Vehicle kick identification method and device, medium and equipment

Abstract

The vehicle kick identification method and device, the medium and the equipment provided by the embodiment of the invention have the following beneficial effects that the plurality of electrodes are arranged in the rear protection area of the vehicle, and the electrodes are respectively arranged on the inner side and the outer side of the rear protection area; determining an output value of each electrode channel, and preprocessing the output values; calculating the capacitance data variation of each channel according to the baseline data; and according to the capacitance data variable quantity of each channel and the relationship between the variable quantities, judging the kicking effectiveness. According to the method, the kicking effectiveness is judged according to the change relation among the multiple kicking electrode signals, the singleness of judging whether the kicking signal variation reaches the threshold or not is overcome, the judgment mode better conforms to the actual complex kicking scene, false triggering is effectively prevented, the anti-electromagnetic interference capacity is improved, and high precision is achieved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to a method, device, medium, and equipment for recognizing vehicle kicks. Background Technology

[0002] The application of capacitive sensing technology and related detection chips is becoming increasingly widespread, with extensive use in automotive electronics, home appliances, and mobile phones. In recent years, with the development of new energy vehicles, capacitive sensing technology has been widely applied to vehicle interior and exterior applications. For example, in scenarios where the trunk is opened via a kick, detecting the kicking motion at the rear of the vehicle to control the trunk improves the human-machine interaction experience and technological feel to some extent. However, in actual use, it may fail to recognize the kicking motion or even mistakenly trigger the trunk opening.

[0003] As can be seen from the above description, the current recognition error of vehicle kicking actions is relatively large. How to improve the recognition accuracy of vehicle kicking actions is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] To overcome the shortcomings of existing vehicle kick recognition methods in terms of poor accuracy, this invention proposes a vehicle kick recognition method, device, medium, and equipment.

[0005] To achieve the above objectives, according to a first aspect of the present invention, an embodiment of the present invention provides a vehicle foot kick recognition method, the method comprising the following steps: Acquire capacitance sensing data for at least two electrodes, including acquiring first capacitance data for the first electrode and second capacitance data for the second electrode; Update the first baseline data of the first electrode and the second baseline data of the second electrode; Calculate the first difference between the first capacitor data and the first baseline data, and the second difference between the second capacitor data and the second baseline data after amplification and filtering. When the first difference data is within the first region range and the second difference data is within the second region range, the kicking area is determined to be valid; wherein, the region range is obtained according to the vehicle model calibration; When the kicking area is valid, the first rate extreme value of the first electrode and the second rate extreme value of the second electrode are calculated from the first difference data and the second difference data, respectively; when the first rate extreme value is within the first rate range and the second rate extreme value is within the second rate range, the kicking rate is determined to be valid; wherein, the rate range is obtained according to the vehicle model calibration; When both the kicking area and kicking speed are valid, the extreme value of the angle is calculated based on the difference between the first difference data and the corresponding second difference data; when the extreme value of the angle is within the angle range, the kicking angle is determined to be valid; wherein, the angle range is obtained according to the vehicle model calibration; When the kicking area, kicking speed, and kicking angle are all determined to be valid, the kicking of the vehicle is recognized as valid.

[0006] Optionally, updating the first baseline data of the first electrode and the second baseline data of the second electrode includes: When the vehicle kick is not recognized as valid, the average of multiple first capacitor data and second capacitor data collected at fixed time intervals is calculated to obtain the first reference baseline data and the second reference baseline data respectively. If the absolute value of the difference between the first baseline reference data and the current first baseline data is less than a preset step threshold, the first reference baseline data is used as the updated first baseline data; if the absolute value of the difference between the second reference baseline data and the current second baseline data is less than the step threshold, the second reference baseline data is used as the updated second baseline data. When the absolute value of the difference between the first reference baseline data and the current first baseline data is greater than or equal to the step threshold, if the first reference baseline data is greater than the current first baseline data, the sum of the current first baseline data and the step threshold is used as the updated first baseline data; if the first reference baseline data is less than the current first baseline data, the difference between the current first baseline data and the step threshold is used as the updated first baseline data. Similarly, when the absolute value of the difference between the second reference baseline data and the current second baseline data is greater than or equal to the step threshold, if the second reference baseline data is greater than the current second baseline data, the sum of the current second baseline data and the step threshold is used as the updated second baseline data; if the second reference baseline data is less than the current second baseline data, the difference between the current second baseline data and the step threshold is used as the updated second baseline data.

[0007] Optionally, the area range is obtained based on vehicle model calibration, and the calibration process includes: Perform a kicking motion within 10cm to 40cm of the rear bumper area of ​​the vehicle, and bring your foot into the area 0cm to 10cm away from the rear bumper area. Collect multiple sets of first difference data and second difference data. The minimum value of the first and second difference data collected is used as the lower limit of the first and second region ranges, respectively, and the maximum value of the first and second difference data collected is used as the upper limit of the first and second region ranges, respectively.

[0008] Optionally, determining the kicking speed is effective includes: Based on the difference between the current and previous sampling times of the first and second electrodes, and combined with the sampling time interval, the kicking rate sequences of the first and second electrodes over a period of time are calculated and obtained respectively. Based on the corresponding kick rate sequence, the first minimum rate and the first maximum rate of the first electrode are extracted as the first rate extremum, and the second minimum rate and the second maximum rate of the second electrode are extracted as the second rate extremum. When the first minimum speed is not less than the lower limit of the first speed range, the first maximum speed is not greater than the upper limit of the first speed range, and the second minimum speed is not less than the lower limit of the second speed range, and the second maximum speed is not greater than the upper limit of the second speed range, the kicking speed is determined to be valid. The calibration process for the first rate range and the second rate range includes: Perform a kicking motion within 10cm to 40cm of the rear bumper area of ​​the vehicle, and bring your foot into the area 0cm to 10cm away from the rear bumper area. Collect multiple sets of first minimum speed, first maximum speed, second minimum speed and second maximum speed. The minimum value of the first and second lowest rates is taken as the lower limit of the first rate range and the second rate range, respectively, and 120% of the maximum value of the first and second highest rates is taken as the upper limit of the first rate range and the second rate range, respectively.

