Vehicle anti-theft alarm method and device and computer readable storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle anti-theft alarm method and device and a computer readable storage medium, and the method comprises the steps: obtaining the motion state information of a vehicle at the current moment based on an inertial measurement unit of the vehicle; determining an external torque change rate according to the motion state information; wherein the change rate of the external torque represents the change trend of the external torque borne by the vehicle along with time; and if it is determined that the change rate of the external torque is greater than or equal to a first preset threshold value, carrying out anti-theft alarm. By applying the technical scheme of the invention, the problem of low anti-theft alarm accuracy in the prior art can be solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle technology, and more particularly to a vehicle theft prevention alarm method, device, and computer-readable storage medium. Background Art

[0002] As important personal property and a means of transportation, vehicle safety is crucial to the owner's financial well-being and travel security. As the number of cars on the road continues to rise, vehicle thefts continue to occur, necessitating the deployment of anti-theft alarm solutions.

[0003] Currently, most vehicle anti-theft alarm solutions are implemented through image recognition, satellite positioning of vehicles, etc. However, in this method, the vehicle anti-theft alarm is easily affected by factors such as the environment and positioning signals, and it is impossible to provide accurate anti-theft alarms. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a vehicle anti-theft alarm method, device, and computer-readable storage medium, which are used to solve the problem of low accuracy of anti-theft alarms in the prior art.

[0005] According to one aspect of an embodiment of the present invention, a vehicle anti-theft alarm method is provided, the method comprising:

[0006] Obtaining, based on the vehicle's inertial measurement unit, motion state information of the vehicle at a current moment;

[0007] Determine the external torque change rate based on the motion state information; wherein the external torque change rate represents the change trend of the external torque applied to the vehicle over time;

[0008] If it is determined that the external torque change rate is greater than or equal to a first preset threshold, an anti-theft alarm is issued.

[0009] According to another aspect of an embodiment of the present invention, a vehicle anti-theft alarm device is provided, comprising:

[0010] an acquisition module, configured to acquire the motion state information of the vehicle at a current moment based on the vehicle's inertial measurement unit;

[0011] a determination module, configured to determine a rate of change of an external torque according to the motion state information; wherein the rate of change of the external torque represents a trend of change of the external torque applied to the vehicle over time;

[0012] The alarm module is used to issue an anti-theft alarm when it is determined that the external torque change rate is greater than or equal to a first preset threshold.

[0013] According to another aspect of an embodiment of the present invention, there is provided an electronic device, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus;

[0014] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the above-mentioned vehicle anti-theft alarm method.

[0015] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, wherein the executable instruction causes an alarm device for an electronic device / vehicle anti-theft to perform the following operations:

[0016] Obtaining, based on the vehicle's inertial measurement unit, motion state information of the vehicle at a current moment;

[0017] Determine the external torque change rate based on the motion state information; wherein the external torque change rate represents the change trend of the external torque applied to the vehicle over time;

[0018] If it is determined that the external torque change rate is greater than or equal to a first preset threshold, an anti-theft alarm is issued.

[0019] The embodiment of the present invention obtains the motion state information of the vehicle at the current moment through the inertial measurement unit of the vehicle, and then determines the external torque change rate that can reflect the trend of the external force acting on the vehicle over time based on the motion state information. When it is determined that the external torque change rate is greater than or equal to a first preset threshold, it indicates that the vehicle is dragged or damaged by an external force, and an anti-theft alarm is issued. The external torque change rate can be calculated based on the motion state data collected by the inertial measurement unit that is not affected by environmental factors such as light and weather and does not rely on external signals. The external torque change rate with stronger anti-interference and higher accuracy can be used to determine whether the vehicle is affected by a sudden external force and then determine whether to issue an anti-theft alarm, thereby improving the accuracy and reliability of the anti-theft alarm.

[0020] The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to more clearly understand the technical means of the embodiments of the present invention, they can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0022] Figure 1A schematic diagram showing an application scenario provided by the present invention is shown;

[0023] Figure 2 A schematic diagram showing another application scenario provided by the present invention is shown;

[0024] Figure 3 A schematic flow chart showing a first embodiment of the vehicle anti-theft alarm method provided by the present invention is shown;

[0025] Figure 4 A schematic flow chart showing a second embodiment of the vehicle anti-theft alarm method provided by the present invention is shown;

[0026] Figure 5 A schematic structural diagram of a first embodiment of a vehicle anti-theft alarm device provided by the present invention is shown;

[0027] Figure 6 A schematic structural diagram of an embodiment of an electronic device provided by the present invention is shown. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0029] Image recognition and satellite positioning technologies are widely used in vehicle anti-theft alarm solutions. Image recognition-based anti-theft systems use onboard cameras to capture real-time images of the vehicle's surroundings. They apply deep learning algorithms to analyze the behavior of people and the vehicle's status in the images. If they detect unusual behavior, such as lock picking or violent vandalism, they trigger an alarm. Satellite positioning systems, on the other hand, utilize global satellite navigation systems to track the vehicle's location in real time and send alerts to the owner if the vehicle exhibits unauthorized movement or deviates from a predefined area.

