A vehicle kick recognition method, device, medium and equipment

Abstract

The vehicle kick recognition method, device, medium and equipment provided by the embodiment of the application have the following beneficial effects: a plurality of electrodes are arranged in the rear area of the vehicle, and the electrodes are arranged on the inner side and the outer side of the rear area respectively; the output value of each electrode channel is determined, and the output value is preprocessed; the capacitance data change amount of each channel is calculated according to baseline data; and the kick effectiveness is judged according to the capacitance data change amount of each channel and the relationship between the change amounts. The application judges the kick effectiveness by the change relationship between the signals of the plurality of kick electrodes, overcomes the singleness of whether the kick signal change amount reaches the threshold, the judgment mode is more in line with the actual complex kick scene, effectively prevents the occurrence of false triggering, and improves the ability to resist electromagnetic interference, and has high precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle kicking recognition method, device, medium and equipment. BACKGROUND

[0002] The application range of the capacitive detection technology and related detection chip products is becoming more and more extensive, and the related technology is widely used in vehicle electronics, household appliances, mobile phones and other products. In recent years, with the development of new energy vehicles, the capacitive detection technology is widely used in vehicle interior and exterior applications, such as opening the trunk through the kicking method in the scene, detecting the kicking action at the rear of the vehicle to realize the control of the trunk, which improves the vehicle human-computer interaction experience and the sense of technology to a certain extent. However, in the actual use process, the kicking action may not be recognized or even mis-triggered to open the trunk.

[0003] From the above description, it can be seen that the current vehicle kicking action recognition error is large, and how to improve the vehicle kicking action recognition accuracy is a technical problem that needs to be solved by the person skilled in the art. SUMMARY

[0004] In order to overcome the deficiency of poor accuracy of the existing vehicle kicking recognition method, the present application provides a vehicle kicking recognition method, device, medium and equipment.

[0005] In order to achieve the above purpose, according to the first aspect of the present application, the present application provides a vehicle kicking recognition method, which comprises the following steps:

[0006] Obtaining capacitive sensing data of at least two electrodes, including obtaining first capacitive data of a first electrode and second capacitive data of a second electrode;

[0007] Updating the first baseline data of the first electrode and the second baseline data of the second electrode;

[0008] Respectively calculating the first difference value data of the first capacitive data and the first baseline data, and the second difference value data of the second capacitive data and the second baseline data after amplification filtering;

[0009] When the first difference value data is in the first region range and the second difference value data is in the second region range, it is determined that the kicking region is valid; wherein the region range is obtained according to the vehicle type calibration;

[0010] When the kicking region is valid, the first rate extreme value of the first electrode and the second rate extreme value of the second electrode are calculated respectively from the first difference value data and the second difference value data; when the first rate extreme value is in the first rate range and the second rate extreme value is in the second rate range, it is determined that the kicking rate is valid; wherein the rate range is obtained according to the vehicle type calibration;

[0011] When both the kicking area and the kicking speed are valid, calculate an angle extreme value based on the difference between the first difference value data and the corresponding second difference value data; when the angle extreme value is in an angle range, determine that the kicking angle is valid; wherein the angle range is obtained according to vehicle type calibration;

[0012] When it is determined that the kicking area, the kicking speed and the kicking angle are all valid, identify that the vehicle kicking is valid.

[0013] Optionally, the updating of the first baseline data of the first electrode and the second baseline data of the second electrode comprises:

[0014] When it is not identified that the vehicle kicking is valid, average a plurality of first capacitance data and second capacitance data collected at fixed time intervals to obtain first reference baseline data and second reference baseline data, respectively;

[0015] 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 taken as the updated first baseline data; and 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 taken as the updated second baseline data;

[0016] 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 taken 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 taken 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 taken 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 taken as the updated second baseline data.

[0017] Optionally, the area range is obtained according to vehicle type calibration, and the calibration process comprises:

[0018] Perform a kicking action within a range of 10cm to 40cm from the rear protection area of the vehicle, and make the foot enter an area within 0cm to 10cm from the rear protection area, to collect a plurality of first difference value data and second difference value data;

[0019] The minimum value of the collected first difference data and second difference data is 80% of the lower limit of the first area range and the second area range, respectively, and the maximum value of the collected first difference data and second difference data is 120% of the upper limit of the first area range and the second area range, respectively.

[0020] Optionally, the determining that the kicking rate is valid comprises:

[0021] According to the difference data of the current and the last sampling time of the first electrode and the second electrode, and in combination with the sampling time interval, a sequence of the kicking rate of the first electrode and the second electrode in a period of time is calculated and obtained, respectively.

[0022] Based on the corresponding sequence of the kicking rate, the first minimum rate and the first maximum rate of the first electrode are extracted as the first rate extreme value, and the second minimum rate and the second maximum rate of the second electrode are extracted as the second rate extreme value;

[0023] 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, it is determined that the kicking rate is valid.

[0024] The calibration process of the first rate range and the second rate range comprises:

[0025] The kicking action is performed within a range of 10cm to 40cm from the rear protection area of the vehicle, and the foot enters a region 0cm to 10cm from the rear protection area, and a plurality of sets of first minimum rate, first maximum rate, second minimum rate and second maximum rate are collected.

