Vehicle control method and system and electric equipment

Abstract

The invention discloses a vehicle control method and system and electric equipment. The method comprises the steps that biological characteristic information of a moving object in a preset space range of a vehicle is acquired; when it is determined that the moving object is threatened according to the biological characteristic information, deterrent information is sent out; wherein the biological characteristic information at least comprises behavior characteristic information and physiological characteristic information. According to the vehicle control method provided by the embodiment of the invention, the threat of the moving object can be determined according to the behavior feature information and the physiological feature information, and compared with the prior art that whether gaits are matched or not, the information dimension is relatively comprehensive and the judgment is more accurate, so that the accuracy of vehicle control is improved.

Description

Technical Field

[0001] This disclosure relates to a vehicle control method, system, and electrical equipment. Background Technology

[0002] In related technologies, the vehicle sentry mode monitoring method tracks targets and identifies categories (whether they are human) using environmental video data. This monitoring method focuses on whether the gait characteristics of a human target match pre-stored original features, triggering an alarm only based on gait mismatch. However, the information dimension is limited to two-dimensional vision, and this single dimension leads to a high false positive rate. Summary of the Invention

[0003] The purpose of this disclosure is to provide a vehicle control method, system, and electrical equipment.

[0004] To achieve the above objectives, the present disclosure adopts the following technical solution: This disclosure provides a vehicle control method, including: Acquire biometric information of moving objects within a preset spatial range of the vehicle; and When a threat is determined to exist by a moving object based on the biometric information, a deterrent message is issued; The biometric information includes at least behavioral and physiological characteristics.

[0005] In some embodiments, the behavioral characteristic information includes: gait information and dwell time information; the biometric information includes: body temperature information and heart rate information; The acquisition of biometric information of moving objects within a preset spatial range of the vehicle includes: When the duration of the moving object's stay within a preset space range of the vehicle is greater than or equal to a first time threshold, the gait information, body temperature information, and heart rate information of the moving object within the preset space range of the vehicle are acquired.

[0006] In some embodiments, determining that a moving object poses a threat based on the biometric information includes determining that a moving object poses a threat when at least two of the gait information, body temperature information, and heart rate information are abnormal.

[0007] In some embodiments, the gait information includes: stride length information, cadence information, and pause information, and the gait information exhibiting abnormalities includes at least one of the following: abnormal stride length, abnormal cadence, and a pause count greater than or equal to one; and / or Abnormal body temperature information includes: body temperature greater than or equal to a body temperature threshold; and / or The abnormal heart rate information includes: heart rate greater than or equal to the heart rate threshold.

[0008] In some embodiments, The step size anomaly includes: the step size fluctuation being greater than or equal to the fluctuation threshold; and / or The abnormal step frequency includes: the step frequency is less than a first step frequency threshold, or the step frequency is greater than a second step frequency threshold; and / or The number of pauses greater than or equal to one includes: the number of pauses within a certain period of time is greater than or equal to one, where the certain period of time is the time elapsed from when the duration of the moving object's stay is equal to the first time threshold until the moving object leaves the preset space range of the vehicle.

[0009] In some embodiments, the deterrence information includes at least one of the following: optical deterrence information and acoustic deterrence information.

[0010] In some embodiments, the issuance of deterrent information includes: First issue an optical deterrent signal, then issue an acoustic deterrent signal; or First issue an acoustic deterrent message, then issue an optical deterrent message.

[0011] In some embodiments, the vehicle control method further includes: Send an alarm message to the user when or after issuing a deterrent message; or The deterrent message is stopped when the moving object leaves the pre-defined space area of ​​the vehicle after the deterrent message has been issued; or The deterrent message is stopped when the duration for which the moving object leaves the preset spatial range of the vehicle after the deterrent message is issued is greater than or equal to a second time threshold; or When or after issuing a deterrent message, send an alarm message to the user; and when the object is moved away from the vehicle's preset spatial range after issuing the deterrent message, send a threat cancellation message to the user; or When or after issuing a deterrent message, an alarm message is sent to the user; and when the duration of the moving object leaving the vehicle's preset spatial range after issuing the deterrent message is greater than or equal to a second time threshold, a threat cancellation message is sent to the user.

