Tailgate control method, vehicle, device, electronic device and readable storage medium

Abstract

The present invention provides a tailgate control method, a vehicle, a device, an electronic device and a readable storage medium, which control a projection device to project a projection area on the ground, and control a radar to emit a first detection signal; according to the first detection signal, a limb feature sequence is obtained, and the limb feature sequence is compared with a preset sample feature sequence for similarity to determine whether the limb feature sequence conforms to a target action mode; when the limb feature sequence conforms to the target action mode, it is determined whether the limb action is performed in the projection area according to the position information of the limb, and when it is performed in the projection area, the tailgate is controlled to be opened or closed. The radar is combined with the projection device, and the effective range of the radar for identifying the kicking action is limited by the projection area. The limb feature sequence is compared with the sample feature sequence to achieve a quick judgment on whether the limb action is standard, thereby improving the recognition efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent automobile technology, and in particular to a tailgate control method, a vehicle, a device, an electronic device and a readable storage medium. Background Art

[0002] With the rapid development of science and technology, the level of automobile industry is constantly improving. Automobiles have brought more and more convenience to people's lives. Correspondingly, users have higher requirements for various performances of automobiles. In order to provide better user experience and facilitate users to open the tailgate of the car more conveniently when their hands are full of things, kick sensors have become the mainstream with the characteristics of comfort, convenience and safety.

[0003] The current sensing method of the kick sensor, for example, utilizes a capacitive sensor to recognize a person's kicking action through a capacitive strip, thereby controlling the tailgate to open.

[0004] However, this kicking method has a high false alarm rate when encountering dust or rainy or snowy weather, and it is difficult to achieve normal use. Summary of the invention

[0005] Embodiments of the present invention provide a tailgate control method, device, electronic device and readable storage medium to solve the problem of high false alarm rate of tailgate control in the prior art.

[0006] In a first aspect, an embodiment of the present invention provides a tailgate control method, the method comprising:

[0007] Controlling the projection device to project a projection area on the ground, and controlling the radar to transmit a first detection signal;

[0008] Acquire a limb feature sequence according to the first detection signal, compare the limb feature sequence with a preset sample feature sequence for similarity, and determine whether the limb feature sequence conforms to a target action pattern;

[0009] When the limb feature sequence conforms to the target action pattern, it is determined whether the limb action represented by the limb feature sequence is performed in the projection area according to the position information of the limb, and when the limb action is determined to be performed in the projection area, the tailgate is controlled to be opened or closed.

[0010] Optionally, when the vehicle is stationary and the vehicle key is within a first preset range from the vehicle, controlling the projection device to project a projection area on the ground includes:

[0011] When the vehicle is stationary and the vehicle key is within a first preset range from the vehicle, controlling the radar to emit a second detection signal;

[0012] determining the distance between the human body and the radar according to the second detection signal;

[0013] When the distance is within the second preset range, the projection device is controlled to project a projection area on the ground.

[0014] Optionally, acquiring a limb feature sequence according to the first detection signal includes:

[0015] receiving a feedback signal for the first detection signal;

[0016] Determining a range Doppler spectrum diagram according to the feedback signal;

[0017] A limb feature sequence is extracted according to the range Doppler spectrum diagram.

[0018] Optionally, extracting a limb feature sequence according to the range Doppler spectrum diagram includes:

[0019] According to the range Doppler spectrum diagram, identifying target limb information; the target limb information includes: speed, distance, angle and signal-to-noise ratio;

[0020] The target limb information is input into a preset neural network model, and a limb feature sequence of limb movements is output.

[0021] Optionally, comparing the similarity between the limb feature sequence and a preset sample feature sequence to determine whether the limb feature sequence conforms to the target action mode includes:

[0022] Comparing the similarity of each frame sequence in the limb feature sequence with each frame sequence in the sample feature sequence in chronological order to obtain a similarity value of the limb feature sequence relative to the sample feature sequence;

[0023] When the similarity value is greater than a preset threshold, it is determined that the limb feature sequence conforms to the target action mode.

[0024] Optionally, the comparing the similarity of each frame sequence in the limb feature sequence with each frame sequence in the sample feature sequence in chronological order to obtain a similarity value of the limb feature sequence relative to the sample feature sequence includes:

[0025] Comparing the limb feature sequence with the first sample feature sequence to obtain a first similarity value of the limb feature sequence relative to the first sample feature sequence; the first similarity value is used to determine whether an action of the limb entering the projection area is recognized;

[0026] After determining that a limb stepping action is recognized, the limb feature sequence is compared with the second sample feature sequence to obtain a second similarity value of the limb feature sequence relative to the second sample feature sequence; the second similarity value is used to determine whether a limb leaving the projection area is recognized.

[0027] Optionally, when the similarity value is greater than a preset threshold, determining that the limb feature sequence meets the target action mode includes:

[0028] When the first similarity value is greater than a first preset threshold value and the second similarity value is greater than a second preset threshold value, determining the duration of the limb movement according to the start time of the movement of the limb entering the projection area and the end time of the movement of the limb leaving the projection area;

[0029] When the duration is within a preset time range, it is determined that the limb feature sequence conforms to the target action pattern.

[0030] Optionally, when the limb feature sequence conforms to the target action mode, judging whether the limb action represented by the limb feature sequence is performed in the projection area according to the position information of the limb includes:

[0031] Determining position information of the limb according to a feedback signal of the first detection signal;

[0032] The position information of the limb is compared with the position information of the projection area to determine a position comparison result. When it is determined according to the position comparison result that the position of the limb is within the position range of the projection area, it is determined that the limb action represented by the limb feature sequence is performed in the projection area.

