Trunk opening system and method

Abstract

The invention provides a trunk opening system, and belongs to the technical field of vehicles, the trunk opening system comprises an association controller module, an actuator module, a sensing identification module and a gateway; the association controller module is connected with the gateway and is used for acquiring a vehicle state signal to be sent to the gateway; the vehicle state signal is used for judging whether perception recognition is performed; the perception recognition module is connected with the gateway and is used for acquiring images for analyzing personnel behaviors in response to the vehicle state signal satisfying the starting condition of the perception recognition module; sending an opening request signal to a gateway in response to the condition that the person behavior meets the trunk opening condition; the actuator module is connected with the gateway and is used for opening the trunk in response to the received opening request signal; the gateway is used for forwarding the vehicle state signal to the sensing identification module in response to the received vehicle state signal; and in response to the received opening request signal, forwarding the opening request signal to the actuator module.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a trunk opening system and method. Background Art

[0002] There are three main ways to open the trunk of mainstream cars on the market: the trunk button on the smart key, the soft trunk switch on the car computer screen, and manual opening using the button on the car door. However, in actual use, if the user is carrying a lot of luggage, it may be inconvenient to take out the car key, especially if the car key is in a backpack or difficult to find, which can cause certain troubles for the car owner.

[0003] Some automakers are currently implementing new methods to help users intelligently open the trunk, such as using visual recognition to identify specific user gestures or postures (such as leg sweeps). However, relying solely on gestures or postures to open the trunk can result in false detections. Furthermore, when carrying a large amount of luggage, gestures or postures aren't necessarily more convenient than simply using the smart key to open the trunk. Therefore, automakers are seeking simpler, smarter, and more user-friendly solutions. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes a trunk opening system and method for visually detecting the status of the owner's luggage.

[0005] In the first aspect, an embodiment of the present invention provides a trunk opening system, including an associated controller module, an actuator module, a perception and recognition module and a gateway; the characteristics are: the associated controller module is connected to the gateway, and is used to collect vehicle status signals for sending to the gateway; the vehicle status signal is used to determine whether to perform perception and recognition; the perception and recognition module is connected to the gateway, and is used to respond to the vehicle status signal meeting the perception and recognition opening conditions, collect images for analyzing personnel behavior; respond to personnel behavior meeting the trunk opening conditions, send an opening request signal to the gateway; the actuator module is connected to the gateway, and is used to open the trunk in response to receiving the opening request signal; the gateway is used to forward the vehicle status signal to the perception and recognition module in response to receiving the vehicle status signal; and forward the opening request signal to the actuator module in response to receiving the opening request signal.

[0006] According to an embodiment of the present disclosure, the vehicle status signal includes at least one of the parameters of the trunk opening system, the vehicle gear signal and the vehicle key position; the associated controller module includes at least one of the vehicle MP5 function switch module, the PDCU power domain controller and the antenna module; the vehicle MP5 function switch module is used to send the parameters of the trunk opening system according to the owner's settings to determine whether the trunk opening function is in the open state; the parameters include at least one of the operating status of the trunk opening function and the personnel behavior analysis threshold of the perception and recognition module; the PDCU power domain controller is used to send a vehicle gear signal to determine that the vehicle is in the parking gear; the antenna module is used to send the vehicle key position to determine that the vehicle key is within a preset key range.

[0007] According to an embodiment of the present disclosure, the antenna module includes three RF antennas; the three RF antennas are respectively located at the main driver's door handle, the passenger door handle and the center of the top of the trunk, and are used to determine the distance between the vehicle key and the three RF antennas for calculating the vehicle key position.

[0008] According to an embodiment of the present disclosure, the perception and recognition module includes a camera combination module and an intelligent cockpit domain controller; the camera combination module is used to collect image information of the detection area; the intelligent cockpit domain controller is used to determine whether the vehicle status signal meets the conditions for starting perception and recognition; in response to the vehicle status signal meeting the conditions for starting perception and recognition, the image information and the vehicle status signal are used to determine whether the behavior of the person meets the conditions for opening the trunk.

[0009] According to an embodiment of the present disclosure, the camera combination module includes six camera modules; the six camera modules are respectively located at the top middle part of the front windshield, the lower end of the left rearview mirror, the lower end of the right rearview mirror, the upper part of the left fender, the upper part of the right fender and the middle part of the rear bumper, and are used to collect image information of the detection area.