[0009] Optionally, determining the validity of the kick angle includes: Based on the difference between the first and second difference data, a sequence of kicking angles is constructed; Extract the lowest and highest angles from the kick angle sequence as angle extremes; When the lowest angle is not less than the lower limit of the angle range and the highest angle is not greater than the upper limit of the angle range, the kicking angle is determined to be valid. The calibration process for the angle range includes: Perform a kicking motion within 10cm to 40cm of the rear bumper area of ​​the vehicle, and place your foot within 0cm to 10cm of the rear bumper area to obtain multiple sets of minimum and maximum angles; The lower limit of the angle range is set at 80% of the minimum value among the lowest collected angles, and the upper limit of the angle range is set at 120% of the maximum value among the highest collected angles.

[0010] Optionally, both the first electrode and the second electrode are placed horizontally parallel to the rear bumper of the vehicle, and the distance between the first electrode and the second electrode is between 90mm and 150mm.

[0011] According to a second aspect of the present invention, embodiments of the present invention also provide a vehicle foot-kick recognition device, comprising: The acquisition module is used to acquire capacitance sensing data of at least two electrodes, including acquiring first capacitance data of the first electrode and second capacitance data of the second electrode. An update module is used to update the first baseline data of the first electrode and the second baseline data of the second electrode; The difference calculation module is used to calculate the first difference data between the amplified and filtered first capacitor data and the first baseline data, and the second difference data between the amplified and filtered second capacitor data and the second baseline data, respectively. The kicking area determination module is used to determine that the kicking area is valid when the first difference data is within the first area range and the second difference data is within the second area range; wherein, the area range is obtained according to the vehicle model calibration; The kicking rate determination module is used to calculate the first rate extreme value of the first electrode and the second rate extreme value of the second electrode from the first difference data and the second difference data, respectively, when the kicking area is valid; when the first rate extreme value is within the first rate range and the second rate extreme value is within the second rate range, the kicking rate is determined to be valid; wherein, the rate range is obtained according to the vehicle model calibration; The kicking angle determination module is used to calculate the angle extreme value based on the difference between the first difference data and the corresponding second difference data when both the kicking area and kicking speed are valid; when the angle extreme value is within the angle range, the kicking angle is determined to be valid; wherein, the angle range is obtained according to the vehicle model calibration; The recognition module is used to recognize that the kicking of a vehicle is valid when the kicking area, kicking speed, and kicking angle are all valid.

[0012] Optionally, the first and second area ranges are obtained based on vehicle model calibration. The calibration process includes: performing a kicking motion within a range of 10cm to 40cm from the rear bumper area of ​​the vehicle, and placing the foot into an area 0cm to 10cm from the rear bumper area; collecting multiple sets of first and second difference data; using 80% of the minimum value among the collected first difference data as the lower limit of the first area range, and using 120% of the maximum value among the collected first difference data as the upper limit of the first area range; using 80% of the minimum value among the collected second difference data as the lower limit of the second area range, and using 120% of the maximum value among the collected second difference data as the upper limit of the second area range. The kicking rate determination module is used to calculate and obtain the kicking rate sequences of the first and second electrodes over a period of time based on the difference between the current and previous sampling times of the first and second electrodes, combined with the sampling time interval; based on the corresponding kicking rate sequences, it extracts the first minimum rate and the first maximum rate of the first electrode as the first rate extremum, and the second minimum rate and the second maximum rate of the second electrode as the second rate extremum; when the first minimum rate is not less than the lower limit of the first rate range, the first maximum rate is not greater than the upper limit of the first rate range, and the second minimum rate is not less than the lower limit of the second rate range, and the second maximum rate is not greater than the upper limit of the second rate range, the kicking rate is determined to be valid; The calibration process for the first and second speed ranges includes: performing a kicking motion within a range of 10cm to 40cm from the rear bumper area of ​​the vehicle, and placing the foot into an area 0cm to 10cm from the rear bumper area; collecting multiple sets of first minimum speed, first maximum speed, second minimum speed, and second maximum speed; taking 80% of the minimum value among the collected first minimum speeds as the lower limit of the first speed range, and taking 120% of the maximum value among the collected first maximum speeds as the upper limit of the first speed range; taking 80% of the minimum value among the collected second minimum speeds as the lower limit of the second speed range, and taking 120% of the maximum value among the collected second maximum speeds as the upper limit of the second speed range.

[0013] The kick angle determination module is used to construct a kick angle sequence based on the difference between the first difference data and the second difference data; extract the lowest angle and the highest angle from the kick angle sequence as angle extremes; determine the kick angle as valid when the lowest angle is not less than the lower limit of the angle range and the highest angle is not greater than the upper limit of the angle range; wherein, the calibration process of the angle range includes: performing a kicking action within a range of 10cm to 40cm from the rear bumper area of ​​the vehicle, and making the foot enter the area 0cm to 10cm from the rear bumper area, obtaining multiple sets of lowest angles and highest angles; taking 80% of the minimum value among the collected lowest angles as the lower limit of the angle range, and taking 120% of the maximum value among the collected highest angles as the upper limit of the angle range.

[0014] According to a third aspect of the present invention, embodiments of the present invention also provide a computer-readable storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the steps of the vehicle kick recognition method in any of the above embodiments.

[0015] According to a fourth aspect of the present invention, an embodiment of the present invention also provides a vehicle kick recognition device, including a first electrode, a second electrode, a memory, and a processor. The first electrode and the second electrode are both placed horizontally parallel to the rear bumper of the vehicle, and the distance between the first electrode and the second electrode is between 90 mm and 150 mm. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the vehicle kick recognition method in any of the above embodiments.