[0033] Optionally, when the body movement is determined to be performed in the projection area, controlling the tailgate to be opened or closed includes:

[0034] Get the current status information of the tailgate;

[0035] If the current state information of the tailgate is an open state, controlling the tailgate to perform a closing operation;

[0036] If the current state information of the tailgate is a closed state, the tailgate is controlled to perform an opening operation.

[0037] Optionally, the limb motion sequence includes any one of a foot feature sequence and a hand feature sequence.

[0038] In a second aspect, an embodiment of the present invention provides a vehicle, the vehicle comprising a radar, a projection device and a controller;

[0039] The controller is used to control the projection device to project a projection area on the ground, and to control the radar to transmit a first detection signal;

[0040] The radar is used to obtain a limb feature sequence according to the first detection signal, compare the limb feature sequence with a preset sample feature sequence for similarity, and determine whether the limb feature sequence conforms to a target action mode;

[0041] The radar is used to determine whether the limb movement represented by the limb feature sequence is performed in the projection area according to the position information of the limb when the limb feature sequence conforms to the target action pattern, and the controller is used to control the opening or closing of the tailgate when the limb movement is determined to be performed in the projection area.

[0042] In a third aspect, an embodiment of the present invention provides a tailgate control device, characterized in that the device comprises:

[0043] A control module, used to control the projection device to project a projection area on the ground, and to control the radar to transmit a first detection signal;

[0044] A first judgment module is used to obtain a limb feature sequence according to the first detection signal, compare the limb feature sequence with a preset sample feature sequence for similarity, and determine whether the limb feature sequence conforms to a target action mode;

[0045] The second judgment module is used to judge whether the limb movement represented by the limb feature sequence is performed in the projection area according to the position information of the limb when the limb feature sequence conforms to the target action mode, and to control the opening or closing of the tailgate when the limb movement is determined to be performed in the projection area.

[0046] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0047] Memory, used to store computer programs;

[0048] The processor is used to implement the steps of the tailgate control method described in the first aspect when executing the program stored in the memory.

[0049] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the tailgate control method described in the first aspect above.

[0050] Compared with the prior art, the present invention has the following advantages:

[0051] In an embodiment of the present invention, a projection device is controlled to project a projection area on the ground, and a radar is controlled to emit a first detection signal; based on the first detection signal, a limb feature sequence is obtained, and a similarity comparison is performed between the limb feature sequence and a preset sample feature sequence to determine whether the limb feature sequence meets the target action mode; when the limb feature sequence meets the target action mode, it is determined whether the limb action represented by the limb feature sequence is performed in the projection area according to the position information of the limb, and when the limb action is determined to be performed in the projection area, the tailgate is controlled to be opened or closed. The present application uses radar to identify kicking actions, combines radar with a projection device, and limits the effective range of radar identification of kicking actions through the projection area. By identifying the limb feature sequence, the limb feature sequence is compared with the sample feature sequence, and the kicking action is determined to be performed in the projection area through the limb position, so as to achieve a quick judgment on whether the limb action meets the standard. The method of the present invention can effectively reduce false triggering caused by environmental factors, and limit the recognition range of limb actions to the projection area, reducing the judgment errors caused by too large a recognition range.

[0052] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for describing the embodiments are briefly introduced below.

[0054] Figure 1 A schematic diagram of a tailgate control method provided by an embodiment of the present invention;

[0055] Figure 2 A schematic diagram of a tailgate control implementation method provided by an embodiment of the present invention;

[0056] Figure 3 A schematic diagram of another tailgate control method provided by an embodiment of the present invention;

[0057] Figure 4 is a schematic diagram of the positions of a radar and a projection device provided by an embodiment of the present invention;

[0058] Figure 5 is a schematic diagram of a tailgate control device provided by an embodiment of the present invention;

[0059] Figure 6 is a block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can also be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0061] Figure 1 A tailgate control method provided by an embodiment of the present invention includes steps 101 to 103:

[0062] Step 101, controlling the projection device to project a projection area on the ground, and controlling the radar to transmit a first detection signal.

[0063] In an embodiment of the present invention, the prerequisite for controlling the projection device to project a projection area on the ground may be: the vehicle is stationary and the car key is within a first preset range from the vehicle, that is, the vehicle is stationary, but the vehicle and the car key can match, and the vehicle is powered on. At this time, the projection device can be controlled to project the projection area on the ground, and the radar can be controlled to transmit the first detection signal. Of course, the projection device can also continuously project the projection area and the radar can transmit the first detection signal, which is not limited by the vehicle state, and this application is not limited here. The projection device in this application can be a device that can project light, such as a projection lamp, and the radar can be a device for distance detection or target detection, such as a millimeter wave radar. Millimeter wave radar refers to a radar sensor that works in the millimeter wave frequency band and is suitable for close-range scenes. The projection device and the radar can be set at a position below the rear bumper of the rear of the vehicle. The setting position of the projection device and the radar can be set according to the projection area and the detection range of the radar, and this application is not limited here.

