception video.

[0090] It should be noted that the activation of the underbody camera and underbody fill light at the rear of the vehicle ensures that the video image of the sensing area of ​​the electric tailgate can be accurately captured.

[0091] In the specific implementation, the coordination between the undercar camera and the fill light is intelligently managed by the vehicle's control unit. When the dual authentication is passed, the control unit will immediately send a start command to the undercar camera and fill light to ensure that they can start synchronously. This design not only improves the response speed of the system, but also enhances the coordination of the overall control. The undercar camera will continuously shoot the sensing area at a high frame rate, so as to use the visual recognition model to identify whether the feet of the person appear in the video.

[0092] Step S202, detecting whether the user's feet appear in the perceived video.

[0093] It should be noted that the detection of whether the user's feet appear in the perception video can be identified by a visual recognition model. The perception video is analyzed frame by frame based on the visual recognition model. The model has been trained with a large amount of data and can accurately identify objects and actions in the video.

[0094] Step S203, when the user's feet appear in the perceived video, motion capture is performed based on the perceived video to obtain the user's intention.

[0095] It should be noted that when the user's feet appear in the perceived video, the images of the user's feet in the video are continuously captured, and then the movements of the user's feet are analyzed in detail to more accurately determine the user's intentions.

[0096] In a feasible implementation, step S203 may include: performing motion capture based on the perceived video to obtain multiple key frames; generating corresponding capture frames based on the multiple key frames, and obtaining coordinate data of each capture frame; and determining user intention based on the coordinate data of each capture frame.

[0097] It should be noted that key frames are specific moments where the user's feet appear in the perceived video, representing important nodes of the user's actions. By analyzing these key frames in detail, we can understand the user's intention more accurately.

[0098] It is understandable that after capturing the key frames, a corresponding capture frame is generated in each key frame. The capture frame closely fits the outline of the user's foot, thereby more accurately obtaining the position information of the user's foot. Subsequently, the coordinate data of each capture frame is extracted, which provides the specific position of the user's foot in the video frame, thereby determining the user's intention.

[0099] In a feasible implementation, determining the user intention based on the coordinate data of the respective capture frames includes: determining a first frame number based on the multiple key frames; fitting and comparing the coordinate data of the respective capture frames with a preset rule range to obtain a second frame number; and determining the user intention based on the first frame number and the second frame number.

[0100] It should be noted that the first frame number is the total number of key frames in which the user's feet appear in the perceived video, while the second frame number is the number of key frames in the total key frames that meet the preset rule range. The preset rule range refers to the conditions that the user's foot action must meet to open the trunk, such as the speed of the foot movement, the range of the footsteps, etc. By comparing the coordinate data of each capture frame with the preset rule range, the key frames that meet the conditions for opening the trunk can be screened out, thereby determining the user's true intention.

[0101] In the specific implementation, the feet are continuously captured and the coordinate data of the capture frame in the picture is recorded. The camera capture frequency is 30 frames per second. The data is fitted and compared with the preset rule range for opening the trunk. If the number of frames that meet the preset rule range accounts for more than 20% of the total number of frames within 1 second from the key frame where the footsteps are detected, it is considered that the user has the intention to open the trunk and the next step is executed; if the number of frames that meet the preset rule range accounts for less than 20% of the total number of frames within 1 second from the key frame where the footsteps are detected, it is considered that the user has no intention to open the trunk and continuous monitoring continues.

[0102] It is understandable that the preset rule range for footstep detection to open the trunk will be set to a dynamically adjusted prior range, as a hyperparameter, and the default value is set as follows: the rules for detecting foot movement will be defined within a time window from 200 milliseconds to 1 second, and the footstep trajectory must smoothly cover 50% to 100% of the width of the screen. Subsequent settings will be allowed according to different vehicle configurations and user needs. Based on factors such as camera height, angle, light environment, and user-selected detection sensitivity, by adjusting the upper and lower limits of these parameters, the system can reduce misjudgments while maintaining high sensitivity and adapt to a variety of different usage scenarios and environmental conditions. This flexible setting not only improves the adaptability of the system, but also allows users to customize their experience according to personal preferences or specific operating requirements, thereby increasing the attractiveness and practicality of the product.

[0103] It is worth noting that if a "kick" action has been determined, the start signal will be transmitted to the PEPS module and the body control module, and the underbody camera will continue to monitor. When the next "kick" action is identified, the shutdown signal will be transmitted to the PEPS module and the body control module. If the "kick" action has not occurred once, the system will continue to pay attention to the underbody camera and the rear-view camera at the rear of the car. If the image of the person disappears in the rear-view camera or is less than a certain threshold due to being away, the rear radar detects that the obstacle is greater than 2 meters away, and the behavior lasts for more than 2 minutes, the system will default to determining that the person has no intention of opening the trunk.

[0104] In this embodiment, by performing motion capture based on the perception video obtained by continuously shooting the perception area of ​​the electric tailgate when the dual authentication is passed, the user's intention can be accurately determined, and the opening and closing action of the electric tailgate can be accurately controlled.