[0030] However, image recognition in these solutions is susceptible to interference from environmental factors. For example, at night, in low light conditions, the clarity of camera images decreases significantly, making it difficult for the algorithm to accurately identify abnormal behavior. Satellite positioning systems are highly dependent on signal quality. When a vehicle enters signal-blocked areas such as underground parking lots and tunnels, or encounters malicious signal interference, positioning accuracy can be significantly reduced, or even lost. Consequently, existing vehicle anti-theft alarm solutions struggle to provide accurate and timely anti-theft protection.

[0031] Therefore, an embodiment of the present invention provides a vehicle anti-theft alarm method, which uses an inertial measurement unit (IMU) installed in the vehicle to collect the vehicle's motion state data in real time. The motion state data can reflect the force state of the vehicle. The rate of change of the external force applied to the vehicle is determined by the motion state data, which can reflect the sudden change of the external force, that is, whether the vehicle is being dragged or damaged by an external force. Then, when it is determined that the vehicle is being dragged or damaged by an external force, a vehicle anti-theft alarm can be implemented. This method is based on the motion state data collected by the IMU for processing and judgment, is not affected by environmental factors such as light and weather, and does not rely on external signals such as positioning signals. Therefore, it can improve the timeliness and accuracy of the anti-theft alarm.

[0032] The execution subject of the embodiment of the present invention may be an electronic device with processing capabilities, such as an electronic control unit (ECU), a microcontroller (MCU), etc., and the embodiment of the present invention is not limited here.

[0033] Figure 1 A schematic diagram showing an application scenario provided by the present invention is shown. Figure 2 FIG. 1 shows a schematic diagram of another application scenario provided by the present invention. Figure 1 As shown, at least one IMU is installed in the vehicle, where IMU G is installed at the center of gravity of the vehicle to collect the vehicle's motion state information.

[0034] Optionally, IMUs can be installed in other locations in the vehicle. Take the installation of five IMUs as an example, where IMU G is installed at the center of gravity of the vehicle, and the remaining four IMUs (A, A', B, B') are installed on the four window frames of the door. The IMU installed at the center of gravity can be used to collect angular velocity information to determine whether there is an external force dragging the vehicle; the IMU installed on the window frame can be used to collect acceleration information to determine whether there is an external force breaking the window. Figure 1 The installation positions of IMU G, IMU A and IMUB are shown. IMU A' and IMU B' are installed at corresponding positions on the window frame of the other side door, for example, Figure 2 The installation locations of IMU B and IMU B' are shown.

[0035] Figure 3 FIG1 shows a flow chart of a first embodiment of a vehicle anti-theft alarm method provided by the present invention, which is executed by an electronic device. Figure 3 As shown, the method includes the following steps:

[0036] Step 110: Based on the inertial measurement unit of the vehicle, obtain the motion state information of the vehicle at the current moment.

[0037] For example, an inertial measurement unit (IMU) is a miniature sensor module that integrates a three-axis gyroscope and a three-axis accelerometer. It can be used to measure a vehicle's motion state information, such as angular velocity and linear acceleration. The motion state information represents vehicle data collected by the IMU, and can include, for example, angular velocity and acceleration data.

[0038] In one example, the electronic device can communicate with the inertial measurement unit in real time to obtain the motion state information at the current moment collected in real time by the inertial measurement unit.

[0039] Step 120: Determine the external torque change rate according to the motion state information.

[0040] For example, the external torque change rate represents the temporal trend of the external torque acting on the vehicle. In other words, the external torque change rate is the rate of change of the external torque, and is used to determine whether the vehicle has been subjected to a sudden external force (such as forced movement, dragging, prying, or window breaking during theft). It is understood that when a vehicle is subjected to illegal operations such as window breaking or dragging, the external torque will suddenly change. Therefore, the external torque change rate can be used to reflect the degree of sudden change in the external torque, and thus reflect whether the vehicle has been damaged or dragged by external forces, thereby determining whether the vehicle has been stolen.

[0041] In one example, a mapping relationship between motion state information and external torque change rate may be preset in the electronic device, and then after the motion state information is acquired, the external torque change rate may be calculated based on the mapping relationship.