[0012] In some embodiments, The dwell time information is determined using information detected by a visible light camera; The gait information is determined by information detected by lidar; and / or The body temperature information is determined through information detected by a thermal imaging sensor; and / or The heart rate information was determined using information detected by millimeter-wave radar.

[0013] In some embodiments, the heart rate information determined by information detected by millimeter-wave radar includes: the heart rate information being determined by performing thoracic micromotion analysis on information detected by millimeter-wave radar.

[0014] In some embodiments, when the duration of the moving object's stay within a preset spatial range of the vehicle is greater than or equal to a first time threshold, acquiring the gait information, body temperature information, and heart rate information of the moving object within the preset spatial range of the vehicle includes: When a moving object is found within a preset space of the vehicle, the duration of the moving object's stay within the preset space of the vehicle is obtained. When the dwell time is greater than or equal to a first time threshold, gait information, body temperature information, and heart rate information of moving objects within a preset spatial range of the vehicle are acquired.

[0015] The vehicle control method provided in this disclosure can determine the threat posed by a moving object based on behavioral and physiological characteristics. Compared with related technologies that rely on gait matching, this method provides more comprehensive information and makes more accurate judgments, thereby improving the accuracy of vehicle control.

[0016] This disclosure also provides a vehicle control system, including: The sensing module is used to acquire biometric information of moving objects within a preset spatial range of the vehicle; and A controller, wherein the controller is used to control the deterrence information issuing module to issue deterrence information when it is determined from the biometric information that a moving object poses a threat; The biometric information includes at least behavioral and physiological characteristics.

[0017] In some embodiments, the behavioral characteristic information includes: gait information and dwell time information; the biometric information includes: body temperature information and heart rate information; The acquisition module includes: A visible light camera, wherein the information detected by the visible light camera is used to determine the dwell time information; The lidar detects information used to determine the presence of a moving object within a preset spatial range of the vehicle and to determine the gait information. A thermal imaging sensor, wherein the information detected by the thermal imaging sensor is used to determine the body temperature information; and A millimeter-wave radar, wherein the information detected by the millimeter-wave radar is used to determine the heart rate information.

[0018] This disclosure also provides a vehicle control system, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0019] This disclosure also provides an electrical device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0020] This disclosure also provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of any of the methods described above.

[0021] This disclosure also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of any of the methods described above.

[0022] This disclosure also provides a vehicle comprising: the vehicle control system described in any of the preceding claims.

[0023] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating a vehicle control method according to some embodiments; Figure 2 This is a schematic diagram of the structure of a vehicle control system according to some embodiments; Figure 3 This is a flowchart illustrating a vehicle control method according to some other embodiments. Detailed Implementation

[0026] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0027] In the description of this disclosure, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or relative positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Unless otherwise specified, the above-mentioned orientational descriptions can be flexibly set in practical applications, provided that the relative positional relationships shown in the accompanying drawings are satisfied.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0029] Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0030] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "electrical connection," and "communication" should be interpreted broadly. For example, they can refer to fixed electrical connections, detachable electrical connections, or integral electrical connections. Connections can be direct or indirect through an intermediate medium, and can be internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0031] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, 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, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in embodiments of this disclosure is not limited. Functions may be performed in the order shown or discussed, or may be performed substantially simultaneously or in reverse order depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0032] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0033] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0034] For ease of control, in some embodiments, such as Figure 1 As shown, this disclosure provides a vehicle control method, including: Acquire biometric information of moving objects within a preset spatial range of the vehicle; and When a moving object is determined to pose a threat based on biometric information, a deterrent message is issued; Biometric information includes at least behavioral and physiological characteristics.

[0035] The vehicle control method provided in this disclosure can determine the threat posed by a moving object based on behavioral and physiological characteristics. Compared with related technologies that rely on gait matching, this method provides more comprehensive information and makes more accurate judgments, thereby improving the accuracy of vehicle control.

[0036] The preset space range of a vehicle can be the space enclosed by a certain distance around the vehicle, such as a range of 5 meters around the vehicle.