[0026] The minimum value of the collected first minimum rate and second minimum rate is 80% of the lower limit of the first rate range and the second rate range, respectively, and the maximum value of the collected first maximum rate and second maximum rate is 120% of the upper limit of the first rate range and the second rate range, respectively.

[0027] Optionally, the determining that the kicking angle is valid comprises:

[0028] Based on the difference between the first difference data and the second difference data, a sequence of the kicking angle is formed.

[0029] From the sequence of the kicking angle, the minimum angle and the maximum angle are extracted as the angle extreme value.

[0030] When the minimum angle is not less than the lower limit of the angle range, and the maximum angle is not greater than the upper limit of the angle range, it is determined that the kicking angle is valid.

[0031] The calibration process of the angle range comprises:

[0032] The kicking action is performed in a range of 10cm to 40cm from the rear protection area of the vehicle, and the foot is brought into a range of 0cm to 10cm from the rear protection area, to obtain a plurality of sets of minimum angles and maximum angles;

[0033] 80% of the minimum value of the collected minimum angles is taken as the lower limit of the angle range, and 120% of the maximum value of the collected maximum angles is taken as the upper limit of the angle range.

[0034] Optionally, the first electrode and the second electrode are both placed horizontally parallel to the rear protection area of the vehicle, and the distance between the first electrode and the second electrode is between 90mm and 150mm.

[0035] According to a second aspect of the present application, the embodiments of the present application further provide a vehicle kicking recognition device, comprising:

[0036] The acquisition module is configured to acquire the capacitive sensing data of the at least two electrodes, including acquiring the first capacitive data of the first electrode and the second capacitive data of the second electrode.

[0037] The update module is configured to update the first baseline data of the first electrode and the second baseline data of the second electrode.

[0038] The difference calculation module is configured to calculate the first difference data of the amplified and filtered first capacitive data and the first baseline data, and the second difference data of the amplified and filtered second capacitive data and the second baseline data, respectively.

[0039] The kicking area determination module is configured to determine that the kicking area is valid when the first difference data is in a first area range and the second difference data is in a second area range, wherein the area range is obtained according to the vehicle type calibration.

[0040] The kicking rate determination module is configured 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, and determine that the kicking rate is valid when the first rate extreme value is in a first rate range and the second rate extreme value is in a second rate range, wherein the rate range is obtained according to the vehicle type calibration.

[0041] The kicking angle determination module is configured to calculate an angle extreme value based on the difference between the first difference data and the corresponding second difference data when the kicking area and the kicking rate are both valid, and determine that the kicking angle is valid when the angle extreme value is in an angle range, wherein the angle range is obtained according to the vehicle type calibration.

[0042] The recognition module is configured to recognize that the vehicle kicking is valid when the kicking area, the kicking rate, and the kicking angle are all determined to be valid.

[0043] 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.

[0044] 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.

[0045] The kick angle determination module is configured to: based on the difference between the first difference data and the second difference data, form a kick angle sequence; extract a lowest angle and a highest angle from the kick angle sequence as angle extreme values; and determine that the kick angle is valid when the lowest angle is not less than a lower limit of an angle range and the highest angle is not greater than an upper limit of the angle range; wherein the calibration process of the angle range comprises: performing a kick action in a range of 10cm to 40cm from a rear area of the vehicle, and making the foot enter a range of 0cm to 10cm from the rear area, to obtain a plurality of sets of lowest angles and highest angles; taking 80% of the minimum value in the collected lowest angles as the lower limit of the angle range, and taking 120% of the maximum value in the collected highest angles as the upper limit of the angle range.

[0046] According to a third aspect of the present application, the embodiments of the present application further provide a computer readable storage medium, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and 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 identification method in any one of the above embodiments.

[0047] According to a fourth aspect of the present application, the embodiments of the present application further provide a vehicle kick identification device, comprising a first electrode, a second electrode, a memory and a processor, wherein the first electrode and the second electrode are both placed parallel to a rear area of a vehicle, and the distance between the first electrode and the second electrode is between 90mm and 150mm, the memory stores a computer program, and the processor implements the steps of the vehicle kick identification method in any one of the above embodiments when executing the computer program.

[0048] As described above, the embodiments of the present application provide a vehicle kick identification method, device, medium and equipment, which have the following beneficial effects: the present application determines the effectiveness of the kick by the change relationship between a plurality of kick electrode signals, overcomes the singleness of determining whether the kick signal change amount reaches a threshold, and the determination method is more in line with the actual complex kick scene, effectively prevents false triggering, and improves the ability to resist electromagnetic interference, and has high precision. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is a flowchart of a vehicle kick identification method provided by the embodiments of the present application;

[0050] Figure 2 is a position diagram of an electrode provided by the embodiments of the present application;

[0051] Figure 3 is a flowchart of a baseline updating method provided by the embodiments of the present application;

[0052] Figure 4 is a structural schematic diagram of a vehicle kick recognition device provided by an embodiment of the present application.

[0053] Figure 5 is a structural schematic diagram of a vehicle kick recognition device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the personnel in the technical field better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without creative labor should belong to the protection scope of the present application.

[0055] Please refer to Figures 1 to 5 It should be noted that the diagrams provided in the embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the diagrams, rather than the components number, shape and size in actual implementation. The actual implementation of each component type, number and proportion can be randomly changed, and the component layout type can be more complex.