[0042] In another example, a calculation model may be pre-set in the electronic device, and the motion state information may be input into the calculation model to directly output the external torque change rate. The calculation model may be a neural network model.

[0043] Step 130: Determine whether the external torque change rate is greater than or equal to a first preset threshold.

[0044] For example, the first preset threshold represents a critical value for determining whether the vehicle is experiencing abnormal force, in other words, a threshold value for determining whether the vehicle has been stolen. The electronic device may compare the rate of change of the external torque with the first preset threshold. If the rate of change of the external torque is greater than or equal to the first preset threshold, indicating a sudden change in the external force acting on the vehicle, the electronic device executes step 140. If not, the electronic device continues to collect motion state information at the next moment, returning to step 110.

[0045] Step 140: Issue an anti-theft alarm.

[0046] For example, the electronic device can provide anti-theft alarms through sound and light alarms, and can also send alarm information to the car owner through text messages, emails, phone calls, application push, etc. The embodiments of the present invention do not limit the anti-theft alarm measures.

[0047] In this embodiment, the electronic device obtains the vehicle's current motion state information through the vehicle's inertial measurement unit (IMU). Based on this motion state information, the electronic device can determine the rate of change of the external torque, which reflects the temporal trend of the external force acting on the vehicle. If the rate of change of the external torque is determined to be greater than or equal to a first preset threshold, it indicates that the vehicle is being dragged or damaged by an external force, and an anti-theft alarm is triggered. In this way, the motion state data collected by the IMU is less affected by environmental factors such as lighting and weather and is independent of external signals. Consequently, the rate of change of the external torque can be calculated based on the more accurate motion state data to determine whether the vehicle is subject to a sudden external force and whether to issue an anti-theft alarm, thereby improving the accuracy and reliability of the anti-theft alarm.

[0048] Figure 4 FIG2 shows a flow chart of a second embodiment of the vehicle anti-theft alarm method provided by the present invention, which is executed by an electronic device. Figure 4 As shown, the method includes the following steps:

[0049] Step 210: Based on the inertial measurement unit of the vehicle, obtain the motion state information of the vehicle at the current moment.

[0050] It should be noted that this step is similar to the aforementioned step 110 and will not be repeated here.

[0051] Step 220: Determine the angular acceleration information at the current moment according to the angular velocity information in the motion state information at the current moment.

[0052] For example, motion state information can include angular velocity information, which describes the speed of the vehicle's rotation. In other words, taking the X, Y, and Z axes as an example, angular velocity information describes the vehicle's rotational speed around them. Angular acceleration information is the rate of change of angular velocity over time, indicating the acceleration trend of the vehicle's rotational motion.

[0053] In one example, the electronic device may perform differential calculation on angular velocity information at adjacent moments to obtain angular acceleration information at the current moment.

[0054] Step 230: Determine the external torque at the current moment based on the angular velocity information and the angular acceleration information.

[0055] For example, an external torque refers to an external torque acting on a vehicle that causes the vehicle to generate rotational motion or change its rotational state. The electronic device may have a preset mapping relationship between angular velocity information, angular acceleration information, and external torque. After obtaining the angular velocity information and angular acceleration information, the external torque can be calculated based on this mapping relationship.

[0056] In some possible implementations, step 230 may include the following steps:

[0057] Step 2301: Obtain the vehicle's current position information and vehicle mass.

[0058] For example, the current moment's posture information represents the vehicle's attitude angle and center of mass position in three-dimensional space at that moment. The electronic device can calculate the vehicle's current moment's posture information based on the motion state information collected by the inertial measurement unit. For example, a Kalman filter algorithm can be first used to filter and reduce noise on the collected raw motion state information, and then the angular velocity information in the motion state information can be integrated to obtain the vehicle's initial attitude angle. The initial attitude angle can then be corrected using the acceleration information in the gravity direction in the motion state information to compensate for the attitude error caused by gyroscope drift. Furthermore, the geomagnetic field data measured by a magnetometer can be used to assist in determining the vehicle's heading angle. At the same time, combined with GPS positioning data, more accurate vehicle posture information can be obtained. It should be noted that the embodiments of the present invention do not limit how the vehicle's posture information is determined based on the inertial measurement unit. The vehicle's mass can be a preset calibrated mass or the vehicle's mass at the current moment collected by a sensor. The electronic device can read a pre-stored vehicle mass or obtain the vehicle's mass collected by a sensor.

[0059] Step 2302: Determine the moment of inertia based on the posture information and mass.