[0010] According to an embodiment of the present disclosure, the smart cockpit domain controller includes a perception and recognition activation module and a personnel behavior analysis module; the perception and recognition activation module is used to start the camera combination module and the personnel behavior analysis module in response to the vehicle status signal satisfying the perception and recognition activation condition; the perception and recognition activation condition includes at least one of the trunk opening function being in the on state, the vehicle being in the parking gear, and the vehicle key being within the preset key range; the vehicle key being within the preset key range indicates that the vehicle key is located outside the vehicle and is less than a preset distance from the vehicle; the personnel behavior analysis module is used to use image information and vehicle status signals to determine whether the personnel behavior satisfies the trunk opening condition; in response to the personnel behavior satisfying the trunk opening condition, an opening request signal is sent to the gateway; the trunk opening condition includes at least the presence of a person in the detection area, the person carrying luggage, and the person being the vehicle owner.

[0011] According to an embodiment of the present disclosure, the vehicle status signal includes at least a personnel behavior analysis threshold of the perception and recognition module; the personnel behavior analysis threshold includes at least the vehicle owner recognition duration and the luggage carrying status; the luggage carrying status is one of carrying luggage with both hands, carrying luggage with one hand, and not carrying luggage; the personnel behavior analysis module includes a target detection component and a face recognition component; the target detection component is used to identify the luggage using the target detection algorithm in response to identifying the human target using the target detection algorithm to determine whether the person is carrying luggage; the face recognition component is used to identify the facial corner features of the human target using the face recognition algorithm; in response to the time when the person is determined to be the vehicle owner being greater than the vehicle owner recognition duration, the person is determined to be the vehicle owner.

[0012] According to an embodiment of the present disclosure, the object detection component includes a person recognition unit and a luggage recognition unit. The person recognition unit is configured to determine the presence of a person in the detection area in response to identifying a person target in the detection area using an object detection algorithm. The luggage recognition unit is configured to determine whether the luggage target overlaps with the human target based on the height and width of the luggage target frame and the person target frame. In response to the number of luggage targets overlapping with the person target meeting the carrying luggage status, the luggage recognition unit is configured to determine that the person is carrying luggage.

[0013] According to an embodiment of the present disclosure, the actuator module includes a trunk lock switch, a trunk hydraulic support rod, a combination headlight group and a front speaker group; the trunk lock switch and the trunk hydraulic support rod are used to open the trunk; the combination headlight group and the front speaker group are used to use a horn and lights to issue a trunk opening prompt.

[0014] In a second aspect, an embodiment of the present invention provides a trunk opening method, which is applied to a trunk opening system, wherein the trunk opening system includes an associated controller module, an actuator module, a perception and recognition module, and a gateway; the method includes: calling the associated controller module to collect a vehicle status signal and sending it to the gateway; the vehicle status signal is used to determine whether to perform perception and recognition; calling the gateway to forward the vehicle status signal to the perception and recognition module; in response to the vehicle status signal meeting the perception and recognition opening conditions, calling the perception and recognition module to collect images for analyzing personnel behavior; in response to the personnel behavior meeting the trunk opening conditions, the perception and recognition module sends an opening request signal to the gateway; calling the gateway to forward the opening request signal to the actuator module; in response to receiving the opening request signal, calling the actuator module to open the trunk.

[0015] In a third aspect, an embodiment of the present invention provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above-mentioned trunk opening method.

[0016] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the above-mentioned trunk opening method.