[0056] Please refer to Figure 1 is a flow schematic diagram of a vehicle kick recognition method provided by an embodiment of the present application.

[0057] The capacitive sensing data of at least two electrodes is acquired. In the embodiments of the present application, the recognition of the vehicle kick is determined by the capacitive data collected by the electrodes arranged in the rear bumper (vehicle rear bumper) area of the vehicle. In the specific implementation, any number of electrodes can be configured to collect capacitive data, which is not limited by the present application. For the convenience of description, the embodiments of the present application take two electrodes as an example to describe the specific vehicle kick recognition method in detail.

[0058] Step S101: acquiring first capacitive data of a first electrode and second capacitive data of a second electrode.

[0059] Exemplarily, the first electrode can be arranged inside the vehicle rear bumper area, and the second electrode can be arranged outside the vehicle rear bumper area.

[0060] Please refer to Figure 2The position diagram of the electrode provided by the embodiment of the present application is shown in the figure, which includes the first electrode 21 and the second electrode 22. The first electrode 21 is arranged in the inner side of the rear area of the vehicle, and the second electrode 22 is arranged in the outer side of the rear area of the vehicle. It should be noted that the inner side of the rear area of the vehicle can be understood as the area close to the head direction, and the outer side of the rear area of the vehicle can be understood as the area away from the head direction. In this way, the first electrode 21 and the second electrode 22 can facilitate the sensing of the kicking action of the person. In order to further improve the recognition accuracy of the 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 area of the vehicle, and are arranged horizontally in the rear area of the vehicle. The distance between the first electrode 21 and the second electrode 22 is between 90 mm and 150 mm.

[0061] Further, the first capacitance data collected by the first electrode and the second capacitance data collected by the second electrode are obtained. The first capacitance data and the second capacitance data obtained by collection are taken as raw data, and amplification filtering processing is continued; specifically, the first capacitance data and the second capacitance data are amplified by software to obtain amplified first capacitance data and second capacitance data. In specific implementation, cumulative amplification can be performed, for example, the first capacitance data and the second capacitance data are collected continuously for N*M times, the data is accumulated, and then divided by M to obtain N times amplification of the corresponding capacitance data; the first capacitance data and the second capacitance data after filtering are obtained by using an IIR, FIR filter, in specific implementation, a first-order IIR filter with a formula of Y(n) = a*X(n) + (1-a)*Y(n-1) can be used, where Y(n) is the current output, Y(n-1) is the output of the last time, X(n) is the current input, and a is a coefficient between 0 and 1, which determines the cutoff frequency and filtering effect of the filter. Finally, the first capacitance data and the second capacitance data after filtering and amplification are obtained, and the pre-processing of the data provides an accurate data basis for subsequent vehicle kicking recognition.

[0062] Step S102: updating the first baseline data of the first electrode and the second baseline data of the second electrode.

[0063] Each electrode is processed by a baseline updating algorithm to cope with the influence of temperature, humidity and other environmental changes on capacitance data, and to eliminate the risk of false triggering. Referring to Figure 3 The flowchart of the baseline updating method provided by the embodiment of the present application is shown in the figure, which includes the following steps:

[0064] Step S1021: when the vehicle kicking is not recognized, the average value of the plurality of first capacitance data and second capacitance data collected at fixed time intervals is obtained to obtain the first reference baseline data and the second reference baseline data, respectively. ​

[0065] In a specific implementation, after the vehicle is started, the hardware device for identifying the vehicle kick action enters a working state. In an initial stage, the average of multiple collected capacitance data can be taken as an initial baseline value. Specifically, the first electrode and the second electrode continuously collect N capacitance data respectively, and average the N data respectively, and take the calculated average values as the initial first baseline data and the second baseline data respectively.

[0066] Then, every fixed time interval, and when the vehicle kick is not identified as valid, the first electrode and the second electrode continue to sample N capacitance data respectively and average the values, so as to constantly refresh the first reference baseline data and the second reference baseline data.

[0067] 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 taken as the updated first baseline data; and 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 taken as the updated second baseline data.

[0068] Through the above steps, after the first reference baseline data and the second reference baseline data are obtained, the first reference baseline data and a preset step threshold are further compared, and the second reference baseline data and the step threshold are further compared, and the first baseline data and the second baseline data are determined according to the comparison results.

[0069] In a specific implementation process, when the absolute value of the difference between the first reference baseline data and the current first baseline data is less than the preset step threshold, the first baseline data is updated, and the specific update is 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 the preset step threshold, the second baseline data is also updated, and the update is the second reference baseline data.

[0070] 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 taken 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 taken 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 taken 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 taken as the updated second baseline data.

[0071] 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 is 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 size of the second reference baseline data and the current second baseline data is compared, and the second baseline data is updated.

[0072] Specifically, the updating process is as follows:

[0073] For the update of the first baseline data, 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 taken 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 taken as the updated first baseline data.

[0074] Similarly, for the update of 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 taken 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 taken as the updated second baseline data.

[0075] The above steps are iteratively updated during system operation, ensuring that the first baseline data and the second baseline data can respond to the influence of the external environment on the capacitance in real time, and ensuring the accuracy of subsequent kick recognition.