[0060] For example, moment of inertia represents an object's inertial parameter for resisting rotational motion and is related to the object's mass, mass distribution, and the position of the rotation axis. Electronic devices can have a preset correspondence between mass and basic moment of inertia. This can then be used to determine the corresponding basic moment of inertia based on the vehicle's mass. This basic moment of inertia can then be corrected based on the vehicle's position information, taking into account the effect of center of gravity offset on the moment of inertia.

[0061] Specifically, the basic moment of inertia corresponding to the mass is obtained; and the basic moment of inertia is corrected according to the posture information to obtain the moment of inertia.

[0062] For example, the electronic device can determine the basic moment of inertia corresponding to the current vehicle's mass based on the correspondence between a preset mass and the basic moment of inertia, convert the coordinate system of the basic moment of inertia to the coordinate system at the current posture based on the attitude angle in the posture information, and obtain a first intermediate moment of inertia. Based on the center of mass position in the posture information, the electronic device can determine the center of gravity offset, and then obtain a second intermediate moment of inertia based on the product of the vehicle's mass and the center of gravity offset. The sum of the first intermediate moment of inertia and the second intermediate moment of inertia is used as the moment of inertia. In this way, a more accurate moment of inertia can be determined in combination with the current posture information, thereby improving the accuracy of subsequent external torques.

[0063] Step 2303: Determine the external torque at the current moment based on the angular velocity information, angular acceleration information, and moment of inertia.

[0064] For example, the external torque on the vehicle includes the torque component generated by angular velocity and the torque component generated by angular acceleration. This is because angular momentum can be expressed as: in, represents angular momentum, I represents moment of inertia, Represents angular velocity information; and the derivative of angular momentum with respect to time is equal to the external torque acting on the rigid body Right now: Expanding this formula yields: Combining the relationship between angular velocity information and angular acceleration information, we can get: in, represents the torque component generated by angular acceleration, Represents the torque component generated by angular velocity.

[0065] Specifically, the electronic device can determine the first torque component according to the angular acceleration information and the moment of inertia, that is, Among them, the first torque component represents the torque component generated by angular acceleration; then the second torque component is determined according to the angular velocity information and the moment of inertia, that is, The second torque component represents the torque component generated by the angular velocity; the external torque at the current moment is determined based on the first torque component and the second torque component.

[0066] Step 240: Determine the external torque change rate based on the external torque at the current moment.

[0067] Exemplarily, the electronic device may perform differential processing on the external torque at adjacent moments to obtain the external torque change rate.

[0068] Specifically, the electronic device may obtain the external torque at the previous moment and determine the rate of change of the external torque based on the external torque at the current moment and the external torque at the previous moment. For example, the external torque difference ΔM between the external torque at the current moment and the external torque at the previous moment, as well as the time difference Δt between the current moment and the previous moment, may be determined first. The ratio of the external torque difference to the time difference, ΔM / Δt, may be used as the rate of change of the external torque.

[0069] Step 250: Determine whether the external torque change rate is greater than or equal to a first preset threshold.

[0070] If so, it indicates that there is a sudden change in external force on the vehicle, that is, there is a theft, and step 260 is executed; if not, the motion state information is continued to be monitored, that is, the execution returns to step 210.

[0071] Step 260: Determine whether the external torque change rate is greater than or equal to a second preset threshold.

[0072] Exemplarily, the second preset threshold represents the critical value of the rate of change of the external torque at which the vehicle is experiencing trailer theft. It should be noted that the second preset threshold is not limited in the embodiments of the present invention, and the second preset threshold is greater than the first preset threshold. For example, during research, the inventors of the present invention discovered that during the static starting phase of a vehicle, the torque required to overcome the vehicle's static inertia is the largest, with a typical instantaneous change value of 2000-5000 N·m, and an external torque rate of change ranging from 1.5-3.2 N·m / s. It should be noted that this value is related to the vehicle mass and traction acceleration; during the uniform towing phase, the torque tends to stabilize, with the change dropping to 100-500 N·m, and an external torque rate of change ranging from 0.8-1.5 N·m / s. It should be noted that this value is affected by mechanical resistance; during the braking, stopping, or steering phase, the torque fluctuates significantly, with a peak value of 8000-12000 N·m, and an external torque rate of change ranging from 4.0-6.8 N·m / s. It should be noted that this value is related to the trailer distance, vehicle speed, and frame energy absorption design. Therefore, when the external torque change rate is greater than or equal to 0.8 N·m / s, it can be considered that the vehicle is subject to trailer theft.

[0073] It is understandable that when the rate of change of the external torque is less than the second preset threshold, there may be a case of window breaking and theft, so it is necessary to further judge in combination with the acceleration information collected by the inertial measurement unit installed on the window frame.