[0037] For ease of control, in some embodiments, behavioral characteristic information includes: gait information and dwell time information; biometric information includes: body temperature information and heart rate information. Acquiring biometric information of moving objects within a preset spatial range of the vehicle includes: When the duration of a moving object's stay within a preset spatial range of the vehicle is greater than or equal to a first time threshold, the gait information, body temperature information, and heart rate information of the moving object within the preset spatial range of the vehicle are acquired.

[0038] If a moving object remains within the vehicle's preset spatial range for less than a first time threshold, it can be determined that the moving object is passing by normally and poses no threat. In this case, monitoring of the moving object ceases, and no deterrent information needs to be issued.

[0039] When a moving object remains within a preset spatial range of the vehicle for a duration greater than or equal to a first time threshold, relevant information is acquired to further determine whether the moving object poses a threat. This effectively saves monitoring resources while improving the accuracy of determining whether a moving object is threatening.

[0040] For ease of control, in some embodiments, determining that a moving object poses a threat based on biometric information includes determining that a moving object poses a threat when at least two of the gait information, body temperature information, and heart rate information are abnormal.

[0041] Determining a threat from a moving object requires identifying abnormalities in at least two of the gait, body temperature, and heart rate data. This effectively avoids misjudgments caused by a single abnormality, allowing for better differentiation of the object's threatening nature and more accurate deterrence. It also effectively prevents interference with the normal passage of moving objects, avoiding discomfort or even negative emotions.

[0042] For ease of control, in some embodiments, gait information includes: stride length information, cadence information, and pause information. Abnormal gait information includes at least one of the following: abnormal stride length, abnormal cadence, and at least one pause; and / or Abnormal body temperature information includes: body temperature greater than or equal to the body temperature threshold; and / or Abnormal heart rate information includes: heart rate greater than or equal to the heart rate threshold.

[0043] For the human body, the body temperature threshold can be the upper limit of normal body temperature, such as 37.3℃. When the body temperature is greater than or equal to 37.3℃, it is determined to be an abnormal body temperature.

[0044] For the human body, the heart rate threshold can be the upper limit of a normal heart rate, such as 100 beats per minute. When the heart rate is greater than or equal to 100 beats per minute, it is determined to be an abnormal heart rate.

[0045] Gait information includes stride length, cadence, and pauses. An abnormality in at least one of these parameters is sufficient to diagnose gait abnormality. In other words, normal gait is defined as normal if all these parameters are normal, and abnormal gait is defined as any other abnormality. This approach allows for more accurate identification of gait abnormalities and avoids missed diagnoses.

[0046] A pause is defined as one or more pauses. Conversely, a movement without pauses is considered normal (when both stride length and stride frequency are normal).

[0047] For ease of control, in some embodiments... Abnormal step size includes: step size fluctuations greater than or equal to the fluctuation threshold; and / or Abnormal step frequency includes: step frequency less than the first step frequency threshold, or step frequency greater than the second step frequency threshold; and / or The number of pauses greater than or equal to one includes: the number of pauses within a certain period of time is greater than or equal to one, where the certain period of time is the time elapsed from when the duration of the moving object's stay is equal to the first time threshold until the moving object leaves the preset space range of the vehicle.

[0048] For the human body, a significant fluctuation in step length (i.e., greater than or equal to the fluctuation threshold) indicates an abnormal step length. The fluctuation threshold can be any suitable value, such as 10%-20%.

[0049] For the human body, an abnormal cadence is defined as either too high or too low (step frequency less than the first cadence threshold, or step frequency greater than the second cadence threshold). The first and second cadence thresholds can be set to appropriate values, such as a first cadence threshold of 60 steps / minute and a second cadence threshold of 120 steps / minute.

[0050] For the human body, an abnormal gait can be identified when there are at least one pause within a certain time period. This "certain time period" refers to the time elapsed from when the duration of the moving object's stay equal to a first time threshold until the moving object leaves the preset spatial range of the vehicle. In other words, from the start of acquiring gait information until the moving object leaves the preset spatial range, if the number of pauses is greater than or equal to one, it can be used to determine an abnormal gait.

[0051] For ease of control, in some embodiments, the deterrence information includes at least one of the following: optical deterrence information and acoustic deterrence information.

[0052] Deterrence information can be of various appropriate types to alert or warn moving objects, preventing them from damaging vehicles, etc.

