Control method of 4G automobile data recorder with digital key function and storage medium

Abstract

The invention relates to the technical field of vehicle-mounted equipment, in particular to a control method of a 4G automobile data recorder with a digital key function and a storage medium, the digital key function is added in the 4G automobile data recorder, after the automobile flames out, a millimeter wave radar detects objects around the automobile, and when the detected object is close to a set range, the 4G automobile data recorder is started; and the 4G recorder and the camera are awakened to enter a detection state, approaching pedestrians are detected, the positions of the pedestrians are determined, whether the pedestrians are authorized drivers or not is determined through face recognition, gestures of the authorized drivers are compared, and if yes, the digital key module is activated, and vehicle door unlocking is conducted. According to the technical scheme, the digital key function is added in the 4G recorder, the digital key module is controlled by a millimeter wave radar, a camera and other sensors to automatically unlock a vehicle door when a driver is given to approach the vehicle, and the vehicle horn is controlled to give an alarm sound through the digital key module when an abnormal event is detected in a parking monitoring mode.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted equipment, and in particular to a control method and a storage medium for a 4G driving recorder with a digital key function. Background Art

[0002] Aftermarket in-vehicle digital keys are becoming increasingly popular in the market, allowing car owners to use smartphones or wearable devices to replace traditional physical keys, providing keyless entry, remote control and other functions. In-vehicle digital keys are mainly implemented through technologies such as Bluetooth (BLE) and mobile communications such as 4G communications. However, when Bluetooth or mobile communications are unavailable, including failure to connect to the Internet, low network signal strength, Bluetooth failure, etc., the car owner cannot drive normally with the in-vehicle digital key; on the other hand, when the car owner forgets to bring the mobile phone or loses the mobile phone, the car owner cannot drive normally with the in-vehicle digital key.

[0003] Currently, the aftermarket digital keys for vehicles still have problems such as inconvenient installation, unsightly appearance after installation, and high installation cost. Figure 1 This is the system block diagram of the current aftermarket digital key. Figure 1 It can be found that there are many functional modules of the after-installed vehicle digital key. At present, most of the product forms of the after-installed vehicle digital key are a black square box with a large volume. In order to consider the aesthetics of the interior of the car during installation, it cannot be placed on the platform under the front windshield, nor can it be attached to the front windshield. In addition, there are various antennas (digital key antenna, 4G antenna, Bluetooth antenna, GPS antenna, etc.) in the independent digital key box. In order to ensure the signal strength of the digital key antenna, it is impossible to stuff the box into the car for hidden installation. At present, most of the practices are to stick the large square box under the steering wheel, and then pull the GPS antenna and Bluetooth antenna outward, and put the external antenna on the platform under the front windshield. Although the volume of the external antenna is smaller than that of the entire digital key large square box, this installation method is unreliable on the one hand, and on the other hand, it will still affect the aesthetics of the interior of the car, and the signals of various antennas will not be very good.

[0004] At the same time, since digital keys have many functional modules and are not cheap, car owners need to spend a relatively high price to install a digital key for their vehicles. The high cost hinders the popularization of retrofitted digital keys, and the current retrofitted digital keys cannot realize the core function of the original digital keys: automatic unlocking function.

[0005] In the field of in-vehicle equipment, driving recorders are almost must-buy in-vehicle electronic products. Adding digital key function to 4G recorders can greatly save the cost of using digital keys for car owners compared to purchasing digital key products separately. The system block diagram of the current 4G driving recorder is as follows: Figure 2 As shown, from Figure 2It can be seen that the 4G recorder and the current aftermarket digital key have many common functional modules: 4G module, GPS module, Bluetooth module, vehicle power processing module and power connection harness, 4G antenna and Bluetooth antenna, and the entire housing can all share the existing parts of the 4G recorder. At the same time, if the digital key function is added to the 4G recorder, the main control chip in the current digital key can also be directly replaced by the 4G recorder chip. Since more than 70% of the functional modules in the 4G recorder are the same as the functional modules in the current aftermarket digital key, and the recorder adds the digital key function to the 4G recorder, the cost of using the digital key for car owners is greatly reduced. Summary of the invention

[0006] The object of the present invention is to provide a control method and storage medium for a 4G driving recorder with a digital key function to solve the problems existing in the above-mentioned background technology.