[0016] As described above, the vehicle kick recognition method, device, medium, and equipment provided by the embodiments of the present invention have the following beneficial effects: The present invention determines the validity of a kick by changing the relationship between multiple kick electrode signals, overcoming the singleness of judging whether the change in the kick signal reaches the threshold. The judgment method is more in line with the actual complex kicking scenarios, effectively preventing false triggering and improving the ability to resist electromagnetic interference, and has high accuracy. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a vehicle foot-kicking recognition method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the position of an electrode provided in an embodiment of the present invention; Figure 3 This is a schematic flowchart of a baseline update method provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a vehicle foot-kicking recognition device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a vehicle foot-kicking recognition device provided in an embodiment of the present invention. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0019] Please see Figures 1 to 5 It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0020] See Figure 1 This is a flowchart illustrating a vehicle kick recognition method provided in an embodiment of the present invention.

[0021] In this embodiment of the invention, vehicle kick detection is determined by acquiring capacitance data from electrodes located in the rear bumper area of ​​the vehicle to identify whether a kicking action has occurred. In practice, any number of electrodes can be configured to collect capacitance data; this invention is not limited to this. For ease of explanation, this embodiment uses two electrodes as an example to describe the specific vehicle kick detection method in detail.

[0022] Step S101: Obtain the first capacitance data of the first electrode and the second capacitance data of the second electrode.

[0023] For example, the first electrode may be disposed inside the rear bumper area of ​​the vehicle, and the second electrode may be disposed outside the rear bumper area of ​​the vehicle.

[0024] See Figure 2 This is a schematic diagram of the electrode position provided in an embodiment of the present invention. As shown in the figure, the embodiment includes a first electrode 21 and a second electrode 22. The first electrode 21 is disposed inside the rear bumper area of ​​the vehicle, and the second electrode 22 is disposed outside the rear bumper area of ​​the vehicle. It should be noted that the inside of the rear bumper area can be understood as the area closer to the front of the vehicle, and the outside of the rear bumper area can be understood as the area away from the front of the vehicle. The first electrode 21 and the second electrode 22 configured in this way can easily detect the kicking action of a person. In order to further improve the recognition accuracy of vehicle kicking, in an exemplary embodiment, the first electrode 21 and the second electrode 22 are parallel to each other and parallel to the rear bumper of the vehicle, and are horizontally disposed in the rear bumper area of ​​the vehicle. The distance between the first electrode 21 and the second electrode 22 is between 90mm and 150mm.

[0025] Further, the first capacitance data collected by the first electrode and the second capacitance data collected by the second electrode are acquired. The acquired first and second capacitance data are used as raw data and further amplified and filtered. Specifically, the first and second capacitance data are amplified by software to obtain amplified first and second capacitance data. In practice, this can be achieved through cumulative amplification, for example, by continuously acquiring N*M sets of first and second capacitance data, summing the data, and then dividing by M to obtain an average, thus obtaining N times the amplification of the corresponding capacitance data. IIR and FIR filters are then used to obtain the filtered first and second capacitance data. In practice, the formula can be used as follows: A first-order IIR filter is used, where Y(n) is the current output, Y(n-1) is the previous output, X(n) is the current input, and a is a coefficient between 0 and 1 that determines the filter's cutoff frequency and filtering effect. Finally, the filtered and amplified first and second capacitor data are obtained. Through data preprocessing, an accurate data foundation is provided for subsequent vehicle kick recognition.

[0026] Step S102: Update the first baseline data of the first electrode and the second baseline data of the second electrode.

[0027] Each electrode undergoes baseline tracking processing via a baseline update algorithm to address the impact of environmental changes such as temperature and humidity on capacitance data, thus eliminating the risk of false triggering. See also Figure 3 Figure 1 is a schematic flowchart of a baseline update method provided in an embodiment of the present invention. As shown in the figure, the baseline update in this embodiment of the present invention includes the following steps: Step S1021: When the vehicle kick is not recognized as valid, the average value of multiple first capacitor data and second capacitor data collected at fixed time intervals is calculated to obtain the first reference baseline data and the second reference baseline data respectively.

[0028] In practice, after the vehicle is started, the hardware device used to recognize the vehicle's kicking motion enters the working state. In the initial stage, the average value of multiple collected capacitance data can be used as the initial baseline value. Specifically, the first electrode and the second electrode continuously collect N capacitance data, and the average value of the N data is calculated. The calculated average value is used as the initial first baseline data and the second baseline data, respectively.

[0029] Subsequently, at fixed time intervals, and when no valid kick from the vehicle is detected, the first electrode and the second electrode continue to sample N capacitance data respectively and calculate the average value, thereby continuously refreshing the first reference baseline data and the second reference baseline data.

[0030] Step S1022: When the absolute value of the difference between the first reference baseline data and the current first baseline data is less than a preset step threshold, the first reference baseline data is used as the updated first baseline data; when the absolute value of the difference between the second reference baseline data and the current second baseline data is less than the step threshold, the second reference baseline data is used as the updated second baseline data.

[0031] Through the above steps, after obtaining the first reference baseline data and the second reference baseline data, the first reference baseline data and a preset step threshold are compared, and the second reference baseline data and the step threshold are compared respectively. The first baseline data and the second baseline data are determined based on the comparison results.

[0032] In practice, when the absolute value of the difference between the first reference baseline data and the current first baseline data is less than a preset step threshold, the first baseline data is updated to the first reference baseline data. Similarly, when the absolute value of the difference between the second reference baseline data and the current second baseline data is less than a preset step threshold, the second baseline data is also updated to the second reference baseline data.