[0105] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle electric tailgate control method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0106] This application also provides a vehicle electric tailgate control device, please refer to Figure 3 , the vehicle electric tailgate control device comprises:

[0107] The authentication module 10 is used to perform double authentication on the opening condition of the electric tailgate when the vehicle is in a safe state to obtain an authentication result.

[0108] The capture module 20 is used to perform visual detection and motion capture on the sensing area of ​​the electric tailgate to obtain the user's intention when the authentication result is that the dual authentication is passed.

[0109] The control module 30 is used to control the electric tailgate according to the user's intention.

[0110] The present embodiment provides a vehicle electric tailgate control device. When the vehicle is in a safe state, the present embodiment performs dual authentication on the opening condition of the electric tailgate to obtain an authentication result; when the authentication result is that the dual authentication is passed, visual detection and motion capture are performed on the sensing area of ​​the electric tailgate to obtain the user's intention; the electric tailgate is controlled according to the user's intention, which can effectively improve the control accuracy of the vehicle's electric tailgate and avoid accidental opening of the electric tailgate.

[0111] In summary, this embodiment effectively reduces the possibility of accidental opening of the electric tailgate by performing double authentication on the opening conditions of the electric tailgate when the vehicle is in a safe state, and then performs visual detection and motion capture on the sensing area of ​​the electric tailgate, which can quickly and accurately determine the user's intention and accurately control the movement of the electric tailgate, overcoming the technical defects of the existing tailgate control method, such as low recognition accuracy, great influence by the environment, and easy to cause the trunk door to open accidentally, and can effectively improve the control accuracy of the vehicle's electric tailgate and avoid the electric tailgate from opening accidentally.

[0112] Optionally, the authentication module 10 is further used to obtain a visual signal from a rearview camera of the vehicle when the vehicle is in a safe state; input the visual signal into a target detection model to obtain a target detection result; perform ranging authentication through a reversing radar to obtain a radar ranging result; and perform dual authentication on the opening condition of the electric tailgate according to the target detection result and the radar ranging result to obtain an authentication result.

[0113] Optionally, the authentication module 10 is further used to determine that the authentication result is double authentication passed when the target detection result is that a preset target exists in the visual signal and the radar ranging result is that a column-type obstacle exists within the preset range of the electric tailgate; and to determine that the authentication result is double authentication failed when the target detection result is that there is no preset target in the visual signal or the radar ranging result is that a wall-type obstacle exists within the preset range of the electric tailgate.

[0114] Optionally, the authentication module 10 is also used to obtain the engine status, current gear position and handbrake status of the vehicle; when the engine status is in the ignition status and the current gear position is the parking gear position and the handbrake status is in the pulled up status, or the engine status is in the off status, it is determined that the vehicle is in a safe state.

[0115] Optionally, the capture module 20 is also used to turn on the underbody camera and underbody fill light at the rear of the vehicle when the authentication result is that the dual authentication is passed, and continuously shoot the perception area of ​​the electric tailgate through the underbody camera to obtain a perception video; detect whether the user's feet appear in the perception video; when the user's feet appear in the perception video, perform motion capture based on the perception video to obtain the user's intention.

[0116] Optionally, the capture module 20 is also used to perform motion capture based on the perceived video to obtain multiple key frames; generate corresponding capture frames based on the multiple key frames, and obtain coordinate data of each capture frame; and determine the user's intention based on the coordinate data of each capture frame.

[0117] Optionally, the capture module 20 is further used to determine a first frame number based on the multiple key frames; fit and compare the coordinate data of each capture frame with a preset rule range to obtain a second frame number; and determine the user intention based on the first frame number and the second frame number.

[0118] The vehicle electric tailgate control device provided by the present application adopts the vehicle electric tailgate control method in the above embodiment, which can solve the technical problem of how to effectively improve the control accuracy of the vehicle electric tailgate and avoid the electric tailgate from accidentally opening. Compared with the prior art, the beneficial effects of the vehicle electric tailgate control device provided by the present application are the same as the beneficial effects of the vehicle electric tailgate control method provided by the above embodiment, and the other technical features of the vehicle electric tailgate control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0119] The present application provides a vehicle electric tailgate control device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle electric tailgate control method in the above-mentioned embodiment one.

[0120] Reference below Figure 4 , which shows a schematic diagram of the structure of a vehicle electric tailgate control device suitable for implementing the embodiment of the present application. The vehicle electric tailgate control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The vehicle electric tailgate control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0121] like Figure 4As shown, the vehicle electric tailgate control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle electric tailgate control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the vehicle electric tailgate control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle electric tailgate control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0122] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0123] The vehicle electric tailgate control device provided by the present application adopts the vehicle electric tailgate control method in the above embodiment, which can solve the technical problem of how to effectively improve the control accuracy of the vehicle electric tailgate and avoid the electric tailgate from accidentally opening. Compared with the prior art, the beneficial effects of the vehicle electric tailgate control device provided by the present application are the same as the beneficial effects of the vehicle electric tailgate control method provided by the above embodiment, and the other technical features of the vehicle electric tailgate control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0124] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0125] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which 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.