[0017] The trunk opening system provided by the present invention controls the operating status of the trunk opening system through an associated controller module; utilizes a sensing and recognition module to capture images and automatically analyzes human behavior to determine whether an actuator module should open the trunk; and a gateway forwards signals between the modules. By implementing a process that determines system status, analyzes human behavior, and executes the trunk opening, the system ensures that automatic trunk opening is triggered only when multiple conditions are met. This automation prevents accidental trunk opening, at least partially resolving the technical issues of false detection leading to incorrect trunk opening and the resulting inconvenience, achieving the technical effect of fully automatic and precise trunk opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A structural block diagram of a trunk opening system provided by an embodiment of the present invention;

[0019] Figure 2 A flowchart of the system architecture for automatic trunk opening provided by an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the distribution of vehicle cameras and detection areas provided by an embodiment of the present invention;

[0021] Figure 4 Schematic diagram of RF antenna distribution and smart key position determination provided by an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of the logic for determining human targets in the detection zone provided by an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of vehicle owner identification and luggage status identification provided by an embodiment of the present invention;

[0024] Figure 7 A schematic diagram of the vehicle computer setting interface provided by an embodiment of the present invention;

[0025] Figure 8 This is a structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding. These details should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0027] In the absence of conflict, the various embodiments of the present invention and the various features therein may be combined with each other.

[0028] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0029] The terms used herein are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded. Similar words such as "connected" or "connected" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0030] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly defined as such herein.

[0031] In the technical solution of the present invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved complies with relevant laws and regulations and does not violate public order and good morals. The use of user data in this technical solution complies with relevant national laws and regulations. For example, appropriate measures are implemented to control access to personal information; the display of personal information is subject to prescribed restrictions; the purpose of using personal information does not exceed the scope of direct or reasonable relevance; and when using personal information, explicit identification is eliminated to avoid pinpointing specific individuals.

[0032] In the relevant technology, current trunk opening methods include key / touch opening and visual recognition opening. In actual use, there are difficulties caused by the inconvenience of holding the key and pressing the button, while visual recognition opening may cause false detection and is inconvenient to perform the specified posture when holding luggage.

[0033] In order to solve at least one of the technical problems existing in the above related technologies, Figure 1 This is a structural block diagram of a trunk opening system provided by an embodiment of the present invention. An embodiment of the present invention provides a trunk opening system, including an associated controller module, an actuator module, a perception and recognition module and a gateway; it is characterized in that: the associated controller module is connected to the gateway, and is used to collect vehicle status signals for sending to the gateway; the vehicle status signal is used to determine whether to perform perception and recognition; the perception and recognition module is connected to the gateway, and is used to collect images for analyzing personnel behavior in response to the vehicle status signal meeting the opening conditions of perception and recognition; in response to the personnel behavior meeting the trunk opening conditions, an opening request signal is sent to the gateway; the actuator module is connected to the gateway, and is used to open the trunk in response to receiving the opening request signal; the gateway is used to forward the vehicle status signal to the perception and recognition module in response to receiving the vehicle status signal; and forward the opening request signal to the actuator module in response to receiving the opening request signal, that is, it is used to receive and transmit signals on different CAN lines.

[0034] Through the disclosed embodiments, an associated controller module determines the operating status of the trunk opening system, preventing accidental openings and high energy consumption. A sensor recognition module determines the status of the person and luggage, and invokes an actuator module to open the trunk when conditions are met. This integrated process, from determining the opening status to analyzing the person's behavior to executing the opening, ensures that the trunk opening operation is correctly triggered, preventing accidental openings. Even when carrying a large amount of luggage, the trunk can be automatically opened by sensing, eliminating the need to search for keys, manually press buttons, or perform physical movements.

[0035] Based on the above embodiment, the vehicle status signal includes at least one of the parameters of the trunk opening system, the vehicle gear signal and the vehicle key position; the associated controller module includes at least one of the vehicle MP5 function switch module, the PDCU power domain controller and the antenna module; the vehicle MP5 function switch module is used to send the parameters of the trunk opening system according to the owner's settings to determine whether the trunk opening function is in the open state; the parameters include at least one of the operating status of the trunk opening function and the personnel behavior analysis threshold of the perception and recognition module; the PDCU power domain controller is used to send a vehicle gear signal to determine that the vehicle is in the parking gear; the antenna module is used to send the vehicle key position to determine that the vehicle key is within the preset key range.

[0036] In this embodiment, the vehicle MP5 function switch module, PDCU power domain controller and antenna module are used to determine whether the switch is turned on, whether the vehicle is in P gear, whether the smart key is outside the vehicle and within 15 meters, and other prerequisites for opening the trunk.