[0033] Step S1023: When the absolute value of the difference between the first reference baseline data and the current first baseline data is greater than or equal to the step threshold, if the first reference baseline data is greater than the current first baseline data, the sum of the current first baseline data and the step threshold is used as the updated first baseline data; if the first reference baseline data is less than the current first baseline data, the difference between the current first baseline data and the step threshold is used as the updated first baseline data. When the absolute value of the difference between the second reference baseline data and the current second baseline data is greater than or equal to the step threshold, if the second reference baseline data is greater than the current second baseline data, the sum of the current second baseline data and the step threshold is used as the updated second baseline data; if the second reference baseline data is less than the current second baseline data, the difference between the current second baseline data and the step threshold is used as the updated second baseline data.

[0034] After the above steps, when the absolute value of the difference between the first reference baseline data and the current first baseline data is greater than or equal to the step threshold, the size of the first reference baseline data and the current first baseline data are further compared, and the first baseline data is updated according to the comparison result. Similarly, for the second baseline data, when the absolute value of the difference between the second reference baseline data and the current second baseline data is greater than or equal to the step threshold, the second baseline data is also updated by comparing the size of the second reference baseline data and the current second baseline data.

[0035] The specific update process is as follows: For updating the first baseline data, if the first reference baseline data is greater than the current first baseline data, then the sum of the current first baseline data and the step threshold is used as the updated first baseline data; if the first reference baseline data is less than the current first baseline data, then the difference between the current first baseline data and the step threshold is used as the updated first baseline data.

[0036] Similarly, for updating the second baseline data, if the second reference baseline data is greater than the current second baseline data, the sum of the current second reference baseline data and the step threshold is used as the updated second baseline data; if the second reference baseline data is less than the current second baseline data, the difference between the current second baseline data and the step threshold is used as the updated second baseline data.

[0037] The above steps are continuously iterated and updated during system operation to ensure that the first and second baseline data respond in real time to the influence of the external environment on the capacitance, thus ensuring the accuracy of subsequent kick recognition.

[0038] Step S103: Calculate the first difference between the first capacitor data and the first baseline data, and the second difference between the second capacitor data and the second baseline data after amplification and filtering.

[0039] Based on the data obtained from the above steps, the capacitance data collected by each electrode is amplified and filtered, and then the difference is calculated with the corresponding baseline data to obtain the change in capacitance data for each electrode.

[0040] Specifically, the first difference data is calculated by subtracting the amplified and filtered first capacitor data from the first baseline data; the second difference data is calculated by subtracting the amplified and filtered second capacitor data from the second baseline data.

[0041] Step S104: When the first difference data is within the first region range and the second difference data is within the second region range, the kicking area is determined to be valid; wherein, the first region range and the second region range are both ranges calibrated according to the vehicle model.

[0042] Using the difference data obtained in the above steps, this embodiment of the invention calculates the effective kicking area by the capacitance change data of the first electrode and the second electrode, calculates the effective kicking rate by the capacitance change data of the first electrode and the second electrode, and calculates the effective kicking angle by the difference between the first electrode and the second electrode, thereby determining the effectiveness of the kick. Specifically, the effective kicking area, effective rate, and effective angle are defined, and the kick is determined to be effective when the area, rate, and angle simultaneously meet the preset requirements.

[0043] In this embodiment of the invention, the first step is to determine whether the kicking area is valid. The specific process is as follows: When inCurDiffV∈[inDiffLowThreshold,inDiffHighThreshold] and outCurDiffV∈[outDiffLowThreshold,outDiffHighThreshold], the kicking region is deemed valid; where inCurDiffV represents the first difference data, outCurDiffV represents the second difference data, inDiffLowThreshold represents the lowest region threshold of the first electrode (i.e., the lower limit of the first region range), inDiffHighThreshold represents the highest region threshold of the first electrode (i.e., the upper limit of the first region range), outDiffLowThreshold represents the lowest region threshold of the second electrode (i.e., the lower limit of the second region range), and outDiffHighThreshold represents the highest region threshold of the second electrode (i.e., the upper limit of the second region range); [inDiffLowThreshold,inDiffHighThreshold] represents the first region range, and [outDiffLowThreshold,outDiffHighThreshold] represents the second region range.

[0044] In practice, the ranges of the first and second regions mentioned above are affected by the rear bumper structure of the vehicle and the placement of the electrode antenna, and need to be calibrated according to the vehicle model. The specific calibration process includes: the tester is between 10cm and 40cm away from the rear bumper area of ​​the vehicle to be calibrated, and the distance from the tester's leg to the rear bumper area is between 0cm and 10cm. Multiple actions are performed to obtain multiple first and second difference data. 80% of the smallest first difference data and 120% of the largest first difference data are taken as the lowest and highest region thresholds of the first electrode, respectively. 80% of the smallest second difference data and 120% of the largest second difference data are taken as the lowest and highest region thresholds of the second electrode, respectively.

[0045] After the above steps are completed, once the kicking area is deemed valid, the next step is to determine whether the kicking speed is deemed valid.

[0046] Step S105: When the first speed extreme value is within the first speed range and the second speed extreme value is within the second speed range, the kick speed is determined to be valid; The first speed range and the second speed range are obtained according to the vehicle model calibration.

[0047] Specifically, when the kicking area is determined to be valid, the first velocity extreme value of the first electrode and the second velocity extreme value of the second electrode are calculated from the first difference data and the second difference data, respectively.