[0064] Furthermore, when the vehicle is stationary and the car key is within the first preset range from the vehicle, it can be considered that the conditions for opening or closing the tailgate of the car are met at this time. In this state, there may be a need to open or close the tailgate of the car. At this time, the projection device can be controlled to project a projection area on the ground, and the projection area is used to indicate the user to perform a kicking action in the area, giving the user clear location guidance and improving the success rate of the user performing the correct kicking action. If there is no object passing by the periphery of the car for a long time, the radar may be in a dormant state. Therefore, after determining that the current state of the car meets the execution conditions for opening or opening the tailgate, the radar is also controlled to emit a first detection signal to detect the user's kicking action in the projection area and determine whether the user has performed the correct kicking action. The radar can make an accurate judgment on the action in the projection area, so that the accuracy rate can be greatly improved. .

[0065] The projection device in the present application can be projected onto the ground directly behind the vehicle, and the projection device can be visible under strong sunlight, which can provide correct guidance for area judgment. The millimeter-wave radar can provide accurate recognition and judgment of foot-kicking actions, thereby solving the problem of inaccurate judgment by other sensors such as infrared and capacitive sensors for kicking the tailgate.

[0066] Step 102: acquiring a limb feature sequence according to the first detection signal, comparing the limb feature sequence with a preset sample feature sequence for similarity, and determining whether the limb feature sequence conforms to a target action pattern.

[0067] In the embodiment of the present invention, after the radar transmits the first detection signal, if there is an object in the projection area, the first detection signal can be reflected by the object and returned to the radar. For each frame of the first detection signal, a feedback signal for each frame of the first detection signal is received. After the feedback signal is converted in the time domain and the frequency domain, a distance-Doppler spectrum diagram can be obtained. From the distance-Doppler spectrum diagram, relevant information of the limb can be identified by the target search method. For example, the distance, speed, azimuth and other information of the object relative to the radar can be determined. Then, by extracting the feature information of the relevant information of the identified limb and training the data, a limb feature sequence can be obtained.

[0068] Furthermore, the sample feature sequence may be obtained by collecting multiple limb movements in advance and then extracting features from the collected sample limb features. The sample feature sequence may include: a feature sequence of a limb stepping-in movement and a feature sequence of a limb stepping-out movement. After obtaining the limb feature sequence according to the first detection signal, the limb feature sequence is compared with the sample feature sequence, and by comparing the similarity, it can be determined whether the limb feature sequence performs the same type of limb movement as the sample feature sequence.

[0069] For example, the limb feature sequence can be compared with the sample feature sequence one by one according to the time sequence of collecting the limb feature sequence to obtain a comparison result, and according to the comparison result, it is determined whether the limb feature sequence meets the target action mode. For example, the target action mode can be an action in which the limb first enters the projection area and then leaves the projection area. If the limb feature sequence does not meet the target action mode, it is considered that the detected limb action does not meet the standard, and the opening or closing state of the tailgate is not changed to avoid false detection.

[0070] Step 103, when the limb feature sequence meets the target action pattern, determine whether the limb action represented by the limb feature sequence is performed in the projection area according to the limb position information, and when the limb action is determined to be performed in the projection area, control the tailgate to open or close.

[0071] In the embodiment of the present invention, it is also detected whether the body movement is performed in the projection area. Since the detection range of the radar may be larger than the range of the projection area, and the detection range is too large, the body movement that is not performed in the designated area may be misjudged, so that an erroneous instruction to change the state of the tailgate is issued. Therefore, the present application also detects whether the body movement is performed in the projection area. If the body movement is performed in the projection area, it is considered that the detected action is in line with the control of the tailgate state. If the body movement is not performed in the projection area, the state of the tailgate is not changed, and the next kicking action is detected.

[0072] Furthermore, when the limb feature sequence meets the target action pattern, it can be determined whether the limb action represented by the limb feature sequence is performed in the projection area based on the position information of the limb. The position information of the projection area is determined, and the position information of the limb can be obtained by calculating the feedback signal returned by the first detection signal. If the limb feature sequence meets the target action pattern, and the limb feature sequence is performed in the projection area, it can be considered that a standard kicking action is detected. At this time, the radar can send a control instruction to the controller to control the tailgate to open or close. The present application effectively improves the recognition accuracy of the kicking action by limiting the recognition range of the kicking action.

[0073] refer to Figure 2 , Figure 2 A schematic diagram of a tailgate control implementation is shown, in which the tailgate is controlled to be opened or closed by performing a kicking action in the projection area.

[0074] In an embodiment of the present invention, a projection device is controlled to project a projection area on the ground, and a radar is controlled to emit a first detection signal; based on the first detection signal, a limb feature sequence is obtained, and a similarity comparison is performed between the limb feature sequence and a preset sample feature sequence to determine whether the limb feature sequence meets the target action mode; when the limb feature sequence meets the target action mode, it is determined whether the limb action represented by the limb feature sequence is performed in the projection area according to the position information of the limb, and when the limb action is determined to be performed in the projection area, the tailgate is controlled to be opened or closed. The present application uses radar to identify kicking actions, combines radar with a projection device, and limits the effective range of radar identification of kicking actions through the projection area. By identifying the limb feature sequence, the limb feature sequence is compared with the sample feature sequence, and the kicking action is determined to be performed in the projection area through the limb position, so as to achieve a quick judgment on whether the limb action meets the standard. The method of the present invention can effectively reduce false triggering caused by environmental factors, and limit the recognition range of limb actions to the projection area, reducing the judgment errors caused by too large a recognition range.