[0037] In this embodiment, Figure 7 This is a schematic diagram of the vehicle computer setting interface provided by an embodiment of the present invention, such as Figure 7 As shown, the car MP5 is equipped with an interface UI for the intelligent trunk opening system, which can set the on / off of this function, the length of time required to detect the owner before opening the trunk (the setting options are 2s, 4s, and 6s), and the amount of luggage carried by the owner before opening the trunk (the setting options are empty-handed, one-handed, and two-handed).

[0038] Through the embodiments of the present disclosure, the vehicle status signal is used to ensure that the vehicle is in a state where the trunk can be opened and that the trunk is in a desired state: (1) the trunk opening function is enabled; (2) the vehicle is in the parking gear, preventing the trunk from being opened while driving; and (3) the key distance is calculated through triangulation to accurately determine that the user is in the trunk operation area, eliminating interference from the key inside the vehicle. The above information is transmitted to different CAN buses by the associated controller modules via CAN signals, and is then transmitted by the SGW gateway to the CAN bus where the cockpit domain controller is located.

[0039] Based on the above embodiment, the antenna module includes three RF antennas; the three RF antennas are respectively located on the main driver's door handle (secondary antenna), the passenger door handle (secondary antenna) and the center position of the top of the trunk (main antenna), and are used to determine the distance between the vehicle key and the three RF antennas for calculating the vehicle key position.

[0040] In this embodiment, Figure 4 Schematic diagram of RF antenna distribution and smart key position determination provided by an embodiment of the present invention, such as Figure 4 As shown, the vehicle's front center armrest is the origin (0,0), the vehicle's nominal width is W0, the length is L0, and the distance between the main antenna and the armrest is approximately 0.3L0. The coordinates of the two secondary antennas are (0, W0 / 2) and (0, -W0 / 2), and the coordinates of the main antenna are (0.3L0, 0). Therefore, the smart key coordinates (X 钥 , Y 钥 ) satisfies the following range:

[0041]

[0042]

[0043]

[0044] The distance d between a single antenna and the smart key is calculated based on the RSSI signal strength. ,f(R) is the calibration function of RSSI signal strength, A is the calibration value of RSSI signal value at a distance of 1m, For environmental factors.

[0045] In the disclosed embodiments, the RF antenna array includes three antennas that receive RF signals, using triangulation to determine the approximate location and distance of the key. Compared to a single antenna, this reduces positioning errors, with the center of the trunk's top serving as the primary antenna for greater targeting.

[0046] Based on the above embodiment, the perception and recognition module includes a camera combination module and an intelligent cockpit domain controller; the camera combination module is used to collect image information of the detection area; the intelligent cockpit domain controller is used to determine whether the vehicle status signal meets the conditions for starting perception and recognition; in response to the vehicle status signal meeting the conditions for starting perception and recognition, the image information and vehicle status signal are used to determine whether the behavior of the person meets the conditions for opening the trunk.

[0047] Figure 2 The system architecture flow chart of the automatic trunk opening provided by the embodiment of the present invention is as follows: Figure 2 As shown, when the CAN signal sent by the associated controller module meets the start-up conditions, the perception and recognition module starts target detection, and starts luggage and owner recognition when a person is detected. When the luggage carrying status and the owner's stay time are met, the trunk is opened.

[0048] Through the embodiments of the present disclosure, the status of the owner and his / her luggage is accurately identified in four detection areas around the vehicle. The trunk is opened only when and only when the opening conditions of the perception and recognition and the trunk opening conditions are simultaneously met, to prevent accidental opening. At the same time, fully automatic detection facilitates trunk opening.

[0049] Based on the above embodiment, the camera combination module includes six camera modules; the six camera modules are respectively located at the top middle part of the front windshield, the lower end of the left rearview mirror, the lower end of the right rearview mirror, the upper part of the left fender, the upper part of the right fender and the middle of the rear bumper, and are used to collect image information of the detection area.

[0050] Figure 3 This is a schematic diagram of the vehicle cameras and detection area distribution provided by an embodiment of the present invention. The detailed installation locations and parameters of the six cameras are shown in Table 1. The roll, yaw, and pitch angles represent the camera's roll, yaw, and pitch angles, respectively. The roll and pitch angles for all six cameras are 0. A yaw angle of 0 indicates that the camera lens is aligned with the vehicle's heading. A yaw angle of 180° indicates that the camera lens faces in the opposite direction of the vehicle's heading.