[0048] The process for determining whether kicking speed is effective is as follows: inMinSpeed ​​= Min(Abs(inCurDiffV-inLastDiffV) / sampT,…), inMaxSpeed= Max(Abs(inCurDiffV-inLastDiffV) / sampT,…), outMinSpeed ​​= Min(Abs(outCurDiffV-outLastDiffV) / sampT,…), outMaxSpeed= Max(Abs(outCurDiffV-outLastDiffV) / sampT,…), When inMinSpeed>=inValidMinSpeedThreshold, inMaxSpeed<=inValidMaxSpeedThreshold、 outMinSpeed>=outValidMinSpeedThreshold、 If outMaxSpeed ​​<= outValidMaxSpeedThreshold, then the kicking speed is considered valid. Wherein, inMinSpeed ​​represents the first minimum rate, inMaxSpeed ​​represents the first maximum rate, and the combination of the first minimum rate and the first maximum rate represents the first rate extremum for subsequent judgment; ((inCurDiffV-inLastDiffV) / sampT,…) represents the kick rate sequence of the first electrode; inCurDiffV represents the current first difference data; inLastDiffV represents the first difference data of the previous sampling time; sampT represents the sampling time interval; Min represents finding the minimum value in the kick rate sequence; Max represents finding the maximum value in the kick rate sequence; Abs represents finding the absolute value; inValidMinSpeedThreshold represents the first minimum rate threshold (i.e., the lower limit of the first rate range); inValidMaxSpeedThreshold represents the first minimum rate threshold (i.e., the lower limit of the first rate range); and inValidMaxSpeedThreshold represents the first minimum rate threshold (i.e., the lower limit of the first rate range). `shold` represents the first maximum rate threshold (i.e., the upper limit of the first rate range); `outMinSpeed` represents the second minimum rate; `outMaxSpeed` represents the second maximum rate. The combination of the second minimum rate and the second maximum rate is used for subsequent judgment. `((outCurDiffV-outLastDiffV) / sampT,…)` represents the kick rate sequence of the second electrode. `outCurDiffV` represents the current second difference data; `outLastDiffV` represents the second difference data of the previous sampling time; `outValidMinSpeedThreshold` represents the second minimum rate threshold (i.e., the lower limit of the second rate range); and `outValidMaxSpeedThreshold` represents the second maximum rate threshold (i.e., the upper limit of the second rate range).

[0049] In an exemplary embodiment, taking the first electrode as an example, 10 first capacitance data points are collected at a sampling period of 1ms (i.e., the sampling time interval is 1ms). After sampling, these data points are converted into multiple first difference data points. These multiple first difference data points are further combined to form a first difference data sequence (a data sequence composed of the first difference data points collected at each sampling time after calculating the first difference data points) which is (50, 54, 59, 69, 77, 89, 105, 119, 140, 158). The first rate is calculated as (54-50) / 1ms=4, the second rate is (59-54) / 1ms=5, and so on. Following this logic, the calculated kicking speed sequence is (4, 5, 10, 8, 12, 16, 14, 21, 18). The minimum speed in this sequence is 4, which is taken as the first minimum speed, i.e., inMinSpeed ​​= 4. The maximum speed in the sequence is 21, which is taken as the first maximum speed, i.e., inMaxSpeed ​​= 21. Furthermore, if inValidMinSpeedThreshold < 4 and inValidMaxSpeedThreshold > 21, then the kicking speed validity condition is met for the first electrode. Similarly, the same processing operation is performed on the second electrode to determine whether the corresponding kicking speed validity condition is met. Combining the results from both the first and second electrodes, a final determination is made as to whether the kicking speed is ultimately valid.

[0050] In addition, the first minimum rate threshold, the first maximum rate threshold, the second minimum rate threshold, and the second maximum rate threshold are also affected by the rear bumper structure of the vehicle and the placement of the electrode antenna. They need to be calibrated according to the vehicle model. The specific calibration process includes: the distance between the tester and the rear bumper area of ​​the vehicle to be calibrated is between 10cm and 40cm, and the distance between the tester kicking the rear bumper area is between 0cm and 10cm. Multiple kicking actions are performed to obtain multiple first minimum rates, first maximum rates, second minimum rates, and second maximum rates. The minimum first minimum rate of 80%, the maximum first maximum rate of 120%, the minimum second minimum rate of 80%, and the maximum second maximum rate of 120% are respectively used as the first minimum rate threshold, the first maximum rate threshold, the second minimum rate threshold, and the second maximum rate threshold.

[0051] Having determined through the above steps that the kicking area and kicking speed are effective, we will now further determine whether the kicking angle is effective.

[0052] Step S106: When the extreme value of the angle is within the angle range, the kick angle is determined to be valid; The angle range is obtained based on the vehicle model calibration.

[0053] Specifically, when both the kicking area and the kicking speed are determined to be valid, the extreme value of the angle is calculated based on the difference between the first difference data and the corresponding second difference data; the specific process is as follows: minAngle=Min((inDiffV-outDiffV),…), maxAngle=Max((inDiffV-outDiffV),…), When minAngle>=validMinAngleThreshold and maxAngle<=validMaxAngleThreshold, the kicking angle is considered valid. Wherein, minAngle represents the minimum angle, maxAngle represents the maximum angle, and the combination of the minimum and maximum angles represents the extreme value of the angle for subsequent judgment. inDiffV represents the first difference data, outDiffV represents the second difference data, ((inDiffV-outDiffV),...) represents the kick angle sequence composed of the differences between the first and second difference data, Min represents finding the minimum value in the kick angle sequence, Max represents finding the maximum value in the kick angle sequence, validMinAngleThreshold represents the minimum angle threshold (the lower limit of the angle range), and validMaxAngleThreshold represents the maximum angle threshold (i.e., the upper limit of the angle range).

[0054] In an exemplary embodiment, 10 first capacitance data points are sampled at a 1ms sampling time (sampT period). After sampling and conversion, multiple first difference data points are generated. The first difference data sequence (the data sequence formed by calculating the first difference data from the first capacitance data collected at each sampling time) is (50, 54, 59, 69, 77, 89, 105, 119, 140, 158). Similarly, the second difference data sequence (the data sequence formed by calculating the second difference data from the second capacitance data collected at each sampling time) is (42, 46, 4...). The angle sequence is calculated by subtracting the corresponding elements in the two data sequences (8, 57, 67, 77, 90, 109, 128, 149) as (8, 8, 11, 12, 10, 12, 15, 10, 12, 9). Thus, the minimum value in the angle sequence is 8, i.e., minAngle=8, and the maximum value in the angle sequence is 15, i.e., maxAngle=15. Furthermore, when validMinAngleThreshold<8 and validMaxAngleThreshold>15, the kicking angle is considered valid.