[0007] To achieve the above objectives, this application is implemented through the following technical solutions:

[0008] A control method for a 4G driving recorder with a digital key function comprises the following steps:

[0009] S1. By adding a digital key function to the 4G recorder;

[0010] S2. When the vehicle is turned off, the millimeter wave radar detects objects around the vehicle. When an object is detected approaching the set range, the 4G recorder and camera are awakened to enter the detection state;

[0011] S3, detecting the approaching pedestrian and determining the position of the pedestrian. If the distance of the pedestrian from the vehicle is less than a set threshold, proceeding to step S4;

[0012] S4, determining whether the pedestrian is an authorized driver through face recognition, if so, proceeding to step S5;

[0013] S5. Obtain the authorized driver's gesture and compare it with the preset unlocking gesture. If it is correct, activate the digital key module to unlock the door.

[0014] Furthermore, in step S1, adding a digital key function to the 4G recorder means adding a digital key module, a digital key antenna and a hardware encryption chip to the existing 4G recorder.

[0015] Furthermore, the digital key module and the digital key antenna are both arranged on a 4G recorder mounting bracket.

[0016] Furthermore, in step S3, pedestrian detection is implemented through the YOLOv5 target detection framework, and the specific formula is: ,in:

[0017] is the category confidence;

[0018] is the probability of existence of the object;

[0019] are the center point coordinates, width, and height of the bounding box.

[0020] Furthermore, in step S3, the approach distance is determined by using the distance threshold method, wherein the focal length f of the camera of the 4G recorder is known, and the relationship between the actual height H of the target and the height h in the image is:

[0021] ,like , then the pedestrian is considered to be close to the vehicle, where is the distance threshold.

[0022] Furthermore, in step S4, the step of determining whether the pedestrian is an authorized driver through face recognition is:

[0023] Use the FaceNet model to obtain the feature vector fdriver of the authorized driver’s face, and calculate the Euclidean distance D between the feature vector fdetected of the detected face and the feature vector fdriver of the authorized driver’s face:

[0024] , if D < threshold T, the pedestrian is confirmed to be an authorized driver.

[0025] Furthermore, in step S5, gesture recognition uses the MediaPipe Hand module to perform gesture detection. The MediaPipe Hand module maps the gesture position into multiple key points, and recognizes the preset gesture according to the set key point position relationship. If the preset gesture angle and relative position relationship are met, the digital key module is activated.

[0026] Furthermore, specifically, the MediaPipe Hand module maps the gesture positions into j key points. , the distance and angle formula between key points is:

[0027] , where 1≤i≤19, j=i+1, k=i+2.

[0028] Furthermore, in parking monitoring mode, when an abnormal event is detected, the 4G recorder controls the vehicle horn to sound an alarm through the digital key module.

[0029] A storage medium stores a program of a control method for a 4G driving recorder with a digital key function. When the program of the control method for a 4G driving recorder with a digital key function is executed by a processor, any of the steps of the control method for a 4G driving recorder with a digital key function described above is implemented.

[0030] The beneficial effects of the present invention are:

[0031] This technical solution adds a digital key function to a 4G recorder or a driving recorder, or integrates the 4G recorder or the driving recorder with the digital key product, sets the digital key module in a mounting bracket, and uses sensors such as millimeter-wave radar and cameras to control the digital key module to automatically unlock the door when the driver approaches the vehicle, and control the vehicle horn to sound an alarm when an abnormal event is detected in the parking monitoring mode through the digital key module. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is the system block diagram of the current aftermarket vehicle digital key.

[0033] Figure 2 This is the system block diagram of the current 4G driving recorder.

[0034] Figure 3 The present invention is a system block diagram of adding a digital key module to a 4G driving recorder.

[0035] Figure 4 This is a schematic diagram of installing the digital key module of the present invention in a 4G driving recorder.

[0036] Description of reference numerals:

[0037] 1. 4G recorder; 2. Camera; 3. Digital key module and antenna. DETAILED DESCRIPTION

[0038] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings. The following embodiments are merely exemplary and can only be used to explain and illustrate the technical solution of the present invention, but cannot be construed as limiting the technical solution of the present invention.

[0039] The 4G recorder and the current aftermarket digital key share many functional modules: 4G module, GPS module, Bluetooth module, vehicle power processing module and power connection harness, 4G antenna and Bluetooth antenna, and the entire housing can all share the existing parts of the 4G recorder. At the same time, if the digital key function is added to the 4G recorder, the main control chip in the current digital key can also be directly replaced by the 4G recorder chip. Since more than 70% of the functional modules in the 4G recorder are the same as those in the current aftermarket digital key, and the recorder adds the digital key function to the 4G recorder, the cost of using the digital key for car owners is greatly reduced.