[0051] Table 1

[0052]

[0053] Furthermore, the four detection zones around the vehicle have identical dimensions, with a length of L and a width of W. Detection zone-1 is located d1 from the vehicle's front bumper, detection zones 3 and 4 are located d2 from the vehicle's left and right edges, and detection zone 2 is located d3 from the vehicle's rear bumper. The detection zone encompasses only the four ground areas of length L and width W, excluding areas above the ground. Taking detection zone-1 as an example, in the 3D world coordinate system, it is the rectangular area bounded by the four points (-L0 / 2-d1-W, -L / 2, 0), (-L0 / 2-d1-W, L / 2, 0), (-L0 / 2-d1, L / 2, 0), and (-L0 / 2-d1, L / 2, 0). The coordinate origin (0, 0) is the vehicle's front center console. L0 is the vehicle length, L and W are the length and width of the detection zone, respectively, and d1 is the distance between detection zone-1 and the front bumper. However, in the forward-facing camera's 2D pixel coordinate system, detection zone -1 is defined as an isosceles trapezoid enclosed by the four pixel coordinates (x11, y11), (x12, y12), (x13, y13), and (x14, y14). The precise values of these pixel coordinates are obtained by calibrating the detection zone image captured by the vehicle's camera. Because each camera's installation position and parameters vary, there should be at least four and at most six sets of "calibrated pixel detection zone coordinates" (due to the symmetrical distribution of the left and right cameras).

[0054] Through the embodiments of the present disclosure, six cameras are used to eliminate visual blind spots, prevent a single camera from being blocked, and improve system robustness.

[0055] Based on the above embodiment, the intelligent cockpit domain controller includes a perception and recognition activation module and a personnel behavior analysis module; the perception and recognition activation module is used to start the camera combination module and the personnel behavior analysis module in response to the vehicle status signal meeting the perception and recognition activation conditions; the perception and recognition activation conditions include at least one of the trunk opening function being in the on state, the vehicle being in the parking gear, and the vehicle key being within the preset key range; the vehicle key being within the preset key range indicates that the vehicle key is located outside the vehicle and is less than a preset distance from the vehicle; the personnel behavior analysis module is used to use image information and vehicle status signals to determine whether the personnel behavior meets the trunk opening conditions; in response to the personnel behavior meeting the trunk opening conditions, an opening request signal is sent to the gateway; the trunk opening conditions include at least the presence of a person in the detection area, the person carrying luggage, and the person being the vehicle owner.

[0056] The disclosed embodiment first verifies that the trunk function is enabled, the P gear is in the P position, and the key is within a preset range. Once these basic conditions are met, trunk opening condition determination is initiated, using multi-modal and multi-angle analysis of user behavior to avoid false triggering. Trunk opening is automatically controlled based on pre-conditions such as the vehicle owner's identity, smart key location, luggage status, and vehicle owner settings, making trunk opening determination more accurate and operation simpler for the vehicle owner.

[0057] Based on the above embodiment, the vehicle status signal at least includes the personnel behavior analysis threshold of the perception and recognition module; the personnel behavior analysis threshold at least includes the vehicle owner recognition duration and the luggage carrying status; the luggage carrying status is one of carrying luggage with both hands, carrying luggage with one hand, and not carrying luggage; the personnel behavior analysis module includes a target detection component and a face recognition component; the target detection component is used to identify the luggage using the target detection algorithm in response to identifying the human target using the target detection algorithm to determine whether the person is carrying luggage; the face recognition component is used to identify the facial corner features of the human target using the face recognition algorithm; in response to the time when the person is determined to be the vehicle owner is greater than the vehicle owner recognition duration, the person is determined to be the vehicle owner.

[0058] In this embodiment, Figure 5 A schematic diagram of the human target recognition logic of the detection area provided by the embodiment of the present invention is shown as follows: Figure 5 As shown in the figure, after the YOLOv5-S model detects human targets and luggage targets in the image and makes the judgment, it continues to identify the owner of the car. The MTCNN face recognition algorithm is used to identify the facial corner features of the owner of the car. The owner's identity is confirmed to be correctly identified within a certain period of time, for example, 2 consecutive seconds (approximately 30 frames are extracted, and the confidence level of at least 27 frames is greater than 90%). If the conditions are met, a CAN signal requesting the trunk to be opened is sent and forwarded by the SGW gateway.

