Millimeter wave radar kick detection system, method and product with ambient light adaptation

Abstract

The invention discloses a millimeter wave radar kick detection system, method and product with ambient light self-adaption, and for the kick detection system, an activation detection sub-module of a radar module judges whether the system is activated or not; when not activated, the radar radio frequency sub-module is closed, the projection lamp module is closed, and the ambient light sensor is closed; during activation, the radar radio frequency sub-module is turned on, the ambient light sensor is turned on, the projection lamp module is turned on when the ambient light brightness is lower than a set threshold value, and the projection lamp module is turned off when the ambient light brightness is higher than the set threshold value; when the projection lamp module is turned on, an action recognition sub-module of the radar module adopts a first foot action recognition model to recognize foot actions, and when the projection lamp module is turned off, the action recognition sub-module adopts a second foot action recognition model to recognize the foot actions; after the foot actions are recognized, the tail door is controlled by the automobile body controller to be opened or closed. According to the invention, adaptive projection lamp adjustment can be realized according to ambient light, and intelligent kick detection is provided.

Description

Technical Field

[0001] This application relates to the field of automotive intelligent control technology, and particularly relates to a millimeter-wave radar kick detection system, method, and product with ambient light adaptability. Background Art

[0002] With the continuous progress of automotive technology and the increasing demand of consumers for driving experience, intelligence and convenience have become important directions for the development of the automotive industry. Among them, the automotive electric tailgate kick sensor, as an intelligent sensing product, can enable users to automatically open or close the tailgate through foot movements without using their hands, and has gradually become an important configuration to enhance the user experience.

[0003] In recent years, the technical level of automotive electric tailgate kick sensors at home and abroad has been continuously improving. Currently, the mainstream electric tailgate kick sensor products mainly include: capacitive kick sensors, millimeter-wave radar kick sensors, and laser TOF kick sensors.

[0004] Among them, the capacitive kick sensor uses capacitive proximity sensing technology to detect kick actions by detecting changes in capacitance when a human body approaches. It has an advantage in cost, but relatively low sensitivity, high precision requirements for kicking actions, and the sensor may not respond due to non-standard kicking actions of some users. In addition, the capacitive kick sensor has poor environmental anti-interference ability, is greatly affected by rain, snow, etc., has a certain probability of false triggering, and the installation is also relatively complex.

[0005] The laser TOF kick sensor realizes the recognition of users' foot movements through laser ranging technology of infrared / near-infrared lasers. Its detection effect on low-reflection objects, such as black shoes, is poor. And the infrared band is sensitive to temperature, vulnerable to interference from other light sources and heat sources, and will fail in high-temperature situations, and its performance is greatly affected in this scenario.

[0006] The millimeter-wave radar kick sensor emits millimeter waves and realizes the recognition of users' foot movements through the Doppler effect or phase difference ranging. It has strong anti-interference ability, is not affected by light, dust, or fog, and dirt, noise, or extreme temperatures do not limit its performance, and has high recognition accuracy, thus having performance advantages. The millimeter-wave radar kick sensor requires users to perform foot movement detection in a specified area, so a projection lamp is set to mark the detection area. The currently commonly used millimeter-wave radar kick sensors have poor external environment adaptability, low intelligence and automation levels, and the types of user foot kick actions that can be recognized are relatively single, unable to meet the customer experience requirements of high-intelligent vehicles. Summary of the Invention

[0007] The purpose of this application is to overcome the deficiencies of the prior art and provide a millimeter-wave radar foot-kick detection system, method, and product with ambient light adaptability, which can achieve adaptive dynamic adjustment of the projection lamp according to the brightness of the ambient light and provide intelligent foot-kick detection.

[0008] In a first aspect, a millimeter-wave radar foot-kick detection system with ambient light adaptability provided by this application adopts the following technical solution: The foot-kick detection system includes a radar module, as well as a projection lamp module and an ambient light sensor connected to the radar module; The radar module includes an activation detection sub-module, a radar RF sub-module, and an action recognition sub-module. The activation detection sub-module obtains the vehicle body signal and determines whether the foot-kick detection system is in an activated state; When in the non-activated state, the radar RF sub-module is turned off, the projection lamp module is turned off, and the ambient light sensor is turned off; When in the activated state, the radar RF sub-module is turned on, and the ambient light sensor is started to detect the ambient light brightness. If the ambient light brightness is lower than the set threshold, the projection lamp module is turned on to illuminate the detection area. If the ambient light brightness is higher than the set threshold, the projection lamp module is turned off; when the projection lamp module is turned on, the action recognition sub-module uses the first foot action recognition model to recognize the foot action. When the projection lamp module is turned off, the action recognition sub-module uses the second foot action recognition model to recognize the foot action; after the action recognition sub-module recognizes the foot action, the radar module sends an identification signal to the vehicle body controller, and the vehicle body controller controls the tailgate to open or close.