[0053] Optical deterrence information can be various suitable optical information, such as light deterrence information (such as warning lights), projection deterrence information (such as projecting dynamic warning light strips (non-glaring strong light)), and screen deterrence information (such as displaying warning information on the screen).

[0054] Sound deterrence information can be various suitable sound information, such as beeping sounds or voice warnings (such as a voice broadcast saying "Please pay attention to your words and actions in the monitored area").

[0055] To avoid escalating confrontation, a non-confrontational deterrence strategy can be adopted, in which both optical and acoustic deterrence information can be relatively mild warning messages.

[0056] For ease of control, in some embodiments, issuing deterrent information includes: First issue an optical deterrent signal, then issue an acoustic deterrent signal; or First issue an acoustic deterrent message, then issue an optical deterrent message.

[0057] By transmitting optical and acoustic deterrence information sequentially, the deterrence can be made relatively mild, avoiding escalation of confrontation and thus improving vehicle safety.

[0058] For ease of control, in some embodiments, the vehicle control method further includes: Send an alarm message to the user when or after issuing a deterrent message; or The deterrent message is stopped when the moving object leaves the pre-defined space area of ​​the vehicle after the deterrent message has been issued; or The deterrent message is stopped when the duration for which the moving object leaves the preset spatial range of the vehicle after the deterrent message is issued is greater than or equal to a second time threshold; or When or after issuing a deterrent message, send an alarm message to the user; and when the object is moved away from the vehicle's preset spatial range after issuing the deterrent message, send a threat cancellation message to the user; or When or after issuing a deterrent message, an alarm message is sent to the user; and when the duration of the moving object leaving the vehicle's preset spatial range after issuing the deterrent message is greater than or equal to a second time threshold, a threat cancellation message is sent to the user.

[0059] Through the above controls, an alarm can be triggered to the user when or after a deterrent message is issued, allowing the user to promptly grasp the current situation and take appropriate countermeasures, such as continuing to wait, rushing to the scene, or calling the police. When the moving object leaves, the deterrence can be stopped, thus restoring the initial state for continued monitoring. Alternatively, a threat cancellation message can be sent to the user when the moving object leaves, allowing the user to promptly grasp the current situation and respond appropriately, such as without needing to rush to the scene.

[0060] For ease of control, in some embodiments... The duration of stay is determined using information detected by a visible light camera; Gait information is determined using information detected by lidar; and / or Body temperature information is determined through information detected by thermal imaging sensors; and / or Heart rate information is determined using data detected by millimeter-wave radar.

[0061] The duration of a dwell time can be determined using various suitable devices, such as visible light cameras, a simple and easy-to-implement solution. Visible light cameras can capture visual features such as the target's appearance and clothing color, facilitating the identification of moving objects and thus determining the dwell time.

[0062] Gait information can be detected and determined using various suitable devices, such as lidar, which is a simple and easy-to-implement solution. LiDAR can be used to generate millimeter-precision point cloud data and construct the three-dimensional contour of the target, thus facilitating the determination of gait information.

[0063] Body temperature information can be detected and determined using various suitable devices, such as thermal imaging sensors, a simple and easy-to-implement solution. Thermal imaging sensors can be used to monitor the surface temperature distribution of moving objects to determine body temperature information.

[0064] Heart rate information can be detected and determined using various suitable devices, such as information detected by millimeter-wave radar, and the solution is simple and easy to implement.

[0065] For ease of control, in some embodiments, the heart rate information is determined by information detected by millimeter-wave radar, including: the heart rate information is determined by performing thoracic micromotion analysis on information detected by millimeter-wave radar.

[0066] That is, heart rate detection can be achieved by analyzing the micro-movements in the chest cavity using millimeter-wave radar detection information, and the solution is simple and easy to implement.

[0067] For ease of control, in some embodiments, when the duration of a moving object's stay within a preset spatial range of the vehicle is greater than or equal to a first time threshold, acquiring the gait information, body temperature information, and heart rate information of the moving object within the preset spatial range of the vehicle includes: When a moving object appears within a preset space of the vehicle, the duration of the moving object's stay within the preset space of the vehicle is obtained. When the dwell time is greater than or equal to the first time threshold, acquire gait information, body temperature information, and heart rate information of moving objects within the preset spatial range of the vehicle.