[0075] Figure 3A tailgate control method provided by an embodiment of the present invention includes steps 201 to 205:

[0076] Step 201, when the vehicle is stationary and the vehicle key is within a first preset range from the vehicle, control the radar to emit a second detection signal.

[0077] In an embodiment of the present invention, when the vehicle is stationary and the car key is within a first preset range from the vehicle, the radar can be controlled to emit a second detection signal, and the second detection signal can be used to detect whether there is someone approaching the periphery of the vehicle. If the second detection signal does not detect that someone is approaching, there is no need to turn on the projection device, and there is no need to recognize body movements. If the second detection signal detects that someone is gradually approaching, or that the distance between someone and the radar is within a preset range, it can be considered that the user has the intention to open or close the tailgate, and at this time the projection device can be controlled to project a projection area to instruct the user to complete the kicking action in the projection area.

[0078] Furthermore, the power consumption can be reduced by setting the time interval for the radar to transmit the second detection signal. For example, the power consumption can be reduced by increasing the detection interval between two second detection signals.

[0079] Step 202: Determine the distance between the human body and the radar according to the second detection signal.

[0080] In the embodiment of the present invention, after the radar transmits the second detection signal, if there is a target within the detection range of the second detection signal of the radar, the target can return a feedback signal to the radar based on the second detection signal. Based on the time of transmitting the signal, the time of receiving the signal and the propagation speed of the signal, the relative distance between the target and the radar can be determined.

[0081] For example, taking millimeter-wave radar as an example, the ranging capability of millimeter-wave radar is related to factors such as transmission power, antenna gain, antenna beam angle, and object reflection cross-sectional area. Generally, the greater the transmission power, the higher the antenna gain, the narrower the antenna beam angle, and the larger the object reflection cross-sectional area, the stronger the effective echo that the radar can detect, and the longer the measurement distance. The ranging of millimeter-wave radar mainly uses the time delay between the transmission signal and the echo signal, combined with the millimeter-wave propagation speed, and the relative speed of the target and the radar, to deduce the relative distance between the millimeter-wave radar and the detection target.

[0082] Step 203, when the distance is within a second preset range, control the projection device to project a projection area on the ground, and control the radar to transmit a first detection signal.

[0083] In an embodiment of the present invention, when it is determined that the distance between the human body and the radar is within the second preset range, it can be considered that the human body is close to the rear of the car and has the intention to open or close the tailgate. At this time, the projection device can be controlled to project a projection area on the ground, instructing the user to perform a kicking action in the projection area, and the radar can be controlled to emit a first detection signal to identify the kicking action, determine that the user has performed a standard kicking action, and then control the opening or closing of the tailgate.

[0084] refer to Figure 4 , Figure 4 A schematic diagram of the installation position of a radar and a projection device is shown. In the process of body movement recognition, the present invention combines the radar and the projection device into an integrated radar projection sensing tailgate control module. The radar and the projection device can be in the same vertical position. The installation position of the radar and the projection device can be below the rear bumper of the car. The specific position can be set differently according to different car models, and the application does not limit it here. In the present invention, the projection area of ​​the projection device projected on the ground limits the effective range of the radar to recognize the kicking action. The radar is on the left and the projection device is on the right. This spatial arrangement makes the final projection area deviate from the center position of the radar detection area, but does not make the projection area exceed the boundary of the radar detection area, which can effectively improve the recognition accuracy of the kicking action.

[0085] Step 204: acquiring a limb feature sequence according to the first detection signal, performing a similarity comparison between the limb feature sequence and a preset sample feature sequence, and determining whether the limb feature sequence conforms to a target action pattern.

[0086] This step may refer to step 102 and will not be described again here.

[0087] Optionally, step 204 specifically includes:

[0088] Sub-step 2041, receiving a feedback signal for the first detection signal;

[0089] Sub-step 2042, determining a range Doppler spectrum diagram according to the feedback signal;

[0090] Sub-step 2043, extracting a limb feature sequence according to the range Doppler spectrum.

[0091] In the embodiment of the present invention, for sub-step 2041 and sub-step 2043, the transmitting antenna in the radar transmits electromagnetic waves (for example, the signal form of the electromagnetic waves can be a linear frequency modulation signal FMCW), that is, a first detection signal, and the transmitted first detection signal is reflected by the target in the projection area, and the reflected feedback signal is received by the receiving antenna in the radar. After receiving the feedback signal, the feedback signal is processed by Fourier transform, Doppler Fourier transform, and incoherent accumulation, etc., to obtain a range Doppler spectrum diagram, which can reflect information such as the speed and distance of the limbs.

[0092] Furthermore, the range Doppler spectrum graph can represent information in multiple dimensions, wherein the peak position can represent the distance and speed information of the limb, and the peak intensity value can represent the intensity of the feedback signal. The horizontal axis of the range Doppler spectrum graph can represent the distance dimension information, for example, the peak X=10, indicating that the limb is in the 10th distance unit. The vertical axis of the range Doppler spectrum graph can represent the speed dimension information, for example, the speed corresponding to the peak is 10. Through the range Doppler spectrum graph, it is possible to detect whether there is a limb in the detection area, as well as the position, speed and other information of the limb. Through multiple frames of the first detection signal, multiple range Doppler spectrum graphs can be obtained, and then by extracting features from the range Doppler spectrum graph, a limb feature sequence can be obtained.