[0009] By adopting the above technical solution, the ambient light sensor is used to detect the ambient light brightness, so that the foot-kick detection system can adaptively select a specific working mode according to the ambient light brightness. When the ambient light brightness exceeds the set threshold, the brightness of the projection lamp module is not sufficient to form a detection area mark on the ground, so the projection lamp module is turned off, and the radar module uses the second foot action recognition model to recognize the foot action, reducing the requirement for recognition accuracy and increasing the recognition tolerance. When the ambient light brightness does not exceed the set threshold, the brightness of the projection lamp module can form a detection area mark on the ground to accurately guide the orientation of the user's foot action, so the radar module uses the first foot action recognition model to recognize the foot action, improving the recognition accuracy and preventing false triggering.

[0010] Preferably, the vehicle body signals include the key in the rear bumper area signal, the vehicle unlocking signal, the system in the wake-up mode signal, and the vehicle speed is 0 signal; when the activation detection sub-module receives all the vehicle body signals, it determines that the foot-kick detection system is in the activated state and sends an activation signal; when any one of the signals is missing, it determines that the foot-kick detection system is in the non-activated state and sends a prohibition activation signal.

[0011] Through the above technical solution, the foot kick detection system enters the working mode while ensuring that the system is in the activated state, preventing the foot kick detection system from being turned on when the system is not activated, and avoiding the meaningless startup of the radar module, the projection lamp module, and the ambient light sensor, resulting in waste of energy. In addition, it can also prevent the tailgate controller from being misstarted in an unsafe environment, ensuring the reliability of the system.

[0012] Preferably, when the whole vehicle is in the sleep mode, the projection lamp module and the ambient light sensor are turned off, the radar module is turned on, the action recognition sub-module uses the second foot action recognition model to recognize the foot action, and after the action recognition sub-module recognizes the foot action, it sends an identification signal to the body controller, and the body controller sends a wake-up signal to make the whole vehicle enter the wake-up mode.

[0013] Through the above technical solution, a method for waking up the whole vehicle through the foot kick detection system is provided, enabling the user to directly wake up the whole vehicle through foot actions without manually operating the car key when holding objects in both hands, and then performing the operation of controlling the tailgate, without repeatedly placing and picking up items, achieving one-time item placement and improving the user experience.

[0014] Preferably, the projection brightness of the projection lamp module is divided into several projection brightness levels, and the projection brightness levels can be adjusted by the body controller.

[0015] Preferably, the ambient light sensor has several ambient light brightness levels built in, and each ambient light brightness level is a range interval of ambient light brightness. The ambient light brightness level and the projection brightness level are in a corresponding relationship; when the foot kick detection system is in the activated state, if the ambient light brightness detected by the ambient light sensor is lower than the set threshold, the ambient light brightness is matched with the interval of the ambient light brightness level to obtain the current ambient light brightness level, and then the projection lamp module is set to the projection brightness level corresponding to the current ambient light brightness level.

[0016] Through the above technical solution, with the adjustable projection lamp module, its projection brightness level can be adjusted according to the environment and the actual needs of the user. At the same time, the ambient light sensor has several ambient light brightness levels built in, and can intelligently adjust the projection brightness level adaptively according to the measured ambient light brightness, preventing the projection brightness from being too bright and causing irritation to the user's vision, or preventing the projection brightness from being too dark and affecting the user's observation of the detection area.

[0017] Preferably, the first foot movement recognition model and the second foot movement recognition model perform foot movement recognition on the foot movement point cloud data obtained by the radar RF sub-module, and sequentially determine the speed legality, duration legality, distance legality, signal strength legality, and angle legality of the foot movement within the detection area. If all are determined to be legal, an identification signal is output. If any one of the legality determinations fails, no identification signal is output.