[0068] That is, when a moving object appears within a preset space of the vehicle, the duration of the moving object's stay is obtained, which can effectively save monitoring resources.

[0069] In the initial state (when the vehicle is in standby mode), it can operate in low-power mode, collecting data at regular intervals, such as 10 seconds, for simple liveness detection. Once a moving object is detected, the duration of its dwell time is acquired. If the dwell time exceeds a first time threshold, gait information is then acquired. This achieves tiered monitoring, saving energy and preventing waste of monitoring resources.

[0070] The vehicle control method provided in this disclosure can determine the threat posed by a moving object based on behavioral and physiological characteristics. Compared with related technologies that rely on gait matching, this method provides more comprehensive information and makes more accurate judgments, thereby improving the accuracy of vehicle control.

[0071] This disclosure also provides a vehicle control system, including: The perception module is used to acquire biometric information of moving objects within a preset spatial range of the vehicle; and The controller is used to control the deterrence information transmitting module to transmit deterrence information when it is determined that a moving object poses a threat based on biometric information. Biometric information includes at least behavioral and physiological characteristics.

[0072] The vehicle control system provided in this disclosure can determine the threat posed by a moving object based on behavioral and physiological characteristics. Compared with related technologies that rely on gait matching, this system provides more comprehensive information and makes more accurate judgments, thereby improving the accuracy of vehicle control.

[0073] For ease of control, in some embodiments, behavioral characteristic information includes: gait information and dwell time information; biometric information includes: body temperature information and heart rate information. The acquisition module includes: Visible light camera; the information detected by the visible light camera is used to determine the duration of the stay. LiDAR (Light Detection and Ranging) is used to detect moving objects within a preset spatial range of a vehicle and to determine gait information. Thermal imaging sensors detect information used to determine body temperature; and Millimeter-wave radar detects information used to determine heart rate.

[0074] The duration of a dwell time can be determined using various suitable devices, such as visible light cameras, a simple and easy-to-implement solution. Visible light cameras can capture visual features such as the target's appearance and clothing color, facilitating the identification of moving objects and thus determining the dwell time.

[0075] Gait information can be detected and determined using various suitable devices, such as lidar, which is a simple and easy-to-implement solution. LiDAR can be used to generate millimeter-precision point cloud data and construct the three-dimensional contour of the target, thus facilitating the determination of gait information.

[0076] Whether a moving object exists within the vehicle's preset space can be determined by various suitable devices, such as information detected by lidar. The solution is simple and easy to implement.

[0077] Body temperature information can be detected and determined using various suitable devices, such as thermal imaging sensors, a simple and easy-to-implement solution. Thermal imaging sensors can be used to monitor the surface temperature distribution of moving objects to determine body temperature information.

[0078] Heart rate information can be detected and determined using various suitable devices, such as information detected by millimeter-wave radar, and the solution is simple and easy to implement.

[0079] The following is in conjunction with the appendix Figure 2-3 The contents of the embodiments disclosed herein will be described.

[0080] like Figure 2 As shown, a vehicle control system includes a sensing module and a controller.

[0081] For ease of control, in some embodiments, the sensing module is connected to the controller, and the controller is connected to the deterrence information transmitting module.

[0082] For ease of control, in some embodiments, the sensing module is used to receive information about the surrounding environment and biological data, and transmit the collected data to the controller.

[0083] For ease of control, in some embodiments, the controller is connected to the perception module and is used to perform feature analysis and threat determination on the received information, and transmit the determination results to the deterrence information issuing module.

[0084] For ease of control, in some embodiments, the deterrence information issuing module is connected to the controller and is used to initiate a non-confrontational deterrence strategy after receiving a warning signal sent by the controller.

[0085] Furthermore, for ease of control, in some embodiments, such as Figure 2 As shown, the perception module includes: a visible light camera (for capturing visual features such as the target's appearance and clothing color), a thermal imaging sensor (for real-time monitoring of body surface temperature distribution), a lidar (for generating millimeter-level precision point cloud data to construct the target's three-dimensional contour), and a millimeter-wave radar (for analyzing chest cavity micro-motions and detecting heart rate).