[0076] Step S103: respectively calculating first difference data of the first capacitance data and the first baseline data after amplification filtering, and second difference data of the second capacitance data and the second baseline data.

[0077] According to the data obtained by the above steps, the capacitance data collected by each electrode is subjected to amplification filtering, and then is subtracted from the corresponding baseline data, so as to obtain the change amount of the capacitance data of each electrode.

[0078] Specifically, the first difference data is calculated by subtracting the first baseline data from the first capacitance data after amplification filtering; and the second difference data is calculated by subtracting the second baseline data from the second capacitance data after amplification filtering.

[0079] Step S104: when the first difference data is in a first region range and the second difference data is in a second region range, it is determined that the kicking region is valid; wherein the first region range and the second region range are ranges calibrated according to the vehicle type.

[0080] Using the difference data obtained by the above steps, the embodiment of the present application calculates the effective kicking region by the capacitance change amount data of the first electrode and the second electrode, calculates the effective kicking speed by the capacitance data change amount of the first electrode and the second electrode, and calculates the effective kicking angle by the difference value of the first electrode and the second electrode, so as to determine the effectiveness of the kicking. Specifically, the effective kicking region, the effective speed and the effective angle are defined, and when the region, the speed and the angle simultaneously satisfy the preset requirements, it is determined that the kicking is effective.

[0081] In the embodiment of the present application, firstly, it is determined whether the kicking region is valid, and the specific process is as follows:

[0082] When inCurDiffV∈[inDiffLowThreshold,inDiffHighThreshold] and outCurDiffV∈[outDiffLowThreshold,outDiffHighThreshold], it is determined that the kicking region is valid; wherein 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.

[0083] In a specific implementation, the first region range and the second region range are affected by the placement position of the vehicle rear structure and the electrode antenna, and need to be calibrated according to the vehicle model. The specific calibration process includes: the tester is at a distance of 10cm to 40cm from the rear protection region of the vehicle to be calibrated, and the tester kicks the leg to a distance of 0cm to 10cm from the rear protection region, multiple actions are taken to obtain multiple first difference data and second difference data, 80% of the smallest first difference data and 120% of the largest first difference data are taken as the lowest region threshold and the highest region threshold of the first electrode respectively, and 80% of the smallest second difference data and 120% of the largest second difference data are taken as the lowest region threshold and the highest region threshold of the second electrode respectively.

[0084] After the above steps of judgment, when the kicking region is valid, it is further judged whether the kicking rate is valid.

[0085] Step S105: when the first rate extreme value is in the first rate range and the second rate extreme value is in the second rate range, it is determined that the kicking rate is valid.

[0086] The first rate range and the second rate range are obtained according to the vehicle model.

[0087] Specifically, when it is determined that the kicking region 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.

[0088] The determination process whether the kicking speed is valid is as follows:

[0089] inMinSpeed = Min(Abs(inCurDiffV-inLastDiffV) / sampT,…),

[0090] inMaxSpeed= Max(Abs(inCurDiffV-inLastDiffV) / sampT,…),

[0091] outMinSpeed = Min(Abs(outCurDiffV-outLastDiffV) / sampT,…),

[0092] outMaxSpeed= Max(Abs(outCurDiffV-outLastDiffV) / sampT,…),

[0093] when inMinSpeed>=inValidMinSpeedThreshold,

[0094] inMaxSpeed<=inValidMaxSpeedThreshold,

[0095] outMinSpeed>=outValidMinSpeedThreshold,

[0096] and outMaxSpeed<=outValidMaxSpeedThreshold, then it is determined that the kicking speed is valid;

[0097] Wherein, inMinSpeed represents the first minimum speed, inMaxSpeed represents the first maximum speed, the combination of the first minimum speed and the first maximum speed represents the first speed limit for subsequent judgment, ((inCurDiffV-inLastDiffV) / sampT,…) represents the first electrode kick speed sequence, inCurDiffV represents the current first difference data, inLastDiffV represents the first difference data at the last sampling time, sampT represents the sampling time interval, Min represents the minimum value in the kick speed sequence, Max represents the maximum value in the kick speed sequence, Abs represents the absolute value, inValidMinSpeedThreshold represents the first minimum speed threshold (i.e. the lower limit of the first speed range), inValidMaxSpeedThreshold represents the first maximum speed threshold (i.e. the upper limit of the first speed range); outMinSpeed represents the second minimum speed, outMaxSpeed represents the second maximum speed, the combination of the second minimum speed and the second maximum speed represents the second speed limit for subsequent judgment, ((outCurDiffV-outLastDiffV) / sampT,…) represents the second electrode kick speed sequence, outCurDiffV represents the current second difference data, outLastDiffV represents the second difference data at the last sampling time, outValidMinSpeedThreshold represents the second minimum speed threshold (i.e. the lower limit of the second speed range), outValidMaxSpeedThreshold represents the second maximum speed threshold (i.e. the upper limit of the second speed range).