[0059] In this embodiment, the location of the smart key is only one of the preconditions for whether the trunk is automatically opened. The judgment criteria are two items: 1. Whether the smart key is within 15 meters of the vehicle, and 2. Whether the smart key is outside the vehicle. Therefore, the triangulation method is used to roughly determine (X 钥 , Y 钥 ) After sending the key positioning condition signal, the following formula must be achieved:

[0060]

[0061]

[0062]

[0063] Through the embodiments of the present disclosure, the image is transmitted to the intelligent cockpit domain controller for processing, and the pedestrian target and luggage target are identified through the target detection YOLOv5 algorithm, and the pedestrian is determined to be located in the corresponding detection area. The MTCNN face recognition algorithm is used to identify the target as the car owner and for a specific time. When the conditions are met, the signal is transmitted to the SGW gateway, thereby improving the accuracy of the car owner judgment and accurately identifying the car owner's intention to open the trunk.

[0064] Based on the above embodiment, the object detection component includes a person recognition unit and a luggage recognition unit. The person recognition unit is configured to determine the presence of a person in the detection area in response to identifying a person target in the detection area using the object detection algorithm. The luggage recognition unit is configured to determine whether the luggage target overlaps with the human target based on the height and width of the luggage target frame and the person target frame. In response to the number of luggage targets overlapping with the person target meeting the carrying luggage status, the unit determines that the person is carrying luggage.

[0065] In this embodiment, Figure 6 This is a schematic diagram of vehicle owner and luggage status recognition provided by an embodiment of the present invention. Six cameras transmit images to the cabin domain controller, which only identifies object types such as people, handbags, and suitcases in the image using the YOLOv5-S lightweight object detection model. The controller prioritizes the position of people-type objects, using the midpoint P(Xp, Yp) of the lower boundary of the object box as the decision point. If this point falls within the pixel detection zone -1, further determination is made based on the detection of object types such as handbags and suitcases in the image, combined with the user's selection of "the amount of luggage the owner is carrying (no luggage, one hand, two hands)" on the vehicle MP5 interface. Similarly, using the center point of the lower boundary of the object box as the decision point, the determination of luggage-type objects is based on three criteria:

[0066] (1) |X 行李 -Xp|<0.85*Hp, where X 行李 The center point P of the lower boundary of the luggage target box 行李 Xp is the horizontal coordinate of the center point below the human target frame, and Hp is the height of the human target frame;

[0067] (2) , to ensure that the distance between the identified luggage target and the human target is close (constrained by size ratio). The ratio range is the calibration value, and different threshold ranges should be set for different luggage types.

[0068] (3) Determine whether the luggage situation set by the user on the MP5 interface of the vehicle is met. For example, if the trunk can only be opened with "two hands" carrying luggage, it is necessary to determine whether there are luggage targets on both sides of the human target that meet conditions 1 and 2, or at least one luggage target overlaps with the human target, and the lower boundary of the luggage Y>Yp+0.3Hp.

[0069] According to the embodiments of the present disclosure, the relationship between a person and luggage is determined by overlapping target frames, thereby improving the accuracy of detecting the carrying status of a person and luggage.

[0070] Based on the above embodiment, the actuator module includes a trunk lock switch, a trunk hydraulic support rod, a combination headlight group and a front speaker group; the trunk lock switch and the trunk hydraulic support rod are used to open the trunk; the combination headlight group and the front speaker group are used to use a horn and lights to issue a trunk opening prompt.

[0071] Through the embodiments of the present disclosure, after receiving the trunk opening request signal forwarded by the SGW gateway, the trunk lock switch and the trunk hydraulic support rod combine with the headlight group to use flowing lights to remind the owner of the car, and the front speaker group emits a short beep. Then the trunk lock switch opens and sends its own status signal. Finally, the trunk hydraulic support rod lifts the trunk door to improve the user experience.