[0093] Optionally, sub-step 2043 specifically includes:

[0094] Sub-step 20431, identifying target limb information according to the range Doppler spectrum diagram; the target limb information includes: speed, distance, angle and signal-to-noise ratio;

[0095] Sub-step 20432, inputting the target limb information into a preset neural network model, and outputting a limb feature sequence of the limb movement.

[0096] In the embodiment of the present invention, for sub-steps 20431 and 20432, after obtaining the range Doppler spectrum, the target limb information can be determined according to the range Doppler spectrum. Specifically, according to the judgment of the peak in the range Doppler spectrum, it can be determined whether the figure includes limb information, and according to the data extraction and analysis of the horizontal axis and the vertical axis of the range Doppler spectrum, the speed and distance information of a certain frame of limb movement can be obtained. The signal-to-noise ratio of the feedback signal can be determined according to the intensity value of the peak of the range Doppler spectrum.

[0097] Furthermore, the radar may include two receiving antennas for receiving feedback signals. The distances from the feedback signals to the two receiving antennas are different, which leads to a phase change in the peak of the distance Fourier transform. The angle information can be determined by using the phase difference between the two receiving antennas. The coordinate information of the limb can be determined by speed, distance, and angle.

[0098] After obtaining the target limb information, the limb feature information can be input into a preset neural network model to output a limb feature sequence of the limb action. Specifically, the target limb information of each frame can be fused through the neural network model to obtain a complete limb feature sequence of the limb action. The neural network model can be a pre-trained model for limb feature extraction and fusion.

[0099] Optionally, step 204 specifically includes:

[0100] Sub-step 2044, performing a similarity comparison between each frame sequence in the limb feature sequence and each frame sequence in the sample feature sequence in chronological order, to obtain a similarity value between the limb feature sequence and the sample feature sequence;

[0101] In an embodiment of the present invention, each frame sequence in the limb feature sequence can be compared with each frame sequence of the sample feature sequence in chronological order for similarity, so as to obtain a similarity value of the limb feature sequence relative to the sample feature sequence, and determine whether the limb feature sequence is a sequence that conforms to the target action pattern based on the similarity value.

[0102] Optionally, sub-step 2044 specifically includes:

[0103] Sub-step 20441, comparing the limb feature sequence with the first sample feature sequence to obtain a first similarity value of the limb feature sequence relative to the first sample feature sequence; the first similarity value is used to determine whether a stepping action of the limb entering the projection area is recognized;

[0104] Sub-step 20442, after determining that the action of a limb entering the projection area is recognized, compare the limb feature sequence with the second sample feature sequence to obtain a second similarity value of the limb feature sequence relative to the second sample feature sequence; the second similarity value is used to determine whether the action of a limb leaving the projection area is recognized.

[0105] In the embodiment of the present invention, for sub-steps 20441 and 20442, feature information of the feedback signal of each frame is extracted, and similarity recognition and judgment are performed one by one with the pre-stored first sample feature sequence representing the limb entering the projection area. If the first similarity value is greater than or equal to a certain ratio value, the radar determines that the action recognition of the limb entering the projection area is successful. At this time, the radar signal should be processed successfully according to the action behavior of the limb entering the projection area, and the subsequent judgment continues. When the feedback signal is compared with the pre-stored first sample feature sequence, if the first similarity value is lower than a certain ratio value, the radar cannot recognize the action of the limb entering the projection area, and it is processed as an action without the limb entering the projection area. At this time, the feedback signal to be detected can be updated to continue to judge the action of the limb entering the projection area.

[0106] If the action of the limb entering the projection area is successfully detected, the radar can determine whether the action of the limb entering the projection area occurs within the projection area based on the coordinate position information of the limb. If the area where the limb action occurs is determined to be within the projection area, the radar determines that the action of the limb entering the projection area is successfully detected. When the radar determines that there is an action behavior of the limb entering the projection area, it is also necessary to detect whether there is a foot stepping out.

[0107] The method for judging the action of the limbs leaving the projection area is similar to the method of stepping in. It also requires collecting and extracting data information of the limbs leaving the projection area multiple times to train the second sample feature sequence of the action of the limbs leaving the projection area, and then storing it in the radar. After successfully judging the action of the limbs entering the projection area, continue to identify the action of the limbs leaving the projection area. At this time, the feedback signal is compared with the second sample feature sequence. If the second similarity is greater than or equal to a certain numerical ratio, the radar recognizes the stepping out action.

[0108] Sub-step 2045, when the similarity value is greater than a preset threshold, determining that the limb feature sequence conforms to the target action mode.

[0109] In the embodiment of the present invention, when the similarity value is greater than a preset threshold, it can be determined that the limb has performed a standard kicking action, and it can be determined that the limb feature sequence conforms to the target action pattern.

[0110] Optionally, sub-step 2045 specifically includes:

[0111] Sub-step 20451, when the first similarity value is greater than a first preset threshold value and the second similarity value is greater than a second preset threshold value, determining the duration of the limb movement according to the start time of the movement of the limb entering the projection area and the end time of the movement of the limb leaving the projection area;

[0112] Sub-step 20452, when the duration is within a preset time range, determining that the limb feature sequence conforms to the target action pattern.

[0113] In an embodiment of the present invention, for sub-step 20451 and sub-step 20452, when the first similarity value is greater than the first preset threshold and the second similarity value is greater than the second preset threshold, the action time of the limb entering the projection area and leaving the projection area continues to be judged. For example, the time difference between the two actions can be determined based on the start time of the action of the limb entering the projection area and the end time of the action of the limb leaving the projection area, and the time difference is used as the duration of the limb action. Specifically, the duration can be determined based on the start time of the action of entering the first frame and the end time of the action of leaving the last frame. When the duration is within the preset time range, it is determined that the limb feature sequence meets the target action pattern.