[0074] If so, it indicates that there is a case of trailer theft, and step 270 is executed; if not, it indicates that there may be a case of window theft, and step 280 is executed.

[0075] Step 270: Activate an anti-theft alarm and control the locks pre-installed on the wheels of the vehicle to lock the wheels.

[0076] For example, locks such as electromagnetic locks can be installed on the wheels in advance. When it is determined that a towing theft occurs, the wheels can be locked by controlling the locks to prevent external forces from towing the vehicle.

[0077] Step 280: Obtain acceleration information of the vehicle based on the inertial measurement unit of the vehicle.

[0078] For example, the acceleration information represents the impact acceleration when the window is broken, which can be obtained by the aforementioned Figure 1 The acceleration information collected by the inertial measurement unit on the window frame is captured by the electronic device. It should be noted that the acceleration information can be acceleration information of any axis of any vehicle window, or can also be the combined acceleration information of three axes, which is not limited in this embodiment of the present invention.

[0079] Step 290: Determine whether the acceleration information is greater than or equal to a third preset threshold.

[0080] For example, the third preset threshold represents a critical value for window-breaking theft. The electronic device can compare the acceleration information with the third preset threshold to determine whether the acceleration information is greater than or equal to the third preset threshold. If so, step 2110 is executed; if not, an anti-theft alarm is issued. It is understood that even if the acceleration information is less than the third preset threshold, if the rate of change of the external torque is greater than or equal to the first preset threshold, other theft attempts may still be occurring, and therefore an anti-theft alarm is issued.

[0081] Step 2110: Activate an anti-theft alarm and control the target interface in the vehicle to be powered off.

[0082] For example, the target interface can be a preset specific electrical interface that needs to be powered off, such as a power system-related interface, a vehicle network interface, a central control system interface, an on-board diagnostic system (OBD) interface, etc., which is not limited in the embodiments of the present invention. The electronic device can control the power off of the target interface by cutting off the power circuit of the target interface, or by executing the power off logic of the target interface to control the power off of the target interface. In this way, it is possible to prevent someone from breaking into the vehicle through a window and then controlling the vehicle by cracking the target interface, thereby improving the vehicle's anti-cracking capability.

[0083] In this embodiment, the electronic device obtains angular velocity information through an inertial measurement unit located at the center of gravity, calculates angular acceleration information, and uses the angular velocity and angular acceleration information to determine the external torque acting on the vehicle at the current moment, and then determines the rate of change of the external torque. If the rate of change of the external torque is determined to be greater than or equal to a first preset threshold, the electronic device further determines whether the rate of change of the external torque is greater than or equal to a second preset threshold to distinguish whether the vehicle has been theft by external force dragging. If so, the wheels are mechanically locked to prevent the vehicle from being towed. If not, the electronic device obtains acceleration information through an inertial measurement unit located on the window frame to determine whether a window has been broken. If so, the target interface is powered off to prevent the vehicle from being controlled by cracking the target interface. In this way, the electronic device can combine the rate of change of the external torque and acceleration to determine whether the vehicle has been thefted in different ways, thereby improving the accuracy of the anti-theft judgment. After the anti-theft alarm is triggered, the electronic device uses multiple protection mechanisms such as mechanical locking and electronic power off to improve the reliability and anti-theft capability of the vehicle anti-theft system.

[0084] Figure 5 FIG1 shows a schematic structural diagram of a first embodiment of a vehicle anti-theft alarm device provided by the present invention. Figure 5 As shown, the vehicle anti-theft alarm device 300 includes: an acquisition module 310 , a determination module 320 and an alarm module 330 .

[0085] An acquisition module 310 is configured to acquire the motion state information of the vehicle at a current moment based on the vehicle's inertial measurement unit;

[0086] A determination module 320 is configured to determine a rate of change of an external torque based on the motion state information; wherein the rate of change of the external torque represents a trend of change of the external torque applied to the vehicle over time;

[0087] The alarm module 330 is configured to generate an anti-theft alarm when it is determined that the rate of change of the external torque is greater than or equal to a first preset threshold.

[0088] In an optional manner, the motion state information includes angular velocity information; the determination module 320 is configured to:

[0089] Determining angular acceleration information at the current moment according to the angular velocity information in the motion state information at the current moment;

[0090] determining the external torque at a current moment according to the angular velocity information and the angular acceleration information;

[0091] The external torque change rate is determined according to the external torque at the current moment.

[0092] In an optional manner, the determination module 320 is configured to:

[0093] Get the external torque at the previous moment;

[0094] The external torque change rate is determined according to the external torque at the current moment and the external torque at the previous moment.