[0055] The values ​​of the minimum and maximum angle thresholds are also affected by the rear bumper structure of the vehicle and the placement of the electrode antenna. They need to be calibrated according to the vehicle model. The specific process includes: the distance between the tester and the rear bumper area of ​​the vehicle to be calibrated is between 10cm and 40cm, and the distance between the tester's leg kicking the rear bumper area is between 0cm and 10cm. Multiple minimum and maximum angles are obtained, and 80% of the minimum minimum angle and 120% of the maximum maximum angle are taken as the minimum angle threshold and the maximum angle threshold, respectively.

[0056] Step S107: When the kicking area, kicking speed and kicking angle are all determined to be valid, the vehicle kicking is identified as valid.

[0057] Based on the above steps, if the three conditions of effective kicking area, effective kicking speed, and effective kicking angle are met simultaneously, the kicking of the vehicle is deemed effective.

[0058] As can be seen from the description of the above embodiments, the vehicle kick recognition method provided by the embodiments of the present invention acquires first capacitance data of a first electrode and second capacitance data of a second electrode, wherein the first electrode is disposed inside the rear bumper area of ​​the vehicle and the second electrode is disposed outside the rear bumper area of ​​the vehicle; updates the first baseline data of the first electrode and the second baseline data of the second electrode; calculates the first difference data between the amplified and filtered first capacitance data and the first baseline data, and the second difference data between the amplified and filtered second capacitance data and the second baseline data; when the first difference data is within a first region range and the second difference data is within a second region range, the kicking area is determined to be valid; wherein the first region range and the second region range are based on... According to vehicle model calibration; when the kicking area is determined to be valid, the first rate extreme value of the first electrode and the second rate extreme value of the second electrode are calculated from the first difference data and the second difference data, respectively; when the first rate extreme value is within the first rate range and the second rate extreme value is within the second rate range, the kicking rate is determined to be valid; wherein, the first rate range and the second rate range are obtained according to vehicle model calibration; when the kicking area and the kicking rate are determined to be valid, the angle extreme value is calculated based on the difference between the first difference data and the corresponding second difference data; when the angle extreme value is within the angle range, the kicking angle is determined to be valid; wherein, the angle range is obtained according to vehicle model calibration; when the kicking area, kicking rate, and kicking angle are all determined to be valid, the vehicle kicking is identified as valid. This invention determines the validity of a kick by the changing relationship between multiple kicking electrode signals, overcoming the singleness of judging whether the change in the kicking signal reaches a threshold. The judgment method is more in line with the complex actual kicking scenarios, effectively preventing false triggering and improving the ability to resist electromagnetic interference, and has high accuracy.

[0059] Through the description of the above method embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0060] This invention provides a non-volatile computer storage medium storing computer-executable instructions that can execute the vehicle kick recognition method in any of the above method embodiments. Specifically, the computer-readable storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0061] Corresponding to the above embodiments, this application also provides a computer program product containing executable instructions that, when executed on a computer, cause the computer to perform some or all of the steps in the above method embodiments.

[0062] Corresponding to the vehicle kick recognition method embodiment provided by the present invention, the present invention also provides a vehicle kick recognition device.

[0063] See Figure 4 Figure 1 is a schematic diagram of a vehicle foot-kick recognition device provided in an embodiment of the present invention. As shown in the figure, the device includes: The acquisition module 11 acquires capacitance sensing data of at least two electrodes, including acquiring the first capacitance data of the first electrode and the second capacitance data of the second electrode. The first electrode can be disposed inside the rear bumper area of ​​the vehicle, and the second electrode can be disposed outside the rear bumper area of ​​the vehicle. Update module 12 is used to update the first baseline data of the first electrode and the second baseline data of the second electrode; The difference calculation module 13 is used to calculate the first difference data between the first capacitor data and the first baseline data, and the second difference data between the second capacitor data and the second baseline data after amplification and filtering. The kicking area determination module 14 is used to determine that the kicking area is valid when the first difference data is within the first area range and the second difference data is within the second area range; wherein, the first area range and the second area range are obtained according to the vehicle model calibration; The kicking rate determination module 15 is used to calculate the first rate extreme value of the first electrode and the second rate extreme value of the second electrode from the first difference data and the second difference data respectively when the kicking area is determined to be valid; when the first rate extreme value is within the first rate range and the second rate extreme value is within the second rate range, the kicking rate is determined to be valid; wherein, the first rate range and the second rate range are obtained according to the vehicle model calibration; The kicking angle determination module 16 is used to calculate the angle extreme value based on the difference between the first difference data and the corresponding second difference data when the kicking area and kicking speed are both valid; when the angle extreme value is within the angle range, the kicking angle is determined to be valid; wherein, the angle range is obtained according to the vehicle model calibration. The recognition module 17 is used to recognize that the vehicle kick is valid when the kicking area, kicking speed, and kicking angle are all valid.