[0072] Based on the same inventive concept, an embodiment of the present invention provides a trunk opening method, which is applied to a trunk opening system, wherein the trunk opening system includes an associated controller module, an actuator module, a perception and recognition module and a gateway; the method includes: calling the associated controller module to collect a vehicle status signal and send it to the gateway; the vehicle status signal is used to determine whether to perform perception and recognition; calling the gateway to forward the vehicle status signal to the perception and recognition module; in response to the vehicle status signal meeting the perception and recognition opening conditions, calling the perception and recognition module to collect images for analyzing personnel behavior; in response to the personnel behavior meeting the trunk opening conditions, the perception and recognition module sends an opening request signal to the gateway; calling the gateway to forward the opening request signal to the actuator module; in response to receiving the opening request signal, calling the actuator module to open the trunk.

[0073] Based on the same inventive concept, an embodiment of the present invention further provides an electronic device. Figure 8 This is a structural block diagram of an electronic device provided by an embodiment of the present invention. Figure 8As shown, an embodiment of the present invention provides an electronic device comprising: one or more processors 801, a memory 802, and one or more I / O interfaces 803. The memory 802 stores one or more programs, which, when executed by the one or more processors, enable the one or more processors to implement any of the trunk opening methods described in the above embodiments; the one or more I / O interfaces 803 are connected between the processors and the memory and are configured to enable information exchange between the processors and the memory.

[0074] Among them, the processor 801 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 802 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically such as SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) 803 is connected between the processor 801 and the memory 802, and can realize information exchange between the processor 801 and the memory 802, including but not limited to a data bus (Bus), etc.

[0075] In some embodiments, the processor 801 , the memory 802 , and the I / O interface 803 are connected to each other via a bus 804 , and further connected to other components of the computing device.

[0076] In some embodiments, the one or more processors 801 include a field programmable gate array.

[0077] An embodiment of the present invention further provides a computer-readable medium. The computer-readable medium stores a computer program, wherein, when executed by a processor, the program implements the steps of any of the trunk opening methods described in the above embodiments. The computer-readable storage medium can be volatile or non-volatile.

[0078] An embodiment of the present invention also provides a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the above-mentioned trunk opening method.

[0079] Those skilled in the art will appreciate that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable storage medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium).

[0080] As is known to those skilled in the art, the term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that can be accessed by a computer. Furthermore, as is known to those skilled in the art, communication media typically embodies computer-readable program instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0081] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0082] The computer program instructions for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, the state information of the computer-readable program instructions is used to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), so that the electronic circuit can execute the computer-readable program instructions, thereby implementing various aspects of the present invention.

[0083] The computer program product described herein may be implemented in hardware, software, or a combination thereof. In one embodiment, the computer program product is implemented as a computer storage medium. In another embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0084] Various aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0085] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0086] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0087] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the function or action of the specification, or can be implemented with a combination of dedicated hardware and computer instructions.

[0088] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly indicated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A trunk opening system, comprising an associated controller module, an actuator module, a sensing and recognition module, and a gateway; characterized in that: An associated controller module is connected to the gateway and is used to collect vehicle status signals for sending to the gateway; the vehicle status signals are used to determine whether to perform perception and recognition; a perception and recognition module, connected to the gateway, for collecting images for analyzing human behavior in response to the vehicle status signal satisfying a perception and recognition activation condition; In response to the person's behavior meeting the trunk opening condition, sending an opening request signal to the gateway; an actuator module connected to the gateway, and configured to open the trunk in response to receiving the opening request signal; a gateway, configured to, in response to receiving a vehicle status signal, forward the vehicle status signal to the perception and recognition module; In response to receiving the opening request signal, the opening request signal is forwarded to the actuator module.

2. The system according to claim 1, wherein: The vehicle status signal includes at least one of the parameters of the trunk opening system, the vehicle gear position signal and the vehicle key position; the associated controller module includes at least one of the vehicle MP5 function switch module, the PDCU power domain controller and the antenna module; The vehicle MP5 function switch module is used to send the parameters of the trunk opening system according to the vehicle owner's settings to determine whether the trunk opening function is in the open state; the parameters include at least one of the operating state of the trunk opening function and the human behavior analysis threshold of the perception and recognition module; PDCU power domain controller, used to send a vehicle gear position signal to confirm that the vehicle is in the parking gear; The antenna module is used to send the vehicle key position to determine whether the vehicle key is within the preset key range.