[0018] Preferably, the first foot movement recognition model recognizes the foot stepping action; the second foot movement recognition model recognizes the foot kicking and / or foot sweeping actions.

[0019] Through the above technical solution, the foot kick detection system supports the detection of multiple actions such as foot kicking, foot sweeping, and foot stepping, and can recognize different foot movements in different scenarios. This means that users do not need to precisely follow a specific motion pattern, but can perform foot movement detection operations in different scenarios in a manner that conforms to their behavior habits and logic, minimizing the detection error rate, providing operational convenience for users, giving users more freedom, and providing users with more diverse operation options.

[0020] In a second aspect, the present application provides a millimeter-wave radar foot kick detection method with ambient light adaptability, which employs the above foot kick detection system, and includes the following steps: S100, perform ambient light brightness detection; S200, compare the relationship between the ambient light brightness and the set threshold. If the ambient light brightness is higher than the set threshold, enter S300. If the ambient light brightness is lower than the set threshold, enter S400; S300, turn on the radar RF sub-module, turn off the projection lamp module, and the action recognition sub-module uses the second foot movement recognition model to recognize the foot movement; S400, turn on the radar RF sub-module, turn on the projection lamp module, and the action recognition sub-module uses the first foot movement recognition model to recognize the foot movement; S500, after the action recognition sub-module recognizes the foot movement, send an identification signal to the vehicle body controller, and the vehicle body controller controls the tailgate to open or close.

[0021] Preferably, S400 specifically includes: S410, turn on the radar RF sub-module; S420, perform interval matching on the ambient light brightness and the preset ambient light brightness level to obtain the current ambient light brightness level; S430, set the projection lamp module to the projection brightness level corresponding to the current ambient light brightness level and turn it on; S440, the action recognition sub-module uses the first foot movement recognition model to recognize the foot movement.

[0022] In a third aspect, the present application provides a computer program product, which includes a computer program or instructions that enable the computer program or instructions to implement the steps in the above-mentioned millimeter-wave radar foot kick detection method with ambient light adaptation.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the ambient light sensor, the ambient light is judged according to the brightness condition. When the ambient light is not too bright, it is suitable for the projection lamp module to project, and the foot kick detection area is marked by projection; when the ambient light is too bright, the condition for marking the detection area by the projection of the projection lamp module is not available, and the projection lamp module is turned off. The radar module adaptively adopts different foot movement recognition models in different scenarios of the projection lamp being turned on and off. The above technical solution can improve the adaptability of the foot kick detection system to different lighting environments, provide an automatically switched foot movement control method for users in corresponding scenarios, and provide a suitable detection method whether the foot kick detection area marking can be applied or not, thus improving the user's operation experience.

[0024] 2. The projection lamp module provides adjustable projection brightness levels to meet the needs of different users and environments; the projection brightness level can be adaptively adjusted according to the detected ambient light brightness level, improving the adaptability and adjustment ability of the foot kick detection system to the environment, and avoiding the detection area marking being too bright or too dark and affecting the user experience.

[0025] 3. When the whole vehicle is in sleep mode, the technical solution of the present application provides a wake-up mode implemented by the foot kick detection system, improving the convenience for users to wake up the whole vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a structural block diagram of a millimeter-wave radar foot kick detection system with ambient light adaptation in an embodiment of the present application; Figure 2 is a business logic diagram of a millimeter-wave radar foot kick detection system with ambient light adaptation in an embodiment of the present application; Figure 3 is a flow chart of the foot movement recognition model recognition in an embodiment of the present application; Figure 4 is a schematic diagram of point cloud for judging the legality of the foot kick movement speed in an embodiment of the present application; Figure 5 is a flow chart of a millimeter-wave radar foot kick detection method with ambient light adaptation in an embodiment of the present application; Figure 6 is a flow chart of a method for realizing multi-level projection brightness of a millimeter-wave radar foot kick detection method with ambient light adaptation in an embodiment of the present application. Detailed implementation manners

[0027] This specific embodiment is only an interpretation of the present application and does not limit the present application. After reading this specification, those skilled in the art can make modifications to this embodiment without creative contributions as needed, but as long as it is within the scope of the present application, it is protected by the patent law.