[0040] Adding the digital key function to the 4G recorder will make the installation of the digital key very simple and beautiful. It will solve the problem that the current digital key is inconvenient to install and the performance of various antennas is poor after installation.

[0041] By adding the function of digital key to the 4G recorder, the relevant sensors in the 4G recorder can be used to realize the functions that the current digital key lock cannot realize, such as automatic unlocking. The rear-mounted digital key function can achieve a user experience close to that of the front-mounted remote key, solving the problem of incomplete functions of the current digital key.

[0042] In the technical solution of the present application, not only 4G recorders, but also other driving recorders can implement the above technical solution, and recorders that support 5G or higher-level networks are also equally applicable.

[0043] See also Figure 3 The product involved in this technical solution is to add the function of digital key in 4G recorder, which only needs to add digital key module and antenna 3, as well as hardware encryption chip to the original 4G recorder. Other functional modules required by current digital key products such as 4G module, GPS module, Bluetooth module, vehicle power processing module and power connection harness, 4G antenna and Bluetooth antenna can directly reuse the existing functional modules in 4G recorder without adding extra cost.

[0044] Add the function of digital key to the 4G recorder product. More than 70% of the functional modules needed in the current digital key products can reuse the ready-made modules in the 4G recorder product. Only a small increase in cost is required to realize the function of digital key in the 4G recorder product. For car owners who originally planned to buy 4G recorders, the cost of using digital keys can be greatly reduced.

[0045] Since the 4G recorder is usually installed on the front windshield through a bracket, it is installed behind the rearview mirror of the car. Figure 3As shown in , you only need to add a digital key module, a digital key antenna and a hardware encryption chip to the 4G recorder 1, and you can put the circuit of this added functional module into the 4G recorder bracket. You only need to change the design of the original 4G recorder bracket, and will not change the shape, appearance and installation position of the original 4G recorder product. In addition, the original 4G recorder product already has a built-in 4G antenna, Bluetooth antenna, and GPS antenna, so do not pull any external antenna. It not only ensures the aesthetics of the product installation after adding the digital key function, but also maximizes the performance of various antennas (the front windshield of the vehicle is the best location for 4G signals, Bluetooth signals, GPS signals and digital key antenna signals), such as Figure 4 shown.

[0046] See also Figure 3 and Figure 4 As shown, the present application provides a control method for a 4G driving recorder with a digital key function, comprising the following steps:

[0047] S1. By adding a functional module to the 4G recorder 1; in the product involved in this application, the function of a digital key is added to the 4G recorder, and the original microphone, voice recognition, millimeter wave radar, camera 2, etc. of the 4G recorder can be used to enhance the functions that the current after-installed digital key cannot achieve.

[0048] With the help of the voice recognition function in the 4G recorder, you can conveniently unlock or lock the car door by voice command while driving. You can also open all the windows with a voice command. As long as the functions that the current digital key can achieve, they can be achieved through voice control, which greatly improves the user experience.

[0049] The key to this technical solution is that the millimeter-wave radar and camera of the 4G recorder can be used to automatically unlock the car door when the driver approaches the vehicle. In addition to providing a user experience close to the original digital key installed before, this function can also provide a third operation mode in addition to operating the digital key with Bluetooth instructions and 4G network instructions. It can solve the problem of another digital key operation mode when Bluetooth unlocking fails in places without 4G network signals, and enhance the redundancy of the stability of using digital keys. When the mobile phone is forgotten or lost, the digital key can still be used normally to drive normally.

[0050] S2. When the vehicle is turned off, the millimeter-wave radar detects objects around the vehicle. When an object is detected approaching the set range, the 4G recorder and camera are awakened to enter the detection state. When the vehicle is turned off, the product involved in this technical solution enters the ultra-low power parking monitoring mode. At this time, except for the millimeter-wave radar, all other functional modules of the product of this technical solution are turned off, and the core CPU of the product enters a low-power sleep mode similar to a mobile phone. The power consumption of this working mode is almost negligible and will not affect the vehicle battery.

[0051] When the technical solution product is in the shutdown parking monitoring mode, the millimeter wave radar will detect surrounding objects (such as moving objects, approaching people, etc.) through periodic scanning. The millimeter wave radar only needs to transmit signals and receive reflected waves at specific time intervals, and will not continuously consume a large amount of power. This detection method is very energy-saving. The millimeter wave radar can accurately determine the distance, speed and angle of the target object by analyzing the time delay and Doppler frequency shift of the reflected wave, which makes it very effective in detecting moving targets; the millimeter wave radar can work under various lighting conditions, especially in low light or completely dark environments, the radar performance is not affected, and it can work all-weather; at the same time, the high penetration ability of the millimeter wave radar enables it to detect dynamic changes in the environment outside the car, even glass windows can be penetrated, and it is not affected by rain, fog, snow, etc. in the environment, which enables the millimeter wave radar to maintain efficient and stable detection capabilities.