[0095] In an optional manner, the determination module 320 is configured to:

[0096] Obtaining the vehicle's current position and mass.

[0097] Determining a moment of inertia based on the posture information and the mass;

[0098] The external torque at the current moment is determined according to the angular velocity information, the angular acceleration information, and the moment of inertia.

[0099] In an optional manner, the determination module 320 is configured to:

[0100] Obtaining a basic moment of inertia corresponding to the mass;

[0101] The basic moment of inertia is corrected according to the posture information to obtain the moment of inertia.

[0102] In an optional manner, the determination module 320 is configured to:

[0103] Determining a first torque component based on the angular acceleration information and the moment of inertia; wherein the first torque component represents a torque component generated by the angular acceleration;

[0104] Determining a second torque component based on the angular velocity information and the moment of inertia; wherein the second torque component represents a torque component generated by the angular velocity;

[0105] The external torque at the current moment is determined according to the first torque component and the second torque component.

[0106] In an optional manner, the alarm module 330 is configured to:

[0107] If it is determined that the external torque change rate is greater than or equal to the first preset threshold, determining whether the external torque change rate is greater than or equal to a second preset threshold;

[0108] If yes, an anti-theft alarm is triggered and the locks pre-installed on the wheels of the vehicle are controlled to lock the wheels;

[0109] If not, the acceleration information of the vehicle is obtained based on the inertial measurement unit of the vehicle; if it is determined that the acceleration information is greater than or equal to a third preset threshold, an anti-theft alarm is issued and the target interface in the vehicle is controlled to be powered off.

[0110] From the above, it can be seen that the vehicle anti-theft alarm device provided by the embodiment of the present invention can calculate the external torque change rate based on the motion state data collected by the inertial measurement unit that is not affected by environmental factors such as light and weather and does not rely on external signals. By using the external torque change rate with stronger anti-interference and higher accuracy, it is determined whether the vehicle is subjected to a sudden external force and then determines whether to issue an anti-theft alarm, thereby improving the accuracy and reliability of the anti-theft alarm.

[0111] Figure 6 The schematic diagram of the structure of an embodiment of the electronic device provided by the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the electronic device.

[0112] like Figure 6 As shown, the electronic device may include: a processor (processor) 402 , a communication interface (Communications Interface) 404 , a memory (memory) 406 , and a communication bus 408 .

[0113] Processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408. Communication interface 404 is used to communicate with other devices, such as client devices or other server network elements. Processor 402 is used to execute program 410, which may specifically perform the steps described in the above-mentioned embodiment of the vehicle anti-theft alarm method.

[0114] Specifically, the program 410 may include program code including computer-executable instructions.

[0115] Processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in an electronic device may be processors of the same type, such as one or more CPUs, or processors of different types, such as one or more CPUs and one or more ASICs.

[0116] The memory 406 is used to store the program 410. The memory 406 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0117] Program 410 may be specifically called by processor 402 to enable the electronic device to perform the following operations:

[0118] Obtaining, based on the vehicle's inertial measurement unit, motion state information of the vehicle at a current moment;

[0119] Determine the external torque change rate based on the motion state information; wherein the external torque change rate represents the change trend of the external torque applied to the vehicle over time;

[0120] If it is determined that the external torque change rate is greater than or equal to a first preset threshold, an anti-theft alarm is issued.

[0121] In an optional manner, the motion state information includes angular velocity information; and determining the external torque change rate based on the motion state information includes:

[0122] Determining angular acceleration information at the current moment according to the angular velocity information in the motion state information at the current moment;

[0123] determining the external torque at a current moment according to the angular velocity information and the angular acceleration information;

[0124] The external torque change rate is determined according to the external torque at the current moment.

[0125] In an optional manner, determining the external torque change rate according to the external torque at the current moment includes:

[0126] Get the external torque at the previous moment;

[0127] The external torque change rate is determined according to the external torque at the current moment and the external torque at the previous moment.

[0128] In an optional manner, determining the external torque at a current moment according to the angular velocity information and the angular acceleration information includes:

[0129] Obtaining the vehicle's current position and mass.

[0130] Determining a moment of inertia based on the posture information and the mass;

[0131] The external torque at the current moment is determined according to the angular velocity information, the angular acceleration information, and the moment of inertia.

[0132] In an optional manner, determining the moment of inertia according to the posture information and the mass includes:

[0133] Obtaining a basic moment of inertia corresponding to the mass;

[0134] The basic moment of inertia is corrected according to the posture information to obtain the moment of inertia.