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application. It should be noted that in the alternative embodiments of the present application, for relevant data such as object information, when the embodiments in the present application are applied to specific products or technologies, object permission or consent needs to be obtained, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions. That is to say, if the embodiments of the present application involve data related to an object, it needs to be obtained with the authorization and consent of the object, the authorization and consent of relevant departments, and in compliance with the relevant laws, regulations, and standards of relevant countries and regions. If personal information is involved in the embodiments, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained, and the embodiments also need to be implemented with the authorization and consent of the object.

[0029] In addition, the term "and / or" in this article is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after, unless otherwise specified.

[0030] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings of the specification.

[0031] In one embodiment, please refer to Figure 1 , a millimeter-wave radar foot-kick detection system with ambient light self-adaptation of the present application includes a radar module 1, and a projection lamp module 2 and an ambient light sensor 3 connected to the radar module 1. Among them, the radar module 1 includes an activation detection sub-module 11, a radar radio frequency sub-module 12, and an action recognition sub-module 13. The radar module is connected to the vehicle body controller 4.

[0032] Those skilled in the art can understand, Figure 1The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the electronic device to which the solution of this application is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0033] Among them, the radar module 1 uses a millimeter-wave radar. The millimeter-wave radar emits millimeter waves towards the detection area, and each moving object in the detection area will generate several individual and specific radar signal reflections, forming point cloud data. By using the technology of collecting fast-scanning FMCW waveforms and multiple transmit and receive (MIMO), it is possible to simultaneously measure information such as the distance, speed, angle, and echo intensity of multiple moving and stationary targets. The sensor evaluates the characteristics of the reflected signal and the rate of change of the measured signal over time to describe the motion behavior of the object, and then forms an identification model of the action mode based on the characteristics of the collected point cloud data. When performing kick detection, the intelligent algorithm matches the identified motion behavior with the characteristics defined by the identification model, so as to distinguish relevant motions from irrelevant motions. In order to achieve accurate identification of kick detection, the user needs to perform foot motion detection in the specified detection area, so a projection lamp is used to mark the detection area.

[0034] In the conventional technology, the projection lamp is used to guide the detection area to the user and prompt the specific behavior mode in the form of a pattern. For example, a footstep pattern is projected to prompt the way and position of stepping on the foot to realize the opening and closing of the electric tailgate. However, in actual applications, technicians found that due to the limited projection brightness of the projection lamp, the projection lamp will fail in a strong light environment and cannot form a clear projection on the ground, resulting in the user's difficulty in accurately identifying the detection area in a strong light environment. In this case, the user cannot find the footstep position and will repeat the attempt many times. If there is no response for a long time, the user will become impatient, resulting in the deformation of the foot motion, further increasing the difficulty and accuracy of foot motion recognition and affecting the vehicle use experience.

[0035] In this embodiment, please refer to Figure 2 , first, it is necessary to obtain the vehicle body signal through the activation detection sub-module 11 to judge whether the kick detection system is in an activated state.

[0036] Specifically, the vehicle body signals include the signal that the key is in the rear bumper area, the vehicle unlocking signal, the system in the wake-up mode signal, and the vehicle speed is 0 signal. When the activation detection sub-module 11 receives all the vehicle body signals, it determines that the kick detection system is in the activated state; when any one of the signals is missing, it determines that the kick detection system is in the non-activated state. Only when it is ensured that the system is in the activated state, the kick detection system enters the working mode, preventing the kick detection system from being turned on when the system is not activated, causing meaningless activation of the radar module 1, the projection lamp module 2, and the ambient light sensor 3, resulting in energy waste. In addition, it can also prevent the accidental activation of the tailgate and ensure the reliability of the system.

[0037] When receiving the prohibited activation signal, the radar RF sub-module 12 is turned off, the projection lamp module 2 is turned off, and the ambient light sensor 3 is turned off. Turning off the radar RF sub-module 12 means that the kick detection system will not respond to the approach of any action or object, and the kick detection system is essentially turned off.