3. The system according to claim 2, wherein: The antenna module includes three RF antennas; the three RF antennas are respectively located at the main driver's door handle, the passenger door handle and the center of the top of the trunk, and are used to determine the distance between the vehicle key and the three RF antennas for calculating the vehicle key position.

4. The system according to claim 1, wherein: The perception and recognition module includes a camera combination module and an intelligent cockpit domain controller; A camera combination module is used to collect image information of the detection area; An intelligent cockpit domain controller, configured to determine whether the vehicle status signal satisfies a condition for enabling perception and recognition; In response to the vehicle status signal satisfying the opening condition of perception and recognition, the image information and the vehicle status signal are used to determine whether the behavior of the person satisfies the trunk opening condition.

5. The system according to claim 4, wherein: The camera combination module includes six camera modules; the six camera modules are respectively located at the top middle part of the front windshield, the lower end of the left rearview mirror, the lower end of the right rearview mirror, the upper part of the left fender, the upper part of the right fender and the middle of the rear bumper, and are used to collect image information of the detection area.

6. The system according to claim 4, wherein: The intelligent cockpit domain controller includes a perception and recognition activation module and a personnel behavior analysis module; a perception and recognition activation module, configured to activate the camera combination module and the personnel behavior analysis module in response to the vehicle status signal satisfying a perception and recognition activation condition; the perception and recognition activation condition comprising at least one of the following: the trunk opening function being in an activated state, the vehicle being in park, and the vehicle key being within a preset key range; the vehicle key being within the preset key range indicating that the vehicle key is outside the vehicle and is less than a preset distance from the vehicle; A human behavior analysis module is used to use image information and vehicle status signals to determine whether human behavior meets the conditions for opening the trunk; In response to the person's behavior meeting the trunk opening conditions, an opening request signal is sent to the gateway; the trunk opening conditions at least include the presence of a person in the detection area, the person carrying luggage, and the person being the vehicle owner.

7. The system according to claim 6, wherein: The vehicle status signal includes at least a threshold for analyzing human behavior of a perception and recognition module; the threshold for analyzing human behavior includes at least a duration of vehicle owner recognition and a luggage status; the luggage status includes one of two-handed luggage, one-handed luggage, and no luggage; the human behavior analysis module includes a target detection component and a face recognition component; an object detection component for, in response to identifying a person target using the object detection algorithm, identifying luggage using the object detection algorithm for determining whether the person is carrying luggage; A face recognition component is used to identify facial corner features of a target person using a face recognition algorithm; In response to the time for which it is determined that the person is the vehicle owner is greater than the vehicle owner identification duration, it is determined that the person is the vehicle owner.

8. The system according to claim 7, wherein: The target detection component includes a personnel identification unit and a luggage identification unit; a person identification unit, configured to determine that a person is present in the detection area in response to identifying a person target in the detection area using a target detection algorithm; The luggage identification unit is configured to determine whether a luggage target overlaps with a human target based on the height and width of the luggage target frame and the human target frame; and determine that the person is carrying luggage in response to the number of luggage targets overlapping with the human target meeting the luggage carrying status.

9. The system according to claim 1, wherein the actuator module comprises a trunk lock switch, a trunk hydraulic support bar, a combination headlamp group and a front speaker group; Trunk lock switch and trunk hydraulic support rod, used to open the trunk; The combined headlamp group and front speaker group are used to issue a trunk opening reminder using a horn and lights.

10. A method for opening a trunk, characterized in that: Applied to a trunk opening system, the trunk opening system includes an associated controller module, an actuator module, a perception and recognition module, and a gateway; the method includes: Calling the associated controller module to collect vehicle status signals and send them to the gateway; the vehicle status signals are used to determine whether to perform perception and recognition; Call the gateway to forward the vehicle status signal to the perception and recognition module; In response to the vehicle status signal satisfying a sensing and recognition activation condition, calling a sensing and recognition module to capture images for analyzing human behavior; In response to the person's behavior meeting the trunk opening condition, the perception and recognition module sends an opening request signal to the gateway; The calling gateway forwards the opening request signal to the actuator module; In response to receiving the opening request signal, the actuator module is called to open the trunk.

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