[0086] Furthermore, for ease of control, in some embodiments, the controller includes a feature analysis unit and a threat determination unit.

[0087] For ease of control, in some embodiments, the feature analysis unit is used to construct a three-dimensional biometric database based on multispectral data and extract the behavioral and physiological features of the target through gait analysis; wherein, behavioral features include dwell time, gait information, etc., and physiological features include body temperature, heart rate, etc.

[0088] For ease of control, in some embodiments, the threat determination unit is used to distinguish between normal pedestrians and potential threats based on the feature data output by the feature analysis unit: when the target is a normal pedestrian who passes by quickly without stopping, no alarm is triggered; when the target is a potential threat who lingers for a long time and has abnormal body temperature / heart rate, a warning signal is sent to the deterrence information sending module.

[0089] Furthermore, for ease of control, in some embodiments, the deterrent information issuing module includes: a lighting control unit, a sound control unit, and a vehicle networking unit. The lighting control unit controls the flashing mode and duration of the lights according to the signals transmitted by the controller; the sound control unit controls the type and volume of the alarm sound; and the vehicle networking unit transmits the alarm information to the user's mobile terminal, such as a mobile phone, to facilitate proactive intervention in potential threats.

[0090] For ease of control, in some embodiments, the sensing module includes: a visible light camera, a thermal imaging sensor, a lidar, and a millimeter-wave radar. The visible light camera is used to capture the target's gait; the thermal imaging sensor is used to acquire the target's body temperature distribution data; the lidar is used to generate three-dimensional point cloud data within a 5-meter radius around the vehicle to record the target's spatial position and movement trajectory; the millimeter-wave radar is used for chest cavity micro-motion analysis and heart rate detection; the four components are synchronized through a time synchronization module to ensure the accuracy of feature analysis.

[0091] For ease of control, in some embodiments, the controller's feature analysis unit extracts parameters such as the target's stride length, stride frequency, and walking trajectory based on the point cloud data of the lidar. A normal pedestrian's stride length fluctuates by ≤15%, their stride frequency is 60-120 steps / minute, and they walk continuously for ≥5 meters without stopping; a potential threat may exhibit abnormal stride length, a stride frequency below 40 steps / minute or above 140 steps / minute, or pauses ≥3 times within 3 minutes, and their trajectory may appear to be back-and-forth.

[0092] For ease of control, in some embodiments, the threat determination logic of the controller is as follows: Figure 3 As shown: Normal pedestrians must stay for less than 30 seconds; potential threats must stay for more than 30 seconds and meet at least two of the following conditions: abnormal gait, body temperature > 37.3℃, and heart rate > 100 beats / min.

[0093] For ease of control, in some embodiments, the specific structure of the deterrence information transmission module includes: light deterrence: projecting a dynamic warning light strip (non-glaring strong light) around the target to form a visual cue; sound cue: playing a gentle voice broadcast (such as "Please pay attention to your words and actions in the monitored area") to avoid escalating confrontation; terminal alarm: sending real-time warning information to the vehicle owner's terminal, along with the target's characteristics and location.

[0094] like Figure 3 As shown, a vehicle control method involves a sensing module operating in low-power mode when the vehicle is in standby mode, collecting environmental data every 10 seconds and performing only simple liveness detection. When the lidar detects live movement within 5 meters, the system wakes up to high-speed operating mode, where a visible light camera, thermal imaging sensor, lidar, and millimeter-wave radar simultaneously collect data and transmit it to the controller.

[0095] After receiving the data, the controller constructs a three-dimensional biometric database and initiates gait analysis and recognition: the gait analysis module extracts the target's stride length, stride frequency, and trajectory parameters and compares them with normal models; at the same time, it combines thermal imaging data to obtain body temperature and uses millimeter-wave radar for chest cavity micro-motion analysis and heart rate detection.

[0096] The controller further performs a comprehensive judgment on the feature analysis results: if the target stays for less than 30 seconds, it is judged as a normal passerby and the system does not take any action; if the target stays for more than 30 seconds and meets at least two abnormal features (abnormal gait, abnormal body temperature, abnormal heart rate), it is judged as a potential threat and a warning signal is sent to the deterrence information sending module.