[0038] When receiving the activation signal, the radar RF sub-module 12 is turned on, and the ambient light sensor 3 is activated to detect the ambient light brightness. The ambient light sensor 3 has a set threshold built-in, and the set threshold is used to compare with the measured ambient light brightness. Usually, this set threshold is the highest projection brightness that the projection lamp module 2 can reach, or slightly lower than this highest projection brightness, to ensure that when the ambient light brightness is lower than the set threshold, the projection brightness of the projection lamp module 2 can definitely project clearly on the ground. If the ambient light brightness is higher than the set threshold, it means that even if the projection lamp module 2 is turned on to the highest projection brightness, its projection is difficult to be clearly recognized by the user, so there is no need to turn on the projection lamp module 2 to mark the detection area.

[0039] Therefore, if the ambient light brightness is lower than the set threshold, the projection lamp module 2 is turned on to illuminate the detection area. The specific projection content can be designed according to the foot actions corresponding to the detection model, so that the user can clearly know the action type and detection position required according to the projection content. For example, for the foot stepping action, a foot stepping icon with an arrow indication can be designed to facilitate the user to understand the foot stepping behavior and the foot stepping orientation. At this time, the action recognition sub-module 13 uses the first foot action recognition model to recognize the foot action.

[0040] If the ambient light brightness is higher than the set threshold, the projection lamp module 2 is turned off. At this time, the action recognition sub-module 13 uses the second foot action recognition model to recognize the foot action.

[0041] After the action recognition sub-module 13 recognizes the foot action, it sends an identification signal to the vehicle body controller 4, and the vehicle body controller 4 controls the opening or closing of the tailgate.

[0042] The projection brightness of the projection lamp module 2 needs to match the ambient light brightness. In the case of relatively strong ambient light brightness, insufficient projection brightness will make the presented marking pattern lighter, less clear, difficult to be recognized by users, and unable to form an effective detection area marking. Nor is the projection brightness of the projection lamp module 2 the brighter the better. In the case of not very strong ambient light brightness, the sudden appearance of a projection marking with too strong brightness will cause discomfort to the user's eyes due to the strong light reflection, affecting the user experience.

[0043] In view of this, in another embodiment, the projection brightness of the projection lamp module 2 is divided into several projection brightness levels, and the projection brightness levels can be adjusted by the vehicle body controller 4. The user can adjust the projection brightness level of the projection lamp module 2 to the brightness that meets their own needs.

[0044] In another embodiment, the ambient light sensor 3 has several ambient light brightness levels built in, each ambient light brightness level being a range interval of ambient light brightness, and the ambient light brightness levels are in a corresponding relationship with the projection brightness levels. When receiving the activation signal, if the ambient light brightness detected by the ambient light sensor 3 is lower than the set threshold, the ambient light brightness is matched with the range interval of the ambient light brightness level to obtain the current ambient light brightness level, and then the projection lamp module 2 is set to the projection brightness level corresponding to the current ambient light brightness level.

[0045] In other embodiments, after the user sets the projection brightness level of the projection lamp module 2 by themselves, the level difference between the set value and the standard projection brightness level is marked with a number with a "+" or "-" sign. For example, if the projection brightness level set by the user is two levels higher than the projection brightness level obtained by matching the current ambient light brightness level in the standard state, it is marked "+2", indicating that the user tends to use a brighter projection brightness level. After the projection brightness level is obtained again by matching the ambient light brightness level, the projection brightness level finally output by the projection lamp module 4 is increased by two levels (not exceeding the maximum projection brightness level) on the basis of the matched projection brightness level, realizing the memory function of the customer's personalized needs.

[0046] In other embodiments, the projection lamp module has a gradual change function for turning on and off. The gradual change effect of turning on is that starting from the lowest projection brightness level, the projection brightness level is increased step by step until the target projection brightness level is reached. The gradual change effect of turning off is the opposite, decreasing step by step from the current projection brightness level until it turns off after reaching the lowest projection brightness level. The projection lamp module is linked with the tailgate welcome lamp through the central control module, which can further enhance the welcome effect.