[0098] In an exemplary embodiment, taking the first electrode as an example, 10 first capacitance data are collected in a sampling period of 1 ms (i.e. the sampling time interval is 1 ms), converted into a plurality of first difference data through sampling, and further composed into a first difference data sequence (a data sequence composed of the first difference data calculated from the first capacitance data collected in each sampling time) of (50, 54, 59, 69, 77, 89, 105, 119, 140, 158). The first rate is calculated as (54-50) / 1 ms=4, the second rate is (59-54) / 1 ms=5, and so on. The calculated kick rate sequence is (4, 5, 10, 8, 12, 16, 14, 21, 18). Thus, the minimum rate in the kick rate sequence is 4, which is taken as the first minimum rate, i.e. inMinSpeed=4, and the maximum rate of the kick rate sequence is 21, which is taken as the first maximum rate, i.e. inMaxSpeed=21. Further, if inValidMinSpeedThreshold<4 and inValidMaxSpeedThreshold>21, then the first electrode satisfies the condition for the valid kick rate. Similarly, the same processing operation is performed on the second electrode in the same way to determine whether the corresponding condition for the valid kick rate is satisfied. The final determination of whether the kick rate is valid is made by comprehensively considering the determination results of the first electrode and the second electrode.

[0099] 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 position of the electrode antenna, and need to be calibrated according to the vehicle model. The specific calibration process includes: the tester is at a distance of 10 cm to 40 cm from the rear bumper area of the vehicle to be calibrated, and the tester kicks the leg to a distance of 0 cm to 10 cm from the rear bumper area. A plurality of first minimum rates, first maximum rates, second minimum rates, and second maximum rates are obtained through multiple kicking actions. 80% of the smallest first minimum rate, 120% of the largest first maximum rate, 80% of the smallest second minimum rate, and 120% of the largest second maximum rate are taken as the first minimum rate threshold, the first maximum rate threshold, the second minimum rate threshold, and the second maximum rate threshold, respectively.

[0100] Through the above steps, it is determined that the kick area is valid and the kick rate is valid. Further, it is determined whether the kick angle is valid.

[0101] Step S106: When the angle extreme value is in the angle range, it is determined that the kick angle is valid.

[0102] The angle range is calibrated according to the vehicle model.

[0103] Specifically, when it is determined that the kicking region is valid and the kicking rate is valid, an angle extreme value is calculated based on a difference between the first difference data and the corresponding second difference data; the specific process is as follows:

[0104] minAngle = Min ((inDiffV - outDiffV),...),

[0105] maxAngle = Max ((inDiffV - outDiffV),...),

[0106] When minAngle >= validMinAngleThreshold and maxAngle <= validMaxAngleThreshold, it is determined that the kicking angle is valid.

[0107] Wherein, minAngle represents the minimum angle, maxAngle represents the maximum angle, the combination of the minimum angle and the maximum angle represents the angle extreme value for subsequent judgment, inDiffV represents the first difference data, outDiffV represents the second difference data, ((inDiffV - outDiffV),...) represents a kicking angle sequence composed of the difference between the first difference data and the second difference data, Min represents the minimum value in the kicking angle sequence, Max represents the maximum value in the kicking angle sequence, validMinAngleThreshold represents the minimum angle threshold (lower limit of the angle range), and validMaxAngleThreshold represents the maximum angle threshold (i.e. upper limit of the angle range).

[0108] In an exemplary embodiment, 10 first capacitance data are collected with 1ms as the sampling period, and a plurality of first difference data are converted by sampling, and a first difference data sequence composed of the plurality of first difference data (a data sequence composed of the first difference data calculated from the first capacitance data collected at each sampling time) is (50, 54, 59, 69, 77, 89, 105, 119, 140, 158). Similarly, a second difference data sequence (a data sequence composed of the second difference data calculated from the second capacitance data collected at each sampling time) is (42, 46, 48, 57, 67, 77, 90, 109, 128, 149). The corresponding elements in the two data sequences are subtracted to calculate an angle sequence (8, 8, 11, 12, 10, 12, 15, 10, 12, 9). In this way, the minimum value in the angle sequence is 8, i.e. minAngle = 8, the maximum value in the angle sequence is 15, i.e. maxAngle = 15, and further, when validMinAngleThreshold < 8 and validMaxAngleThreshold > 15, it is determined that the kicking angle is valid.

[0109] For the minimum angle threshold and the maximum angle threshold, their values are also affected by the vehicle rear structure and the electrode antenna placement position, and need to be calibrated according to the vehicle model. The specific process includes: a tester is between 10 cm and 40 cm away from the rear area of the vehicle to be calibrated, and the tester's leg is between 0 cm and 10 cm away from the rear area, a plurality of minimum angles and maximum angles are obtained, 80% of the smallest minimum angle and 120% of the largest maximum angle are taken as the minimum angle threshold and the maximum angle threshold respectively.

[0110] Step S107: When it is determined that the kicking region, the kicking rate and the kicking angle are all valid, it is identified that the vehicle kicking is valid.

[0111] Based on the judgment of the above steps, when the kicking region is valid, the kicking rate is valid, and the kicking angle is valid, it is determined that the vehicle kicking is valid.