[0114] For example, the duration of a normal kicking action is 2-3 seconds, so the time range of the duration here can be 2-3 seconds, and the embodiments of the present application are not limited here. When it is judged that the duration belongs to the preset time range, it is determined that the body movement sequence meets the target action mode, and the tailgate can be opened or closed. When it is judged that the duration belongs to the preset time range, for example, the duration is 1 second or 5 seconds, it is judged that the body movement recognized in the projection area does not meet the target action mode, and the tailgate is not opened or closed. By judging the duration, the probability of false detection can be effectively reduced.

[0115] Step 205, when the limb feature sequence meets the target action pattern, determine whether the limb action represented by the limb feature sequence is performed in the projection area according to the limb position information, and when the limb action is determined to be performed in the projection area, control the tailgate to open or close.

[0116] This step may refer to step 103 and will not be described again here.

[0117] Optionally, step 205 specifically includes:

[0118] Sub-step 2051, determining position information of the limb according to the feedback signal of the first detection signal;

[0119] Sub-step 2052, compares the position information of the limb with the position information of the projection area to determine the position comparison result. When it is determined that the position of the limb is within the position range of the projection area according to the position comparison result, it is determined that the limb movement represented by the limb feature sequence is performed in the projection area.

[0120] In the embodiment of the present invention, with respect to sub-steps 2051 and 2052, the position information of the limb can be determined according to the feedback signal of the first detection signal. Specifically, referring to the description of sub-steps 20431 and 20432, the position information of the limb can be determined according to the feedback signal, and the position information of the limb can be compared with the position information of the projection area to determine a position comparison result. When it is determined according to the position comparison result that the position of the limb is within the position range of the projection area, it can be determined that the limb movement is performed in the projection area.

[0121] Optionally, step 205 specifically includes:

[0122] Sub-step 2053, obtaining current status information of the tailgate;

[0123] Sub-step 2054, if the current state information of the tailgate is an open state, controlling the tailgate to perform a closing operation;

[0124] Sub-step 2055: if the current status information of the tailgate is a closed status, the tailgate is controlled to perform an opening operation.

[0125] In the embodiment of the present invention, for sub-steps 2053 to 2055, before controlling the tailgate to be opened or closed, the current state of the tailgate is also obtained, and the operation to be performed on the tailgate is determined according to the current state of the tailgate. For example, if the current state of the tailgate is a closed state, after a kicking action that meets the preset conditions is detected, the tailgate is opened; if the current state of the tailgate is an open state, after a kicking action that meets the preset conditions is detected, the tailgate is closed. This makes the operation of the tailgate more flexible and quick.

[0126] Optionally, the limb motion sequence includes any one of a foot feature sequence and a hand feature sequence.

[0127] In the embodiment of the present application, the limb movement may be a kicking movement performed by the foot, a reaching movement performed by the hand, or a movement performed by other parts such as the elbow, etc., which is not limited in the embodiment of the present application.

[0128] In an embodiment of the present invention, the projection device is controlled to project a projection area on the ground, and the radar is controlled to emit a first detection signal; according to the first detection signal, a limb feature sequence is obtained, and the similarity between the limb feature sequence and a preset sample feature sequence is compared to determine whether the limb feature sequence meets the target action mode; when the limb feature sequence meets the target action mode, it is determined whether the limb action represented by the limb feature sequence is performed in the projection area according to the position information of the limb, and when the limb action is determined to be performed in the projection area, the tailgate is controlled to be opened or closed. The present application uses radar to identify kicking actions, combines radar with a projection device, and limits the effective range of radar identification of kicking actions through the projection area. By identifying the limb feature sequence, the limb feature sequence is compared with the sample feature sequence, and the kicking action is determined to be performed in the projection area through the limb position, so as to achieve a quick judgment on whether the limb action meets the standard. The method of the present invention can effectively reduce false triggering caused by environmental factors, and limit the recognition range of limb actions to the projection area, reducing the judgment errors caused by too large a recognition range.

[0129] Figure 5 is a schematic diagram of a tailgate control device provided by an embodiment of the present invention, the device comprising:

[0130] The control module 301 is used to control the projection device to project a projection area on the ground, and control the radar to transmit a first detection signal;

[0131] A first judgment module 302 is used to obtain a limb feature sequence according to the first detection signal, compare the limb feature sequence with a preset sample feature sequence for similarity, and determine whether the limb feature sequence conforms to a target action mode;

[0132] The second judgment module 303 is used to judge whether the limb movement represented by the limb feature sequence is performed in the projection area according to the position information of the limb when the limb feature sequence conforms to the target action pattern, and to control the opening or closing of the tailgate when the limb movement is determined to be performed in the projection area.

[0133] Optionally, the control module includes:

[0134] The first control submodule is used to control the radar to transmit a second detection signal when the vehicle is stationary and the vehicle key is within a first preset range from the vehicle;

[0135] a distance determination submodule, used to determine the distance between the human body and the radar according to the second detection signal;

[0136] The second control submodule is used to control the projection device to project a projection area on the ground when the distance is within a second preset range.