[0097] Upon receiving the warning signal, the deterrence information transmission module initiates the deterrence strategy sequentially: First, it uses light deterrence: projecting dynamic warning light strips (not glaring bright light) around the target to create a visual cue; after 2 seconds, the voice synthesis unit provides an audio prompt: playing a gentle voice broadcast (such as "Please be mindful of your words and actions in the monitored area") to avoid escalating confrontation; after another 2 seconds, the terminal alarm: sending real-time warning information, along with the target's characteristics and location, to the vehicle owner's terminal. The system determines the threat has been neutralized and ceases all deterrence measures once the target has moved out of the vicinity of the vehicle by more than 5 meters for at least 30 seconds, returning to standby mode.

[0098] The embodiments disclosed herein have the following beneficial effects: 1. Higher accuracy and reliability in identification, and wider environmental adaptability. Many related technologies rely on single visible light images, which are easily affected by lighting conditions (night) and weather (rain, snow, fog). Furthermore, they rely solely on simple dimensions such as "whether the person is pausing" and "whether the gait matches," resulting in a high false positive rate. This disclosed embodiment utilizes multispectral imaging (visible light + thermal imaging + lidar point cloud), combined with physiological characteristics such as body temperature and heart rate, and behavioral characteristics such as gait, for multi-dimensional cross-verification. This allows for accurate differentiation between "normal pausing" and "malicious loitering," reducing false positives and false negatives. Thermal imaging can penetrate darkness and partial obstruction, while lidar point clouds can construct three-dimensional spatial information, unaffected by lighting conditions and weather, ensuring stable operation even in extreme environments.

[0099] 2. Stronger threat prediction and proactive intervention capabilities Most related technologies are "post-event response," meaning they only trigger an alarm after a threat has occurred (such as touching a vehicle or mismatched gait), lacking the ability to prevent it in advance. This disclosed embodiment can identify potential risks before the threat escalates by identifying characteristics such as "prolonged loitering + abnormal body temperature / heart rate," and activate proactive deterrence measures such as light and sound alerts and vehicle owner-side alarms, reducing the probability of harm occurring at the source.

[0100] 3. Smarter response, balancing security and user experience Related technologies often suffer from simplistic judgment logic (such as triggering an alarm simply because the dwell time has exceeded a certain limit), leading to frequent alarms that disturb users (e.g., car owners repeatedly receive irrelevant alerts). The embodiments disclosed in this disclosure can achieve tiered response: completely eliminating interference with normal pedestrians while only initiating warnings for potential threats, thus ensuring safety while avoiding excessive user disturbance and improving the user experience.

[0101] This disclosure also provides a vehicle control system, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0102] This disclosure also provides an electrical device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0103] This disclosure also provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of any of the above methods.

[0104] This disclosure also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of any of the above methods.

[0105] This disclosure also provides a vehicle, which includes: the vehicle control system of any of the above.

[0106] It should be noted that the aforementioned electrical equipment can be any conventionally power-consuming equipment, such as, but not limited to, controllers, vehicles, skateboard chassis, ships, drones, mobile phones, computers, air conditioners, refrigerators, washing machines, microwave ovens, printers, fax machines, etc.

[0107] The embodiments of this disclosure have been described above with reference to the accompanying drawings. However, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this disclosure without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this disclosure.

Claims

1. A vehicle control method, characterized in that, include: Acquire biometric information of moving objects within a preset spatial range of the vehicle; as well as When a threat is determined to exist by a moving object based on the biometric information, a deterrent message is issued; The biometric information includes at least behavioral and physiological characteristics.

2. The vehicle control method according to claim 1, characterized in that, The behavioral characteristic information includes: gait information and dwell time information; the biometric information includes: body temperature information and heart rate information; The acquisition of biometric information of moving objects within a preset spatial range of the vehicle includes: When the duration of the moving object's stay within a preset space range of the vehicle is greater than or equal to a first time threshold, the gait information, body temperature information, and heart rate information of the moving object within the preset space range of the vehicle are acquired.

3. The vehicle control method according to claim 2, characterized in that, The determination of a threat posed by a moving object based on the biometric information includes determining that a moving object poses a threat when at least two of the gait information, body temperature information, and heart rate information are abnormal.