[0052] Millimeter-wave radar can accurately detect vehicles, pedestrians or objects, and distinguish these targets from the surrounding background noise (such as wind blowing trees, raindrops, etc.). Through the radar data, you can accurately know whether the object is approaching. When the millimeter-wave radar detects that an object is approaching within the set range, it will immediately wake up the entire system and camera (the entire system wakes up within 1s), and the system (here refers to the 4G record) begins to enter the detection state.

[0053] S3, detect the approaching pedestrians and determine the position of the pedestrians. If the distance of the pedestrians to the vehicle is less than the set threshold, enter the subsequent identification step. In this technical solution, the purpose of pedestrian identification is to detect the approaching pedestrians and determine their positions to ensure that the subsequent identification steps are triggered only when the driver approaches. Because the millimeter wave radar monitors the vehicle when it is parked, all pedestrians, objects, etc. approaching the vehicle are detected when they are close to the designed distance, not just the authorized driver.

[0054] In this application, pedestrian detection is implemented using the lightweight and highly accurate YOLOv5 object detection framework. Given a frame of image I, YOLO divides it into multiple grids and predicts multiple bounding boxes and class probabilities in each grid. The specific formula is as follows:

[0055] , where:

[0056] is the class confidence, is the existence probability of the object, are the center point coordinates, width, and height of the bounding box.

[0057] Judging the approaching distance: Use the distance threshold method. The focal length f of the camera of the 4G recorder is known. The relationship between the actual height H of the target and the height h in the image is:

[0058] , if , then it is considered that the pedestrian is approaching. Among them, is the distance threshold.

[0059] After confirming that the pedestrian is approaching, the camera starts to perform face recognition. At the same time, video recording is carried out according to the monitoring method, and the video is stored or sent accordingly.

[0060] S4. Determine whether the pedestrian is an authorized driver through face recognition. If so, enter the subsequent recognition steps; after detecting a nearby pedestrian, it is necessary to confirm whether it is an authorized driver through face recognition to prevent unauthorized unlocking. The core of face recognition is feature extraction and comparison. On the other hand, even if it is an authorized driver, it is not necessarily to open the door. If the digital key module is activated only through this step, there will be a situation where as long as an authorized driver passes by the vehicle, the 4G recorder will control the door to open through the digital key module, which will lead to a reduction in security, not meeting the design requirements and not being practical.

[0061] Feature extraction: Use the FaceNet model to obtain the feature vector of the driver's face. Given a face image I, FaceNet generates a 128-dimensional feature vector f: f = FaceNet(I).

[0062] Feature comparison: Calculate the Euclidean distance D between the detected face feature fdetected and the driver's face feature fdriver in the database:

[0063] ,

[0064] If D < T (threshold), then it is confirmed that it is an authorized driver. This step is only to determine that the approaching pedestrian is an authorized driver, and only when an authorized driver has a specific action can it be confirmed that the authorized driver needs to unlock the door.

[0065] S5. Obtain the gesture of the authorized driver and compare it with the preset unlocking gesture. If so, activate the digital key module to unlock the door.

[0066] After confirming the identity, the gesture recognition stage begins. The camera can capture the driver's gestures and activate the digital key module when the preset unlocking gesture is detected.

[0067] Gesture recognition: Use the MediaPipe Hand module launched by Google, which has good real-time performance and is suitable for mobile devices, for gesture detection. MediaPipe maps the gesture position into 21 key points .

[0068] Gesture recognition formula: Recognize preset gestures based on the set position relationship of key points. Assuming that you want to detect a "V" gesture, you can define it using the distance and angle between key points:

[0069] , where 1≤i≤19, j=i+1, k=i+2, if the angle and relative position relationship of the "V" gesture are met, the system (this system refers to the 4G recorder system) triggers the unlock signal.

[0070] After completing identity authentication and hand test recognition, the 4G recorder controls the digital key module to unlock the car door, thereby realizing the function of automatic unlocking when the driver approaches the vehicle. In the technical solution of this application, even if the gesture of the authorized driver matches the preset gesture, it may also be an unintentional action of the authorized driver. For this reason, it also includes detecting the movement posture of the authorized driver's hand and the change in distance from the car door. If the hand gradually approaches the car door, it is determined that there is a need to unlock the car door, and the 4G recorder sends an unlock signal to the digital key module, otherwise no unlock signal is sent.