[0047] In another embodiment, please refer to Figure 2, when the vehicle is in the sleep mode, the projection lamp module 2 and the ambient light sensor 3 are turned off, the radar RF sub-module 12 is turned on, the motion recognition sub-module 13 uses the second foot motion recognition model to recognize the foot motion, and after recognizing the foot motion, it sends a recognition signal to the body controller 4. The body controller 4 sends a wake-up signal to wake up the vehicle into the wake-up mode. A typical use scenario for waking up the vehicle through foot kick detection is that when the user is holding objects in both hands, it is difficult to free up a hand to operate the car key to wake up the vehicle. The user needs to place the held objects elsewhere and then operate, which is rather cumbersome. However, with the method for waking up the vehicle through foot kick detection in this embodiment, the user can wake up the vehicle only through foot motion and perform subsequent operations to open the tailgate, achieving one-time placement of items and enhancing the user experience. In other embodiments, after waking up the vehicle through foot kick detection, similar to other wake-up methods, the user can be prompted by sound and light signals that the wake-up has been completed and subsequent operations can be performed. After waking up the vehicle, an instruction to open or close the tailgate can also be sent to the tailgate controller synchronously without secondary operation.

[0048] In the above embodiment, please refer to Figure 3 , the first foot motion recognition model and the second foot motion recognition model perform foot motion recognition through the foot motion point cloud data obtained by the radar RF sub-module 12. After obtaining the point cloud data, the speed legality, duration legality, (displacement) distance legality, signal strength legality, and angle legality of the foot motion within the detection area are determined in sequence. If all are legal, an identification signal is output. If the determination of any one legality fails, no identification signal is output.

[0049] Please refer to Figure 4 , taking the determination of the speed legality of a foot kick motion as an example. A complete foot kick motion is divided into two stages: approaching and moving away. In the approaching stage, the point cloud detected by the radar is mainly negative in speed, and in the moving away stage, it is the opposite. Through the point cloud speed data output by the radar, the point cloud is judged. The speed approaching and moving away characteristics conform to the set value, and the point cloud trajectory with the absolute value of the speed greater than the set threshold conforms to the set model and reaches a certain proportion. At this time, the foot kick motion speed is judged to be legal. Similarly, the other position information of the point cloud is judged one by one: after the foot enters the detection area, if the duration of the change of the detected point cloud in the detection area exceeds the time threshold, it is judged to be legal in duration; if the displacement distance of the foot after entering the detection area is from far to near and conforms to the threshold, it is judged to be legal in distance; if the reflection point signal of the foot from entering to stationary changes from weak to strong and conforms to the threshold, it is judged to be legal in signal strength; the azimuth angle and pitch angle of the foot relative to the center of the radar antenna are measured, and when they are less than the set threshold, it is judged to be legal in angle. After all the determinations are legal, a foot kick trigger signal is output. If any one determination is judged to be illegal, the determination process is aborted and no foot kick trigger signal is output. The above process can control the false trigger rate while ensuring the detection rate.

[0050] Specifically, the first foot movement recognition model is a recognition model for foot stepping. When the projection lamp module 2 is used to mark the detection area, the user can accurately perform the foot stepping action according to the marked position of the projection pattern. The movement trajectory and the movement end point of the foot stepping action (i.e., the marked position of the foot stepping pattern projected by the projection lamp module 2) are controllable, with high recognition accuracy and low false trigger probability. Therefore, it is adopted as the first foot movement recognition model.

[0051] The second foot movement recognition model is a recognition model for foot sweeping and / or foot kicking. In order to increase the recognition rate of the foot kicking detection system in the case of lack of projection lamp for marking the detection area, a foot sweeping and foot kicking movement recognition model is usually adopted. When there is no projection lamp module 2 to mark the detection area, the technical staff found that the common foot movements adopted by users are: lifting one foot and sweeping the other foot back and forth behind the tailgate for exploration, or lifting one foot and kicking the other foot multiple times behind the tailgate for exploration, and trying to determine the detection area of the foot kicking detection system or trigger the foot kicking detection system by such behaviors. In the case of lack of clear detection area marking, the occurrence frequencies of these two types of foot movements are significantly higher than other foot movements. Therefore, the foot sweeping and foot kicking movements are combined and adopted as the second foot movement recognition model. Among them, foot sweeping refers to the single or multiple lateral movements of the foot in the detection area, and foot kicking refers to the single or multiple kicks of the foot in the detection area. The second foot movement recognition model reduces the requirement for recognition accuracy and increases the recognition tolerance, so that the user can smoothly perform the tailgate operation of foot kicking detection even in the case of lack of detection area marking, and these two types of actions conform to the behavior patterns and operation logics of general users.