[0137] Optionally, the first determination module includes:

[0138] A receiving submodule, configured to receive a feedback signal for the first detection signal;

[0139] A spectrum determination submodule, used to determine a range Doppler spectrum diagram according to the feedback signal;

[0140] The feature determination submodule is used to extract a limb feature sequence according to the range Doppler spectrum diagram.

[0141] Optionally, the feature determination submodule includes:

[0142] A target determination unit, used to identify target limb information according to the range Doppler spectrum diagram; the target limb information includes: speed, distance, angle and signal-to-noise ratio;

[0143] The training unit is used to input the target limb information into a preset neural network model and output a limb feature sequence of limb movements.

[0144] Optionally, the first determination module includes:

[0145] A comparison unit, used for comparing the similarity of each frame sequence in the limb feature sequence with each frame sequence in the sample feature sequence in time order, to obtain a similarity value of the limb feature sequence relative to the sample feature sequence;

[0146] The similarity judgment unit is used to determine whether the limb feature sequence conforms to the target action mode when the similarity value is greater than a preset threshold.

[0147] Optionally, the comparison unit comprises:

[0148] A first comparison subunit is used to compare the limb feature sequence with the first sample feature sequence to obtain a first similarity value of the limb feature sequence relative to the first sample feature sequence; the first similarity value is used to determine whether an action of the limb entering the projection area is recognized;

[0149] The second comparison subunit is used to compare the limb feature sequence with the second sample feature sequence after determining that the action of the limb entering the projection area is recognized, so as to obtain a second similarity value of the limb feature sequence relative to the second sample feature sequence; the second similarity value is used to determine whether the action of the limb leaving the projection area is recognized.

[0150] Optionally, the similarity judgment unit includes:

[0151] a time determination subunit, configured to determine the duration of the limb action according to the start time of the action of the limb entering the projection area and the start time of the action of the limb leaving the projection area when the first similarity value is greater than a first preset threshold and the second similarity value is greater than a second preset threshold;

[0152] The time judgment subunit is used to determine that the limb feature sequence conforms to the target action mode when the duration is within a preset time range.

[0153] Optionally, the second judgment module includes:

[0154] A position determination submodule, used to determine the position information of the limb according to the feedback signal of the first detection signal;

[0155] The position judgment submodule is used to compare the position information of the limb with the position information of the projection area to determine the position comparison result. When it is determined that the position of the limb is within the position range of the projection area according to the position comparison result, it is determined that the limb action represented by the limb feature sequence is performed in the projection area.

[0156] Optionally, the second judgment module includes:

[0157] The status acquisition submodule is used to obtain the current status information of the tailgate;

[0158] A third control submodule, configured to control the tailgate to execute a closing operation if the current state information of the tailgate is an open state;

[0159] The fourth control submodule is used to control the tailgate to perform an opening operation if the current state information of the tailgate is a closed state.

[0160] As for the above-mentioned device embodiment, since it is basically similar to the tailgate control method embodiment, the relevant parts can be referred to the partial description of the method embodiment.

[0161] Optionally, the limb feature sequence includes any one of a foot feature sequence and a hand feature sequence.

[0162] In an embodiment of the present invention, the projection device is controlled to project a projection area on the ground, and the radar is controlled to emit a first detection signal; according to the first detection signal, a limb feature sequence is obtained, and the similarity between the limb feature sequence and a preset sample feature sequence is compared to determine whether the limb feature sequence meets the target action mode; when the limb feature sequence meets the target action mode, it is determined whether the limb action represented by the limb feature sequence is performed in the projection area according to the position information of the limb, and when the limb action is determined to be performed in the projection area, the tailgate is controlled to be opened or closed. The present application uses radar to identify kicking actions, combines radar with a projection device, and limits the effective range of radar identification of kicking actions through the projection area. By identifying the limb feature sequence, the limb feature sequence is compared with the sample feature sequence, and the kicking action is determined to be performed in the projection area through the limb position, so as to achieve a quick judgment on whether the limb action meets the standard. The method of the present invention can effectively reduce false triggering caused by environmental factors, and limit the recognition range of limb actions to the projection area, reducing the judgment errors caused by too large a recognition range.

[0163] The embodiment of the present invention further provides an electronic device, such as Figure 6 As shown, it includes a processor 801 , a communication interface 802 , a memory 803 and a communication bus 804 , wherein the processor 801 , the communication interface 802 , and the memory 803 communicate with each other via the communication bus 804 .

[0164] The memory 803 is used to store computer programs.

[0165] When the processor 801 is used to execute the program stored in the memory 803, the following steps are implemented: controlling the projection device to project a projection area on the ground, and controlling the radar to transmit a first detection signal; obtaining a limb feature sequence based on the first detection signal, and comparing the similarity between the limb feature sequence and a preset sample feature sequence to determine whether the limb feature sequence conforms to the target action pattern; when the limb feature sequence conforms to the target action pattern, judging whether the limb action represented by the limb feature sequence is performed in the projection area based on the position information of the limb, and when the limb action is determined to be performed in the projection area, controlling the tailgate to open or close.

[0166] Among them, the processor 801 can also implement other steps in the above-mentioned automatic parking method, which will not be repeated here.

[0167] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0168] The communication interface is used for communication between the above electronic device and other devices.

[0169] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0170] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0171] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions. When the instructions are executed on a computer, the computer executes the tailgate control method described in the above embodiment.

[0172] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes the tailgate control method described in the above embodiment.