[0112] As can be seen from the description of the above embodiments, the vehicle kicking recognition method provided by the embodiments of the present application obtains first capacitance data of a first electrode and second capacitance data of a second electrode, wherein the first electrode is arranged inside a rear area of a vehicle, and the second electrode is arranged outside the rear area of the vehicle; updates first baseline data of the first electrode and second baseline data of the second electrode; calculates first difference data of the amplified and filtered first capacitance data and the first baseline data, and second difference data of the amplified and filtered second capacitance data and the second baseline data, respectively; when the first difference data is in a first region range and the second difference data is in a second region range, it is determined that the kicking region is valid; wherein the first region range and the second region range are obtained according to the vehicle model calibration; when it is determined that the kicking region is valid, first rate extreme value of the first electrode and 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 in a first rate range and the second rate extreme value is in a second rate range, it is determined that the kicking rate is valid; wherein the first rate range and the second rate range are obtained according to the vehicle model calibration; when it is determined that the kicking region is valid and the kicking rate is valid, an 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 in an angle range, it is determined that the kicking angle is valid; wherein the angle range is obtained according to the vehicle model calibration; when it is determined that the kicking region, the kicking rate and the kicking angle are all valid, it is identified that the vehicle kicking is valid. The present application judges the kicking validity through the change relationship between multiple kicking electrode signals, overcomes the singleness of judging whether the kicking signal change amount reaches a threshold, the judgment method is more in line with the actual complex kicking scene, effectively prevents false triggering and improves the ability to resist electromagnetic interference, and has high precision.

[0113] Those skilled in the art can clearly understand the method embodiments of the present application through the above description, and the present application can be implemented by means of software and necessary general hardware platforms, of course, it can also be implemented by hardware, but in many cases, the former is a better implementation. Based on this understanding, the technical solutions of the present application or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various media that can store program codes.

[0114] The embodiment of the present application provides a non-volatile computer storage medium, the computer storage medium stores computer executable instructions, the computer executable instructions can execute the vehicle kick identification method in any method embodiment described above. In a specific implementation, the computer readable storage medium can be a magnetic disk, an optical disk, a read-only memory (English: read-only memory, for short: ROM) or a random access memory (English: random access memory, for short: RAM) and the like.

[0115] Corresponding to the above-mentioned embodiments, the embodiment of the present application also provides a computer program product, which contains executable instructions, when the executable instructions are executed on the computer, the computer executes part or all steps of the above-mentioned method embodiments.

[0116] Corresponding to the vehicle kick identification method embodiments provided by the present application, the present application also provides a vehicle kick identification device.

[0117] Referring to Figure 4 , the present application provides a vehicle kick identification device, as shown in the figure, the device comprises:

[0118] The acquisition module 11 acquires the 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;

[0119] The first electrode can be configured inside the rear area of the vehicle, and the second electrode can be configured outside the rear area of the vehicle.

[0120] The update module 12 is configured to update the first baseline data of the first electrode and the second baseline data of the second electrode.

[0121] The difference calculation module 13 is configured to calculate a first difference value data of the first capacitance data and the first baseline data and a second difference value data of the second capacitance data and the second baseline data respectively after amplification and filtering;

[0122] The kick area determination module 14 is configured to determine that the kick area is valid when the first difference value data is in a first area range and the second difference value data is in a second area range, wherein the first area range and the second area range are obtained according to vehicle type calibration;

[0123] The kick rate determination module 15 is configured to calculate a first rate extreme value of the first electrode and a second rate extreme value of the second electrode from the first difference value data and the second difference value data respectively when it is determined that the kick area is valid, and determine that the kick rate is valid when the first rate extreme value is in a first rate range and the second rate extreme value is in a second rate range, wherein the first rate range and the second rate range are obtained according to vehicle type calibration.

[0124] The kick angle determination module 16 is configured to calculate an angle extreme value based on the difference between the first difference value data and the corresponding second difference value data when it is determined that the kick area is valid and the kick rate is valid, and determine that the kick angle is valid when the angle extreme value is in an angle range, wherein the angle range is obtained according to vehicle type calibration.

[0125] The recognition module 17 is configured to recognize that the vehicle kick is valid when it is determined that the kick area, the kick rate and the kick angle are all valid.

[0126] Optionally, the kick area determination module 14 is further configured to determine that the kick area is valid when the first difference value data is in a first area range and the second difference value data is in a second area range, wherein the first area range and the second area range are obtained according to vehicle type calibration, and the calibration process includes: performing a kick action in a range of 10 cm to 40 cm away from the rear area of the vehicle, and making the foot enter an area of 0 cm to 10 cm away from the rear area, collecting a plurality of first difference value data and second difference value data; taking 80% of the minimum value of the collected first difference value data as the lower limit of the first area range, and taking 120% of the maximum value of the collected first difference value data as the upper limit of the first area range; taking 80% of the minimum value of the collected second difference value data as the lower limit of the second area range, and taking 120% of the maximum value of the collected second difference value data as the upper limit of the second area range.

[0127] The kick rate determination module 15 uses the difference data of the first electrode and the second electrode at the current sampling time and the last sampling time, in combination with the sampling time interval, to calculate and obtain the kick rate sequence of the first electrode and the second electrode in a period of time, 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 extreme value, and the second minimum rate and the second maximum rate of the second electrode are extracted 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, it is determined that the kick rate is effective; wherein the calibration process of the first rate range and the second rate range includes: performing a kick action within a range of 10cm to 40cm from the rear protection area of the vehicle, and making the foot enter a region 0cm to 10cm from the rear protection area, collecting multiple sets of first minimum rate, first maximum rate, second minimum rate and second maximum rate; the minimum value of the collected first minimum rate is 80% as the lower limit of the first rate range, and the maximum value of the collected first maximum rate is 120% as the upper limit of the first rate range; the minimum value of the collected second minimum rate is 80% as the lower limit of the second rate range, and the maximum value of the collected second maximum rate is 120% as the upper limit of the second rate range.