4. The vehicle control method according to claim 3, characterized in that, The gait information includes: stride length information, cadence information, and pause information. Abnormalities in the gait information include at least one of the following: abnormal stride length, abnormal cadence, and at least one pause; and / or Abnormal body temperature information includes: body temperature greater than or equal to a body temperature threshold; and / or The abnormal heart rate information includes: heart rate greater than or equal to the heart rate threshold.

5. The vehicle control method according to claim 4, characterized in that, The step size anomaly includes: the step size fluctuation being greater than or equal to the fluctuation threshold; and / or The abnormal step frequency includes: the step frequency is less than a first step frequency threshold, or the step frequency is greater than a second step frequency threshold; and / or The number of pauses greater than or equal to one includes: the number of pauses within a certain period of time is greater than or equal to one, where the certain period of time is the time elapsed from when the duration of the moving object's stay is equal to the first time threshold until the moving object leaves the preset space range of the vehicle.

6. The vehicle control method according to claim 1, characterized in that, The deterrence information includes at least one of the following: optical deterrence information and acoustic deterrence information.

7. The vehicle control method according to claim 6, characterized in that, The issued deterrent information includes: First issue an optical deterrent signal, then issue an acoustic deterrent signal; or First issue an acoustic deterrent message, then issue an optical deterrent message.

8. The vehicle control method according to claim 1, characterized in that, The vehicle control method further includes: Send an alarm message to the user when or after issuing a deterrent message; or The deterrent message is stopped when the moving object leaves the pre-defined space area of ​​the vehicle after the deterrent message has been issued; or The deterrent message is stopped when the duration for which the moving object leaves the preset spatial range of the vehicle after the deterrent message is issued is greater than or equal to a second time threshold; or When or after issuing a deterrent message, send an alarm message to the user; and when the object is moved away from the vehicle's preset spatial range after issuing the deterrent message, send a threat cancellation message to the user; or When or after issuing a deterrent message, an alarm message is sent to the user; and when the duration of the moving object leaving the vehicle's preset spatial range after issuing the deterrent message is greater than or equal to a second time threshold, a threat cancellation message is sent to the user.

9. The vehicle control method according to claim 2, characterized in that, The dwell time information is determined using information detected by a visible light camera; The gait information is determined by information detected by lidar; and / or The body temperature information is determined through information detected by a thermal imaging sensor; and / or The heart rate information was determined using information detected by millimeter-wave radar.

10. The vehicle control method according to claim 9, characterized in that, The heart rate information is determined by information detected by millimeter-wave radar, including: the heart rate information is determined by performing chest cavity micro-motion analysis on information detected by millimeter-wave radar.

11. The vehicle control method according to claim 2, characterized in that, The step of acquiring gait information, body temperature information, and heart rate information of the moving object within the preset space range of the vehicle when the duration of its stay within the vehicle's space range is greater than or equal to a first time threshold includes: When a moving object is found within a preset space of the vehicle, the duration of the moving object's stay within the preset space of the vehicle is obtained. When the dwell time is greater than or equal to a first time threshold, gait information, body temperature information, and heart rate information of moving objects within a preset spatial range of the vehicle are acquired.

12. A vehicle control system, characterized in that, include: A sensing module, which is used to acquire biometric information of moving objects within a preset spatial range of the vehicle; as well as A controller, wherein the controller is used to control the deterrence information issuing module to issue deterrence information when it is determined from the biometric information that a moving object poses a threat; The biometric information includes at least behavioral and physiological characteristics.

13. The vehicle control system according to claim 12, characterized in that, The behavioral characteristic information includes: gait information and dwell time information; the biometric information includes: body temperature information and heart rate information; The acquisition module includes: A visible light camera, wherein the information detected by the visible light camera is used to determine the dwell time information; The lidar detects information used to determine the presence of a moving object within a preset spatial range of the vehicle and to determine the gait information. A thermal imaging sensor, wherein the information detected by the thermal imaging sensor is used to determine the body temperature information; and A millimeter-wave radar, wherein the information detected by the millimeter-wave radar is used to determine the heart rate information.

14. An electrical device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1-11.

15. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1-11.

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