[0071] The present application also provides a storage medium, on which a program of a control method of a 4G driving recorder with a digital key function is stored, and when the program of the control method of a 4G driving recorder with a digital key function is executed by a processor, the steps of the control method of a 4G driving recorder with a digital key function are implemented. The storage medium of the present application is a component of a 4G driving recorder.

[0072] In this application, by adding a digital key module to the 4G recorder, in addition to enhancing the function of the current digital key, the function of the existing 4G recorder can also be enhanced in turn. When the vehicle is turned off and the 4G recorder is in parking monitoring mode, if it is detected that someone breaks the glass to take items in the car, by adding the digital key function, it is possible to control the vehicle horn to emit a loud alarm (use the car search function in the digital key, send a car search command, and let the vehicle horn sound), and scare away the perpetrator. The original 4G recorder without the digital key function can only control the 4G recorder's horn to emit an alarm sound in this scenario. Due to the size of the 4G recorder, the 4G recorder's horn power is very small. The alarm sound emitted is basically inaudible outside the vehicle when the vehicle windows are closed, and the purpose of scaring away the perpetrator cannot be achieved.

[0073] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A control method for a 4G driving recorder with a digital key function, characterized in that: The following steps are involved: S1. By adding a digital key function to the 4G recorder; S2. When the vehicle is turned off, the millimeter wave radar detects objects around the vehicle. When an object is detected approaching the set range, the 4G recorder and camera are awakened to enter the detection state; S3, detecting the approaching pedestrian and determining the position of the pedestrian. If the distance of the pedestrian from the vehicle is less than a set threshold, proceeding to step S4; S4, determining whether the pedestrian is an authorized driver through face recognition, if so, proceeding to step S5; S5. Obtain the authorized driver's gesture and compare it with the preset unlocking gesture. If it is correct, activate the digital key module to unlock the door.

2. The control method of the 4G driving recorder with digital key function according to claim 1, characterized in that: In step S1, adding a digital key function to the 4G recorder means adding a digital key module, a digital key antenna and a hardware encryption chip to the existing 4G recorder.

3. The control method of the 4G driving recorder with digital key function according to claim 2, characterized in that: The digital key module and the digital key antenna are both arranged on the 4G recorder mounting bracket.

4. The control method of the 4G driving recorder with digital key function according to claim 1, characterized in that: In step S3, pedestrian detection is implemented through the YOLOv5 target detection framework, and the specific formula is: ,in: is the category confidence; is the probability of existence of the object; are the center point coordinates, width, and height of the bounding box.

5. The control method of the 4G driving recorder with digital key function according to claim 4, characterized in that: In step S3, the approach distance is determined by using the distance threshold method, where the camera focal length f of the 4G recorder is known, and the relationship between the actual target height H and the height h in the image is: ,like , then the pedestrian is considered to be close to the vehicle, where is the distance threshold.

6. The control method of the 4G driving recorder with digital key function according to claim 1, characterized in that: In step S4, the steps of determining whether the pedestrian is an authorized driver through face recognition are: Use the FaceNet model to obtain the feature vector fdriver of the authorized driver’s face, and calculate the Euclidean distance D between the feature vector fdetected of the detected face and the feature vector fdriver of the authorized driver’s face: , if D < threshold T, the pedestrian is confirmed to be an authorized driver.

7. The control method of the 4G driving recorder with digital key function according to claim 1, characterized in that: In step S5, gesture recognition uses the MediaPipe Hand module to detect gestures. The MediaPipe Hand module maps the gesture position into multiple key points, and recognizes the preset gesture according to the set key point position relationship. If the preset gesture angle and relative position relationship are met, the digital key module is activated.

8. The control method of the 4G driving recorder with digital key function according to claim 7, characterized in that: Specifically, the MediaPipe Hand module maps the gesture position into j key points. , the distance and angle formula between key points is: , where 1≤i≤19,j=i+1,k=i+2.

9. The control method of the 4G driving recorder with digital key function according to claim 1, characterized in that: It also includes the situation in parking monitoring mode, when an abnormal event is detected, the 4G recorder controls the vehicle horn to sound an alarm through the digital key module.

10. A storage medium, characterized in that: A program for a control method of a 4G driving recorder with a digital key function is stored on a storage medium. When the program for a control method of a 4G driving recorder with a digital key function is executed by a processor, the steps of the control method of a 4G driving recorder with a digital key function as described in any one of claims 1 to 9 are implemented.

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