[0128] The kick angle determination module 16 is configured to construct a kick angle sequence based on the difference between the first difference data and the second difference data; extract the minimum angle and the maximum angle from the kick angle sequence as the angle extreme value; when the minimum angle is not less than the lower limit of the angle range, and the maximum angle is not greater than the upper limit of the angle range, it is determined that the kick angle is effective; wherein the calibration process of the angle range includes: performing a kick action within a range of 10cm to 40cm from the rear protection area of the vehicle, and making the foot enter a region 0cm to 10cm from the rear protection area, obtaining multiple sets of minimum angle and maximum angle; the minimum value of the collected minimum angle is 80% as the lower limit of the angle range, and the maximum value of the collected maximum angle is 120% as the upper limit of the angle range.

[0129] Figure 5 is a structural schematic diagram of a vehicle kick recognition device provided by an embodiment of the present application, as shown in the figure, the device comprises: Figure 5

[0130] a first electrode 21 and a second electrode 22, one or more processors 510 and a memory 520, Figure 5 taking one processor 510 as an example.

[0131] The device for performing the vehicle kick recognition method can further comprise an input device 530 and an output device 540.​

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] The electronic devices of this invention exist in various forms, including but not limited to:

[0139] (1) Mobile communication device: The feature of this kind of device is to have mobile communication function, and the main target is to provide voice and data communication. This kind of terminal includes smart phone (such as iPhone), multimedia phone, functional phone, and low-end phone, etc.

[0140] (2) Ultra mobile personal computer device: This kind of device belongs to the category of personal computer, has computing and processing function, and generally has mobile internet feature. This kind of terminal includes PDA, MID and UMPC device, such as iPad.

[0141] (3) Portable entertainment device: This kind of device can display and play multimedia content. This kind of device includes audio and video player (such as iPod), palm game machine, electronic book, and smart toy and portable car navigation device.

[0142] (4) Server: The device providing computing service, the constitution of server includes processor, hard disk, memory, system bus, etc. The server is similar to general computer architecture, but because it needs to provide high reliable service, it has higher requirement in processing capability, stability, reliability, security, scalability, manageability, etc.

[0143] (5) Other electronic devices with data interaction function.

[0144] The device embodiments described above are only schematic, wherein the units shown as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. they can be located in one place or distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments

[0145] Each embodiment in the specification is described in a progressive manner, and the same and similar parts of each embodiment can be referred to each other. Each embodiment mainly describes the difference from other embodiments. Especially, the device or system embodiment is described relatively simply because it is basically similar to the method embodiment, and the relevant part can be referred to the part of the method embodiment. The device and system embodiments described above are only schematic, wherein the units shown as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. they can be located in one place or distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments. Those skilled in the art can understand and implement it without creative labor.

[0146] It has to be noted that, in the present document, the terms "first", "second", etc. merely serve the purpose of distinguishing between two entities or operations, without necessarily requiring or implying any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "containing" or any other transitional term, do not exclude other matters besides the one(s) named, nor do they preclude the presence or addition of one or more other elements or interventions. Without more limitations, an element defined by the phrase "comprising a... " does not exclude the presence of additional identical elements in the process, method, article, or apparatus including the one(s) defined by the phrase "comprising a... ".

[0147] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Accordingly, the scope of the application is indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are intended to be embraced therein.

Claims

1. A vehicle kick recognition method characterized by, The method comprises: acquiring capacitance sensing data of at least two electrodes, including acquiring first capacitance data of a first electrode and second capacitance data of a second electrode; updating first baseline data of the first electrode and second baseline data of the second electrode; calculating first difference data of the first capacitance data and the first baseline data and second difference data of the second capacitance data and the second baseline data respectively after amplification filtering; when the first difference data is in a first region range and the second difference data is in a second region range, determining that a kicking region is valid; wherein the region ranges are obtained according to vehicle type calibration; when the kicking region is valid, calculating a first rate extreme value of the first electrode and a second rate extreme value of the second electrode from the first difference data and the second difference data respectively; when the first rate extreme value is in a first rate range and the second rate extreme value is in a second rate range, determining that a kicking rate is valid; wherein the rate ranges are obtained according to vehicle type calibration; when the kicking region and the kicking rate are both valid, calculating an angle extreme value based on the difference between the first difference data and the corresponding second difference data; when the angle extreme value is in an angle range, determining that a kicking angle is valid; wherein the angle range is obtained according to vehicle type calibration; when it is determined that the kicking region, the kicking rate and the kicking angle are all valid, identifying that a vehicle kick is valid.