[0126] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle electric tailgate control method in the above-mentioned embodiment.

[0127] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0128] The computer-readable storage medium may be included in the vehicle electric tailgate control device; or may exist independently without being assembled into the vehicle electric tailgate control device.

[0129] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle electric tailgate control device, the vehicle electric tailgate control device: when the vehicle is in a safe state, performs double authentication on the opening condition of the electric tailgate to obtain an authentication result; when the authentication result is that the double authentication is passed, performs visual detection and motion capture on the perception area of ​​the electric tailgate to obtain the user intention; and controls the electric tailgate according to the user intention.

[0130] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0131] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0132] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0133] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle electric tailgate control method, and can solve the technical problem of how to effectively improve the control accuracy of the vehicle electric tailgate and avoid the electric tailgate from accidentally opening. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the vehicle electric tailgate control method provided in the above-mentioned embodiment, and will not be repeated here.

[0134] The present application also provides a computer program product, including a computer program, which implements the steps of the vehicle electric tailgate control method as described above when executed by a processor.

[0135] The computer program product provided by the present application can solve the technical problem of how to effectively improve the control accuracy of the vehicle electric tailgate and prevent the electric tailgate from accidentally opening. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vehicle electric tailgate control method provided by the above embodiment, and will not be repeated here.

[0136] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle electric tailgate control method, characterized in that: The method comprises: When the vehicle is in a safe state, double authentication is performed on the opening conditions of the electric tailgate to obtain an authentication result; When the authentication result is that the dual authentication is passed, visual detection and motion capture are performed on the sensing area of ​​the electric tailgate to obtain the user's intention; The electric tailgate is controlled according to the user intention.

2. The method according to claim 1, characterized in that When the vehicle is in a safe state, the opening condition of the electric tailgate is double authenticated to obtain an authentication result, including: When the vehicle is in a safe state, obtaining a visual signal from a rearview camera of the vehicle; Inputting the visual signal into a target detection model to obtain a target detection result; Perform ranging authentication through the reversing radar and obtain the radar ranging result; The opening condition of the electric tailgate is double-authenticated according to the target detection result and the radar ranging result to obtain an authentication result.

3. The method according to claim 2, characterized in that The double authentication of the opening condition of the electric tailgate according to the target detection result and the radar ranging result to obtain the authentication result includes: When the target detection result is that a preset target exists in the visual signal and the radar ranging result is that a column obstacle exists within a preset range of the electric tailgate, determining that the authentication result is double authentication passed; When the target detection result is that there is no preset target in the visual signal or the radar ranging result is that there is a wall obstacle within the preset range of the electric tailgate, it is determined that the authentication result is double authentication failure.

4. The method according to claim 1, characterized in that When the vehicle is in a safe state, the opening condition of the electric tailgate is double authenticated, and before obtaining the authentication result, the method further includes: Get the vehicle's engine status, current gear position, and handbrake status; When the engine state is in the ignition state and the current gear is the parking gear and the handbrake state is in the pulled state, or the engine state is in the flameout state, it is determined that the vehicle is in a safe state.

5. The method according to claim 1, characterized in that When the authentication result is that the dual authentication is passed, visual detection and motion capture are performed on the sensing area of ​​the electric tailgate to obtain the user intention, including: When the authentication result is that the dual authentication is passed, the underbody camera and the underbody fill light at the rear of the vehicle are turned on, and the underbody camera is used to continuously shoot the sensing area of ​​the electric tailgate to obtain a sensing video; Detecting whether a user's feet appear in the perceived video; When the user's feet appear in the perception video, motion capture is performed based on the perception video to obtain the user's intention.

6. The method according to claim 5, characterized in that The performing motion capture according to the perception video to obtain the user intention includes: Performing motion capture according to the perception video to obtain multiple key frames; Generate corresponding capture frames according to the multiple key frames, and obtain coordinate data of each capture frame; The user intention is determined based on the coordinate data of each capture frame.

7. The method according to claim 6, characterized in that The determining the user intention according to the coordinate data of each capture frame includes: Determine a first frame number according to the plurality of key frames; Fitting and comparing the coordinate data of each capture frame with a preset rule range to obtain a second frame number; A user intention is determined based on the first frame number and the second frame number.

8. A vehicle electric tailgate control device, characterized in that: The vehicle electric tailgate control device comprises: An authentication module, used to perform double authentication on the opening conditions of the electric tailgate when the vehicle is in a safe state, and obtain an authentication result; A capture module, used for performing visual detection and motion capture on the sensing area of ​​the electric tailgate to obtain the user's intention when the authentication result is that the dual authentication is passed; A control module is used to control the electric tailgate according to the user's intention.

9. A vehicle electric tailgate control device, characterized in that: The vehicle electric tailgate control device includes: a memory, a processor, and a vehicle electric tailgate control program stored in the memory and executable on the processor, wherein the vehicle electric tailgate control program is configured to implement the vehicle electric tailgate control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a vehicle electric tailgate control program, and when the vehicle electric tailgate control program is executed by the processor, the vehicle electric tailgate control method according to any one of claims 1 to 7 is implemented.

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