[0173] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0174] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0175] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium and computer program products containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0176] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A tailgate control method, characterized in that: The method comprises: Controlling the projection device to project a projection area on the ground, and controlling the radar to transmit a first detection signal; Acquire a limb feature sequence according to the first detection signal, compare the limb feature sequence with a preset sample feature sequence for similarity, and determine whether the limb feature sequence conforms to a target action pattern; When the limb feature sequence conforms to the target action pattern, it is determined whether the limb action represented by the limb feature sequence is performed in the projection area according to the position information of the limb, and when the limb action is determined to be performed in the projection area, the tailgate is controlled to be opened or closed.

2. The device according to claim 1, characterized in that The controlling the projection device to project a projection area on the ground comprises: When the vehicle is stationary and the vehicle key is within a first preset range from the vehicle, controlling the radar to emit a second detection signal; determining the distance between the human body and the radar according to the second detection signal; When the distance is within the second preset range, the projection device is controlled to project a projection area on the ground.

3. The method according to claim 1, characterized in that The step of acquiring a limb feature sequence according to the first detection signal comprises: receiving a feedback signal for the first detection signal; Determining a range Doppler spectrum diagram according to the feedback signal; A limb feature sequence is extracted according to the range Doppler spectrum diagram.

4. The method according to claim 3, characterized in that The step of extracting a limb feature sequence according to the range Doppler spectrum diagram comprises: According to the range Doppler spectrum diagram, identifying target limb information; the target limb information includes: speed, distance, angle and signal-to-noise ratio; The target limb information is input into a preset neural network model, and a limb feature sequence of limb movements is output.

5. The method according to claim 1, characterized in that The comparing the similarity between the limb feature sequence and a preset sample feature sequence to determine whether the limb feature sequence conforms to the target action mode includes: Comparing the similarity of each frame sequence in the limb feature sequence with each frame sequence in the sample feature sequence in chronological order to obtain a similarity value of the limb feature sequence relative to the sample feature sequence; When the similarity value is greater than a preset threshold, it is determined that the limb feature sequence conforms to the target action mode.

6. The method according to claim 5, characterized in that The similarity comparison of each frame sequence in the limb feature sequence with each frame sequence in the sample feature sequence in time order to obtain a similarity value of the limb feature sequence relative to the sample feature sequence includes: Comparing the limb feature sequence with the first sample feature sequence to obtain a first similarity value of the limb feature sequence relative to the first sample feature sequence; the first similarity value is used to determine whether an action of the limb entering the projection area is recognized; After determining that the action of a limb entering the projection area is recognized, the limb feature sequence is compared with the second sample feature sequence to obtain a second similarity value of the limb feature sequence relative to the second sample feature sequence; the second similarity value is used to determine whether the action of a limb leaving the projection area is recognized.

7. The method according to claim 6, characterized in that When the similarity value is greater than a preset threshold, determining that the limb feature sequence meets the target action mode includes: When the first similarity value is greater than a first preset threshold value and the second similarity value is greater than a second preset threshold value, determining the duration of the limb action according to the start time of the limb entering the projection area and the end time of the limb leaving the projection area; When the duration is within a preset time range, it is determined that the limb feature sequence conforms to the target action pattern.

8. The method according to claim 1, characterized in that When the limb feature sequence meets the target action mode, judging whether the limb action represented by the limb feature sequence is performed in the projection area according to the position information of the limb includes: Determining position information of the limb according to a feedback signal of the first detection signal; The position information of the limb is compared with the position information of the projection area to determine a position comparison result. When it is determined according to the position comparison result that the position of the limb is within the position range of the projection area, it is determined that the limb action represented by the limb feature sequence is performed in the projection area.

9. The method according to claim 1, characterized in that: When the body movement is determined to be performed in the projection area, controlling the tailgate to be opened or closed includes: Get the current status information of the tailgate; If the current state information of the tailgate is an open state, controlling the tailgate to perform a closing operation; If the current state information of the tailgate is a closed state, the tailgate is controlled to perform an opening operation.

10. The method according to claim 1, characterized in that The limb feature sequence includes any one of a foot feature sequence and a hand feature sequence.

11. A vehicle, characterized in that: The vehicle includes a radar, a projection device and a controller; The controller is used to control the projection device to project a projection area on the ground, and to control the radar to transmit a first detection signal; The radar is used to obtain a limb feature sequence according to the first detection signal, compare the limb feature sequence with a preset sample feature sequence for similarity, and determine whether the limb feature sequence conforms to a target action mode; The radar is used to determine whether the limb movement represented by the limb feature sequence is performed in the projection area according to the position information of the limb when the limb feature sequence conforms to the target action pattern, and the controller is used to control the opening or closing of the tailgate when the limb movement is determined to be performed in the projection area.

12. A tailgate control device, characterized in that: The device comprises: A control module, used to control the projection device to project a projection area on the ground, and to control the radar to transmit a first detection signal; A first judgment module is used to obtain a limb feature sequence according to the first detection signal, compare the limb feature sequence with a preset sample feature sequence for similarity, and determine whether the limb feature sequence conforms to a target action mode; The second judgment module is used to judge whether the limb movement represented by the limb feature sequence is performed in the projection area according to the position information of the limb when the limb feature sequence conforms to the target action mode, and to control the opening or closing of the tailgate when the limb movement is determined to be performed in the projection area.

13. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the steps of the tailgate control method according to any one of claims 1 to 10 when executing the program stored in the memory.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the tailgate control method according to any one of claims 1 to 10 are implemented.

Images