[0135] In an optional manner, determining the external torque at the current moment according to the angular velocity information, the angular acceleration information, and the moment of inertia includes:

[0136] Determining a first torque component based on the angular acceleration information and the moment of inertia; wherein the first torque component represents a torque component generated by the angular acceleration;

[0137] Determining a second torque component based on the angular velocity information and the moment of inertia; wherein the second torque component represents a torque component generated by the angular velocity;

[0138] The external torque at the current moment is determined according to the first torque component and the second torque component.

[0139] In an optional manner, if it is determined that the external torque change rate is greater than or equal to a first preset threshold, then issuing an anti-theft alarm includes:

[0140] If it is determined that the external torque change rate is greater than or equal to the first preset threshold, determining whether the external torque change rate is greater than or equal to a second preset threshold;

[0141] If yes, an anti-theft alarm is triggered and the locks pre-installed on the wheels of the vehicle are controlled to lock the wheels;

[0142] If not, the acceleration information of the vehicle is obtained based on the inertial measurement unit of the vehicle; if it is determined that the acceleration information is greater than or equal to a third preset threshold, an anti-theft alarm is issued and the target interface in the vehicle is controlled to be powered off.

[0143] From the above, it can be seen that the electronic device provided by the embodiment of the present invention can calculate the external torque change rate based on the motion state data collected by the inertial measurement unit that is not affected by environmental factors such as light and weather and does not rely on external signals. By using the external torque change rate with stronger anti-interference and higher accuracy, it is determined whether the vehicle is subjected to a sudden external force and then determines whether to issue an anti-theft alarm, thereby improving the accuracy and reliability of the anti-theft alarm.

[0144] An embodiment of the present invention provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on an electronic device / vehicle anti-theft alarm device, the electronic device / vehicle anti-theft alarm device executes the vehicle anti-theft alarm method in any of the above method embodiments.

[0145] The executable instructions can be used to cause the electronic device / vehicle anti-theft alarm device to perform the following operations:

[0146] Obtaining, based on the vehicle's inertial measurement unit, motion state information of the vehicle at a current moment;

[0147] Determine the external torque change rate based on the motion state information; wherein the external torque change rate represents the change trend of the external torque applied to the vehicle over time;

[0148] If it is determined that the external torque change rate is greater than or equal to a first preset threshold, an anti-theft alarm is issued.

[0149] In an optional manner, the motion state information includes angular velocity information; and determining the external torque change rate based on the motion state information includes:

[0150] Determining angular acceleration information at the current moment according to the angular velocity information in the motion state information at the current moment;

[0151] determining the external torque at a current moment according to the angular velocity information and the angular acceleration information;

[0152] The external torque change rate is determined according to the external torque at the current moment.

[0153] In an optional manner, determining the external torque change rate according to the external torque at the current moment includes:

[0154] Get the external torque at the previous moment;

[0155] The external torque change rate is determined according to the external torque at the current moment and the external torque at the previous moment.

[0156] In an optional manner, determining the external torque at a current moment according to the angular velocity information and the angular acceleration information includes:

[0157] Obtaining the vehicle's current position and mass.

[0158] Determining a moment of inertia based on the posture information and the mass;

[0159] The external torque at the current moment is determined according to the angular velocity information, the angular acceleration information, and the moment of inertia.

[0160] In an optional manner, determining the moment of inertia according to the posture information and the mass includes:

[0161] Obtaining a basic moment of inertia corresponding to the mass;

[0162] The basic moment of inertia is corrected according to the posture information to obtain the moment of inertia.

[0163] In an optional manner, determining the external torque at the current moment according to the angular velocity information, the angular acceleration information, and the moment of inertia includes:

[0164] Determining a first torque component based on the angular acceleration information and the moment of inertia; wherein the first torque component represents a torque component generated by the angular acceleration;

[0165] Determining a second torque component based on the angular velocity information and the moment of inertia; wherein the second torque component represents a torque component generated by the angular velocity;

[0166] The external torque at the current moment is determined according to the first torque component and the second torque component.

[0167] In an optional manner, if it is determined that the external torque change rate is greater than or equal to a first preset threshold, then issuing an anti-theft alarm includes:

[0168] If it is determined that the external torque change rate is greater than or equal to the first preset threshold, determining whether the external torque change rate is greater than or equal to a second preset threshold;

[0169] If yes, an anti-theft alarm is triggered and the locks pre-installed on the wheels of the vehicle are controlled to lock the wheels;

[0170] If not, the acceleration information of the vehicle is obtained based on the inertial measurement unit of the vehicle; if it is determined that the acceleration information is greater than or equal to a third preset threshold, an anti-theft alarm is issued and the target interface in the vehicle is controlled to be powered off.