2. The vehicle kick recognition method according to claim 1, characterized by, The updating of the first baseline data of the first electrode and the second baseline data of the second electrode comprises: when a vehicle kick is not identified as valid, obtaining first reference baseline data and second reference baseline data by averaging a plurality of first capacitance data and second capacitance data collected at fixed time intervals 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, taking the first reference baseline data 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, taking the second reference baseline data 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, taking the sum of the current first baseline data and the step threshold as the updated first baseline data, if the first reference baseline data is less than the current first baseline data, taking the difference between the current first baseline data and the step threshold 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, taking the sum of the current second baseline data and the step threshold as the updated second baseline data, if the second reference baseline data is less than the current second baseline data, taking the difference between the current second baseline data and the step threshold as the updated second baseline data.

3. The vehicle kick identification method of claim 1, wherein The region ranges are obtained according to vehicle type calibration, and the calibration process comprises: The first difference data and the second difference data are collected when the kicking action is performed in a range of 10 cm to 40 cm from the rear protection area of the vehicle and the foot enters a range of 0 cm to 10 cm from the rear protection area; 80% of the minimum value of the collected first difference data and second difference data is taken as the lower limit of the first region range and the second region range, respectively, and 120% of the maximum value of the collected first difference data and second difference data is taken as the upper limit of the first region range and the second region range, respectively.

4. The vehicle kick recognition method according to claim 1, characterized by, The determination of the effective kicking rate includes: According to the difference data of the first electrode and the second electrode at the current sampling time and the previous sampling time, and in combination with the sampling time interval, the kicking rate sequence of the first electrode and the second electrode in a period of time is calculated and obtained, respectively; Based on the corresponding kicking rate sequence, the first minimum rate and the first maximum rate of the first electrode are extracted as the first rate extreme value, and the second minimum rate and the second maximum rate of the second electrode are extracted 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, it is determined that the kicking rate is effective.

5. The vehicle kick identification method of claim 1, wherein The determination of the effective kicking angle includes: Based on the difference between the first difference data and the second difference data, a kicking angle sequence is formed; From the kicking angle sequence, the minimum angle and the maximum angle are extracted as the angle extreme value; When the minimum angle is not less than the lower limit of the angle range, and the maximum angle is not greater than the upper limit of the angle range, it is determined that the kicking angle is effective.

6. The vehicle kick identification method of claim 1, wherein The first electrode and the second electrode are parallel to the rear protection level of the vehicle, and the distance between the first electrode and the second electrode is between 90 mm and 150 mm.

7. A vehicle kick recognition apparatus characterized by comprising: It includes: An acquisition module is configured to acquire capacitive sensing data of at least two electrodes, including first capacitive data of a first electrode and second capacitive data of a second electrode; An update module is configured to update first baseline data of the first electrode and second baseline data of the second electrode; A difference calculation module is configured to calculate first difference data of the first capacitive data amplified and filtered from the first baseline data, and second difference data of the second capacitive data amplified and filtered from the second baseline data, respectively; A kicking region determination module is configured to determine that a kicking region is effective when the first difference data is in a first region range and the second difference data is in a second region range, wherein the region range is obtained according to vehicle type calibration; A kicking rate determination module is configured to calculate first rate extreme value of the first electrode and second rate extreme value of the second electrode from the first difference data and the second difference data when the kicking region is effective; determine that the kicking rate is effective when the first rate extreme value is in a first rate range and the second rate extreme value is in a second rate range, wherein the rate range is obtained according to vehicle type calibration; The foot kick angle determination module is configured to calculate an angle extreme value based on the difference between the first difference value data and the corresponding second difference value data when both the foot kick area and the foot kick rate are valid; and determine that the foot kick angle is valid when the angle extreme value is within an angle range, wherein the angle range is calibrated according to a vehicle model. The identification module is configured to identify that the vehicle foot kick is valid when the foot kick area, the foot kick rate, and the foot kick angle are all determined to be valid.

8. The vehicle foot kick identification device according to claim 7, characterized in that: The foot kick rate determination module is configured to calculate and obtain a foot kick rate sequence of the first electrode and the second electrode within a period of time according to the difference value data of the current and the last sampling time of the first electrode and the second electrode, respectively, in combination with a sampling time interval. Based on the corresponding foot kick rate sequences, the first lowest rate and the first highest rate of the first electrode are extracted as first rate extreme values, and the second lowest rate and the second highest rate of the second electrode are extracted as second rate extreme values. The foot kick rate is determined to be valid when the first lowest rate is not less than the lower limit of a first rate range, the first highest rate is not greater than the upper limit of the first rate range, and the second lowest rate is not less than the lower limit of a second rate range, and the second highest rate is not greater than the upper limit of the second rate range. The foot kick angle determination module is configured to form a foot kick angle sequence based on the difference between the first difference value data and the second difference value data; and extract a lowest angle and a highest angle from the foot kick angle sequence as angle extreme values. The foot kick angle is determined to be valid when the lowest angle is not less than the lower limit of an 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, a code set, or an instruction set, which are loaded and executed by the processor to implement the steps of the vehicle foot kick identification method according to any one of claims 1 to 6.

10. A vehicle kick recognition apparatus characterized by comprising: The device includes a first electrode, a second electrode, a memory, and a processor, the first electrode and the second electrode are both placed parallel to the rear bumper level 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 the processor executes the computer program to implement the steps of the vehicle foot kick identification method according to any one of claims 1 to 6.

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