[0052] It should be understood that the types of the foot movement models in the above embodiments are for facilitating the understanding of a technical solution proposed by the present application and should not be regarded as a limitation to the present application. Those of ordinary skill in the art should understand that other action models capable of realizing recognition can supplement or replace the foregoing foot movement recognition models; these supplements or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0053] In another embodiment, the radar module 1 and the projection lamp module 2 are installed on the mounting bracket by screws. The mounting bracket is installed behind the bumper or directly installed on the chassis. The ambient light sensor 3 is installed on the vehicle body surface. The projection lamp module and the radar module form an integrated design through the mounting bracket, which is easy for mechanical installation and integration and does not require additional space. The radar electromagnetic wave can penetrate plastics, and installing it behind the bumper or directly on the chassis does not affect the realization of its functions. The system adopts a modular installation method, with low structural complexity and high maintainability of the product in the later stage.

[0054] In another embodiment, please refer to Figure 5, this application provides a millimeter-wave radar foot-kick detection method with ambient light adaptability. Using the above-mentioned millimeter-wave radar foot-kick detection system with ambient light adaptability, it specifically includes the following steps: S100, perform ambient light brightness detection; S200, compare the relationship between the ambient light brightness and the set threshold. If the ambient light brightness is higher than the set threshold, enter S300; if the ambient light brightness is lower than the set threshold, enter S400; S300, turn on the radar RF sub-module 12, turn off the projection lamp module 2, and the action recognition sub-module 13 uses the second foot action recognition model to recognize the foot action; S400, turn on the radar RF sub-module 12, turn on the projection lamp module 2, and the action recognition sub-module 13 uses the first foot action recognition model to recognize the foot action; S500, after the action recognition sub-module 13 recognizes the foot action, it sends an identification signal to the body controller 4, and the body controller 4 controls the opening or closing of the tailgate.

[0055] In another embodiment, S400 specifically includes: S410, turn on the radar RF sub-module 12; S420, perform interval matching between the ambient light brightness and the preset ambient light brightness level to obtain the current ambient light brightness level; S430, set the projection lamp module 2 to the projection brightness level corresponding to the current ambient light brightness level and turn it on; S440, the action recognition sub-module 13 uses the first foot action recognition model to recognize the foot action.

[0056] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0057] In another embodiment, this application provides a computer program product, and the computer program product includes a computer program or instruction, which enables the computer program or instruction to implement the steps in the above-mentioned millimeter-wave radar foot-kick detection method with ambient light adaptability.

[0058] For the convenience and simplicity of description, the specific working process of the above-mentioned millimeter-wave radar foot-kick detection method with ambient light adaptability described in the product can refer to the corresponding process in the foregoing method embodiments, and will not be elaborated here.

[0059] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using 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 processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state drive), etc.

[0060] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by relevant hardware instructed by a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The foregoing storage medium includes: various media such as ROM or random access memory RAM, magnetic disk, or optical disc that can store program codes.

[0061] Unless otherwise defined, the technical terms or scientific terms used in this application should have the ordinary meaning understood by those of ordinary skill in the art to which this application belongs. The "first", "second", and similar terms used in the specification and claims of this application do not indicate any order, quantity, or importance, but are only used to distinguish different components. Similar terms such as "a" or "an" do not indicate a quantity limitation, but indicate that there is at least one. The terms "including" or "comprising" and the like mean that the elements or items appearing before "including" or "comprising" cover the elements or items listed after "including" or "comprising" and their equivalents, and do not exclude other elements or items. The terms "upper", "lower", "left", "right", etc. are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0062] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

[0063] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A millimeter-wave radar foot-kick detection system with ambient light adaptability, characterized in that, It includes a radar module, as well as a projection lamp module and an ambient light sensor connected to the radar module; The radar module includes an activation detection sub-module, a radar radio frequency sub-module, and an action recognition sub-module. The activation detection sub-module obtains a vehicle body signal and determines whether the foot kick detection system is in an activated state; When in the non-activated state, the radar radio frequency sub-module is turned off, the projection lamp module is turned off, and the ambient light sensor is turned off; When in the activated state, the radar radio frequency sub-module is turned on, and the ambient light sensor is started to detect the ambient light brightness. If the ambient light brightness is lower than the set threshold, the projection lamp module is turned on to illuminate the detection area. If the ambient light brightness is higher than the set threshold, the projection lamp module is turned off; when the projection lamp module is turned on, the action recognition sub-module uses the first foot action recognition model to recognize the foot action. When the projection lamp module is turned off, the action recognition sub-module uses the second foot action recognition model to recognize the foot action; after the action recognition sub-module recognizes the foot action, the radar module sends an identification signal to the vehicle body controller, and the vehicle body controller controls the tailgate to open or close.