[0171] From the above, it can be seen that the computer-readable storage medium provided by the embodiment of the present invention stores at least one executable instruction. When the executable instruction is run on the electronic device / vehicle anti-theft alarm device, it can calculate the external torque change rate based on the motion state data collected by the inertial measurement unit that is not affected by environmental factors such as light and weather and does not rely on external signals. By using the external torque change rate with stronger anti-interference and higher accuracy, it is determined whether the vehicle is subjected to a sudden external force and then determines whether to issue an anti-theft alarm, thereby improving the accuracy and reliability of the anti-theft alarm.

[0172] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0173] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present invention may be practiced without these specific details. Similarly, in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. The claims that follow the detailed description are hereby expressly incorporated into that detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0174] Those skilled in the art will appreciate that the modules in the devices of the embodiments can be adaptively changed and installed in one or more devices different from the embodiments. The modules, units, or components in the embodiments can be combined into one module, unit, or component, and furthermore, they can be divided into multiple submodules, subunits, or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0175] It should be noted that the above embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by a person skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A vehicle anti-theft alarm method, characterized in that: The method comprises: Obtaining, based on the vehicle's inertial measurement unit, motion state information of the vehicle at a current moment; Determine the external torque change rate based on the motion state information; wherein the external torque change rate represents the change trend of the external torque applied to the vehicle over time; If it is determined that the external torque change rate is greater than or equal to a first preset threshold, an anti-theft alarm is issued.

2. The method according to claim 1, characterized in that The motion state information includes angular velocity information; and determining the external torque change rate based on the motion state information includes: Determining angular acceleration information at the current moment according to the angular velocity information in the motion state information at the current moment; determining the external torque at a current moment according to the angular velocity information and the angular acceleration information; The external torque change rate is determined according to the external torque at the current moment.

3. The method according to claim 2, characterized in that The determining the external torque change rate according to the external torque at the current moment includes: Get the external torque at the previous moment; The external torque change rate is determined according to the external torque at the current moment and the external torque at the previous moment.

4. The method according to claim 2, characterized in that The determining the external torque at a current moment according to the angular velocity information and the angular acceleration information includes: Obtaining the vehicle's current position and mass. Determining a moment of inertia based on the posture information and the mass; The external torque at the current moment is determined according to the angular velocity information, the angular acceleration information, and the moment of inertia.

5. The method according to claim 4, characterized in that Determining the moment of inertia according to the posture information and the mass includes: Obtaining a basic moment of inertia corresponding to the mass; The basic moment of inertia is corrected according to the posture information to obtain the moment of inertia.

6. The method according to claim 4, characterized in that The determining the external torque at the current moment according to the angular velocity information, the angular acceleration information, and the moment of inertia includes: Determining a first torque component based on the angular acceleration information and the moment of inertia; wherein the first torque component represents a torque component generated by the angular acceleration; Determining a second torque component based on the angular velocity information and the moment of inertia; wherein the second torque component represents a torque component generated by the angular velocity; The external torque at the current moment is determined according to the first torque component and the second torque component.

7. The method according to any one of claims 1 to 6, characterized in that If it is determined that the external torque change rate is greater than or equal to a first preset threshold, an anti-theft alarm is issued, including: If it is determined that the external torque change rate is greater than or equal to the first preset threshold, then determining whether the external torque change rate is greater than or equal to a second preset threshold; wherein the second preset threshold is greater than the first preset threshold; If yes, an anti-theft alarm is triggered and the locks pre-installed on the wheels of the vehicle are controlled to lock the wheels; If not, the acceleration information of the vehicle is obtained based on the inertial measurement unit of the vehicle; if it is determined that the acceleration information is greater than or equal to a third preset threshold, an anti-theft alarm is issued and the target interface in the vehicle is controlled to be powered off.

8. A vehicle anti-theft alarm device, characterized in that: The device comprises: an acquisition module, configured to acquire the motion state information of the vehicle at a current moment based on the vehicle's inertial measurement unit; a determination module, configured to determine a rate of change of an external torque according to the motion state information; wherein the rate of change of the external torque represents a trend of change of the external torque applied to the vehicle over time; The alarm module is used to issue an anti-theft alarm when it is determined that the external torque change rate is greater than or equal to a first preset threshold.

9. An electronic device, characterized in that: include: A processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the vehicle anti-theft alarm method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores at least one executable instruction. When the executable instruction is executed on the electronic device / vehicle anti-theft alarm device, the electronic device / vehicle anti-theft alarm device executes the operation of the vehicle anti-theft alarm method according to any one of claims 1 to 7.

Images