[0064] Optionally, the kicking area determination module 14 is further configured to determine that the kicking area is valid when the first difference data is within the first area range and the second difference data is within the second area range; wherein, the first area range and the second area range are obtained according to vehicle model calibration, and the calibration process includes: performing a kicking action within a range of 10cm to 40cm from the rear bumper area of ​​the vehicle, and causing the foot to enter the area 0cm to 10cm from the rear bumper area, collecting multiple sets of first difference data and second difference data; taking 80% of the minimum value among the collected first difference data as the lower limit of the first area range, and taking 120% of the maximum value among the collected first difference data as the upper limit of the first area range; taking 80% of the minimum value among the collected second difference data as the lower limit of the second area range, and taking 120% of the maximum value among the collected second difference data as the upper limit of the second area range; The kicking rate determination module 15 calculates and obtains the kicking rate sequences of the first electrode and the second electrode over a period of time based on the difference data between the current and previous sampling times of the first electrode and the second electrode, combined with the sampling time interval. Based on the corresponding kicking rate sequences, it extracts the first minimum rate and the first maximum rate of the first electrode as the first rate extreme value, and the second minimum rate and the second maximum rate of the second electrode as the second rate extreme value. When the first minimum rate is not less than the lower limit of the first rate range, the first maximum rate is not greater than the upper limit of the first rate range, and the second minimum rate is not less than the lower limit of the second rate range, and the second maximum rate is not greater than the upper limit of the second rate range, the kicking rate is determined to be valid. The calibration process for the first and second speed ranges includes: performing a kicking motion within a range of 10cm to 40cm from the rear bumper area of ​​the vehicle, and placing the foot within a range of 0cm to 10cm from the rear bumper area; collecting multiple sets of first minimum speed, first maximum speed, second minimum speed, and second maximum speed; using 80% of the minimum value among the collected first minimum speeds as the lower limit of the first speed range, and using 120% of the maximum value among the collected first maximum speeds as the upper limit of the first speed range; using 80% of the minimum value among the collected second minimum speeds as the lower limit of the second speed range, and using 120% of the maximum value among the collected second maximum speeds as the upper limit of the second speed range; The kick angle determination module 16 is used to construct a kick angle sequence based on the difference between the first difference data and the second difference data; extract the lowest angle and the highest angle from the kick angle sequence as angle extremes; determine that the kick angle is valid when the lowest angle is not less than the lower limit of the angle range and the highest angle is not greater than the upper limit of the angle range; wherein, the calibration process of the angle range includes: performing a kicking action within a range of 10cm to 40cm from the rear bumper area of ​​the vehicle, and making the foot enter the area 0cm to 10cm from the rear bumper area, obtaining multiple sets of lowest angles and highest angles; taking 80% of the minimum value among the collected lowest angles as the lower limit of the angle range, and taking 120% of the maximum value among the collected highest angles as the upper limit of the angle range.

[0065] Figure 5 This is a schematic diagram of the structure of a vehicle foot-kick recognition device provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the device includes: A first electrode 21 and a second electrode 22, one or more processors 510, and a memory 520. Figure 5 Take the 510 processor as an example.

[0066] The device for performing the vehicle kick recognition method may also include an input device 530 and an output device 540.

[0067] The first electrode 21, the second electrode 22, the processor 510, the memory 520, the input device 530, and the output device 540 can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0068] The memory 520, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle kick recognition method in this embodiment of the invention (e.g., attached). Figure 4 The module shown comprises an acquisition module 11, an update module 12, a difference calculation module 13, a kicking area determination module 14, a kicking rate determination module 15, a kicking angle determination module 16, and a recognition module 17. The processor 510 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 520, thereby implementing the vehicle kicking recognition method of the above-described method embodiment.

[0069] The memory 520 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the vehicle foot-kick recognition processing device. Furthermore, the memory 520 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 520 may optionally include memory remotely located relative to the processor 510, and this remote memory may be connected to the vehicle foot-kick recognition device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0070] The input device 530 can receive input digital or character information, and generate key signal inputs related to user settings and function control of the vehicle foot-activated recognition device. The output device 540 may include a display device such as a screen.

[0071] The one or more modules are stored in the memory 520, and when executed by the one or more processors 510, they execute the vehicle kicking method in any of the above method embodiments.

[0072] The above-described product can execute the method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in the method provided in the embodiments of the present invention.

[0073] The electronic devices of this invention exist in various forms, including but not limited to: (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and primarily aim to provide voice and data communication. These terminals include: smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones, etc.

[0074] (2) Ultra-mobile personal computer devices: These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0075] (3) Portable entertainment devices: These devices can display and play multimedia content. This category includes: audio and video players (such as iPods), handheld game consoles, e-books, as well as smart toys and portable car navigation devices.

[0076] (4) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0077] (5) Other electronic devices with data interaction functions.

[0078] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for apparatus or system embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The apparatus and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0079] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0080] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for vehicle foot-kick recognition, characterized in that, include: Acquire capacitance sensing data for at least two electrodes, including acquiring first capacitance data for the first electrode and second capacitance data for the second electrode; Update the first baseline data of the first electrode and the second baseline data of the second electrode; Calculate the first difference between the first capacitor data and the first baseline data, and the second difference between the second capacitor data and the second baseline data after amplification and filtering. When the first difference data is within the first region range and the second difference data is within the second region range, the kicking area is determined to be valid; wherein, the region range is obtained according to the vehicle model calibration; When the kicking area is valid, the first rate extreme value of the first electrode and the second rate extreme value of the second electrode are calculated from the first difference data and the second difference data, respectively; when the first rate extreme value is within the first rate range and the second rate extreme value is within the second rate range, the kicking rate is determined to be valid; wherein, the rate range is obtained according to the vehicle model calibration; When both the kicking area and kicking speed are valid, the extreme value of the angle is calculated based on the difference between the first difference data and the corresponding second difference data; when the extreme value of the angle is within the angle range, the kicking angle is determined to be valid; wherein, the angle range is obtained according to the vehicle model calibration; When the kicking area, kicking speed, and kicking angle are all determined to be valid, the kicking of the vehicle is recognized as valid.