2. The millimeter-wave radar foot kick detection system with ambient light adaptability according to claim 1, characterized in that, The vehicle body signals include the signal that the key is in the rear bumper area, the vehicle unlocking signal, the system is in the wake-up mode signal, and the vehicle speed is 0 signal; when the activation detection sub-module receives all the vehicle body signals, it determines that the foot kick detection system is in the activated state; when any one of the signals is missing, it determines that the foot kick detection system is in the non-activated state.

3. The millimeter-wave radar foot-kick detection system with ambient light adaption according to claim 2, characterized in that, When the whole vehicle is in the sleep mode, the projection lamp module and the ambient light sensor are turned off, the radar module is turned on, the action recognition sub-module uses the second foot action recognition model to recognize the foot action, and after the action recognition sub-module recognizes the foot action, it sends an identification signal to the vehicle body controller, and the vehicle body controller sends a wake-up signal to make the whole vehicle enter the wake-up mode.

4. The millimeter-wave radar foot-kick detection system with ambient light adaption according to claim 1, wherein The projection brightness of the projection lamp module is divided into several projection brightness levels, and the projection brightness levels can be adjusted by the vehicle body controller.

5. The millimeter-wave radar foot-kick detection system with ambient light adaption according to claim 4, characterized in that, The ambient light sensor has several ambient light brightness levels built in, and each ambient light brightness level is a range interval of an ambient light brightness. The ambient light brightness levels and the projection brightness levels are in a corresponding relationship; when the foot kick detection system is in the activated state, if the ambient light brightness detected by the ambient light sensor is lower than the set threshold, the ambient light brightness is matched with the range interval of the ambient light brightness level to obtain the current ambient light brightness level, and then the projection lamp module is set to the projection brightness level corresponding to the current ambient light brightness level.

6. The millimeter-wave radar foot-kick detection system with ambient light adaptability according to claim 1, characterized in that The first foot action recognition model and the second foot action recognition model perform foot action recognition through the foot action point cloud data obtained by the radar radio frequency sub-module, and sequentially determine the speed legality, duration legality, distance legality, signal strength legality, and angle legality of the foot action in the detection area. If all the determinations are legal, an identification signal is output. If any one of the legality determinations fails, no identification signal is output.

7. The millimeter-wave radar foot-kick detection system with ambient light adaptability according to claim 6, characterized in that, The first foot action recognition model recognizes the foot stepping action; the second foot action recognition model recognizes the foot kicking and / or foot sweeping action.

8. A millimeter-wave radar foot-kick detection method with ambient light adaption, using the foot-kick detection system described in claim 1, characterized in that, It includes the following steps: S100, perform ambient light brightness detection; S200. Compare the ambient light brightness with the set threshold. If the ambient light brightness is higher than the set threshold, go to S300; if the ambient light brightness is lower than the set threshold, go to S400. S300. Turn on the radar RF sub-module, turn off the projection lamp module, and the action recognition sub-module uses the second foot action recognition model to recognize foot actions. S400. Turn on the radar RF sub-module, turn on the projection lamp module, and the action recognition sub-module uses the first foot action recognition model to recognize foot actions. S500. After the action recognition sub-module recognizes the foot action, it sends an identification signal to the body controller, and the body controller controls the tailgate to open or close.

9. The millimeter-wave radar foot-kick detection method with ambient light adaption according to claim 8, wherein S400 specifically includes: S410. Turn on the radar RF sub-module. S420. Match the ambient light brightness with the preset ambient light brightness levels in intervals to obtain the current ambient light brightness level. S430. Set the projection lamp module to the projection brightness level corresponding to the current ambient light brightness level and turn it on. S440. The action recognition sub-module uses the first foot action recognition model to recognize foot actions.

10. A computer program product, characterized in that, The computer program product includes a computer program or instructions, enabling the computer program or instructions to implement the steps in the millimeter-wave radar foot kick detection method with ambient light adaptability according to any one of claims 8 to 9.

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