2. The vehicle kick recognition method according to claim 1, characterized in that, The updating of the first baseline data of the first electrode and the second baseline data of the second electrode includes: When the vehicle kick is not recognized as valid, the average of multiple first capacitor data and second capacitor data collected at fixed time intervals is calculated to obtain the first reference baseline data and the second reference baseline data respectively. If the absolute value of the difference between the first baseline reference data and the current first baseline data is less than a preset step threshold, the first reference baseline data is used as the updated first baseline data; if the absolute value of the difference between the second reference baseline data and the current second baseline data is less than the step threshold, the second reference baseline data is used as the updated second baseline data. When the absolute value of the difference between the first reference baseline data and the current first baseline data is greater than or equal to the step threshold, if the first reference baseline data is greater than the current first baseline data, the sum of the current first baseline data and the step threshold is used as the updated first baseline data; if the first reference baseline data is less than the current first baseline data, the difference between the current first baseline data and the step threshold is used as the updated first baseline data. Similarly, when the absolute value of the difference between the second reference baseline data and the current second baseline data is greater than or equal to the step threshold, if the second reference baseline data is greater than the current second baseline data, the sum of the current second baseline data and the step threshold is used as the updated second baseline data; if the second reference baseline data is less than the current second baseline data, the difference between the current second baseline data and the step threshold is used as the updated second baseline data.

3. The vehicle kick recognition method according to claim 1, characterized in that, The range of the area is obtained based on vehicle model calibration, and the calibration process includes: Perform a kicking motion within 10cm to 40cm of the rear bumper area of ​​the vehicle, and bring your foot into the area 0cm to 10cm away from the rear bumper area. Collect multiple sets of first difference data and second difference data. The minimum value of the first and second difference data collected is used as the lower limit of the first and second region ranges, respectively, and the maximum value of the first and second difference data collected is used as the upper limit of the first and second region ranges, respectively.

4. The vehicle kick recognition method according to claim 1, characterized in that, The determination of kicking speed is valid, including: Based on the difference between the current and previous sampling times of the first and second electrodes, and combined with the sampling time interval, the kicking rate sequences of the first and second electrodes over a period of time are calculated and obtained respectively. Based on the corresponding kick rate sequence, the first minimum rate and the first maximum rate of the first electrode are extracted as the first rate extremum, and the second minimum rate and the second maximum rate of the second electrode are extracted as the second rate extremum. When the first minimum speed is not less than the lower limit of the first speed range, the first maximum speed is not greater than the upper limit of the first speed range, and the second minimum speed is not less than the lower limit of the second speed range, and the second maximum speed is not greater than the upper limit of the second speed range, the kicking speed is determined to be valid.

5. The vehicle kick recognition method according to claim 1, characterized in that, The determination that the kicking angle is valid includes: Based on the difference between the first and second difference data, a sequence of kicking angles is constructed; Extract the lowest and highest angles from the kick angle sequence as angle extremes; The kicking angle is deemed valid when the lowest angle is not less than the lower limit of the angle range and the highest angle is not greater than the upper limit of the angle range.

6. The vehicle kick recognition method according to claim 1, characterized in that, Both the first electrode and the second electrode are placed horizontally parallel to the rear bumper of the vehicle, and the distance between the first electrode and the second electrode is between 90mm and 150mm.

7. A vehicle foot-kick recognition device, characterized in that, include: The acquisition module is used to acquire capacitance sensing data of at least two electrodes, including acquiring first capacitance data of the first electrode and second capacitance data of the second electrode. An update module is used to update the first baseline data of the first electrode and the second baseline data of the second electrode; The difference calculation module is used to calculate the first difference between the first capacitor data and the first baseline data, and the second difference between the second capacitor data and the second baseline data after amplification and filtering. The kicking area determination module is used to determine that the kicking area is valid when the first difference data is within the first area range and the second difference data is within the second area range; wherein, the area range is obtained according to the vehicle model calibration; The kicking rate determination module is used to calculate the first rate extreme value of the first electrode and the second rate extreme value of the second electrode from the first difference data and the second difference data, respectively, when the kicking area is valid; when the first rate extreme value is within the first rate range and the second rate extreme value is within the second rate range, the kicking rate is determined to be valid; wherein, the rate range is obtained according to the vehicle model calibration; The kicking angle determination module is used to calculate the angle extreme value based on the difference between the first difference data and the corresponding second difference data when both the kicking area and kicking speed are valid; when the angle extreme value is within the angle range, the kicking angle is determined to be valid; wherein, the angle range is obtained according to the vehicle model calibration; The recognition module is used to recognize that the kicking of a vehicle is valid when the kicking area, kicking speed, and kicking angle are all valid.

8. The vehicle foot-kick recognition device according to claim 7, characterized in that, The kicking rate determination module is used to calculate and obtain the kicking rate sequence of the first electrode and the second electrode over a period of time based on the difference data between the current and previous sampling times of the first electrode and the second electrode, combined with the sampling time interval. Based on the corresponding kick rate sequence, the first minimum rate and the first maximum rate of the first electrode are extracted as the first rate extremum, and the second minimum rate and the second maximum rate of the second electrode are extracted as the second rate extremum. When the first minimum speed is not less than the lower limit of the first speed range, the first maximum speed is not greater than the upper limit of the first speed range, and the second minimum speed is not less than the lower limit of the second speed range, and the second maximum speed is not greater than the upper limit of the second speed range, the kicking speed is determined to be valid. The kick angle determination module is used to construct a kick angle sequence based on the difference between the first difference data and the second difference data; and to extract the lowest and highest angles from the kick angle sequence as angle extreme values. The kicking angle is deemed valid when the lowest angle is not less than the lower limit of the angle range and the highest angle is not greater than the upper limit of the angle range.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or instruction set is loaded and executed by a processor to implement the steps of the vehicle kick recognition method as described in any one of claims 1 to 6.

10. A vehicle foot-kick recognition device, characterized in that, The device includes a first electrode, a second electrode, a memory, and a processor. The first electrode and the second electrode are both placed horizontally parallel to the rear bumper of the vehicle, and the distance between the first electrode and the second electrode is between 90 mm and 150 mm. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the vehicle foot kick recognition method as described in any one of claims 1 to 6.

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