Unlocking / locking control method and apparatus, and vehicle

Abstract

An unlocking / locking control method and apparatus (10), and a vehicle (100). The unlocking / locking control method comprises: in a locked state, detecting a target (P) within a first preset range (C1) by means of a radar (11), and acquiring a moving speed (V) of the target (P); if the target (P) is detected and the moving speed (V) of the target (P) is lower than a preset speed threshold V0, starting a low-power camera (12) and performing posture recognition on the target (P) within a second preset range (C2) by means of the low-power camera (12), wherein the second preset range (C2) is smaller than the first preset range (C1); if it is determined that the posture of the target (P) satisfies a preset posture condition, starting a depth camera (13) and performing facial recognition on the target (P) within a third preset range (C3) by means of the depth camera (13), wherein the third preset range (C3) is smaller than the second preset range (C2); and if the facial recognition succeeds, sending an unlocking instruction for unlocking.

Description

Opening and locking control method, device and vehicle

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 20, 2023, with application number 202310890725.1 and application name “Opening and closing lock control method, device and vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of security, and in particular to a method for controlling an opening and closing lock, a device for controlling an opening and closing lock, and a vehicle. Background Art

[0003] Vehicles are gradually entering the intelligent era. To enhance the user experience, various manufacturers have introduced sensorless locking and unlocking functions, enabling user-free unlocking and locking. However, existing locking and unlocking control methods often require long standby periods for related components, and for safety reasons, the components used consume relatively high power, resulting in increased energy consumption for sensorless locking and unlocking functions.

[0004] Summary of the Invention

[0005] This application proposes a method for controlling unlocking and closing locks with low power consumption and relatively high unlocking accuracy, an unlocking and closing lock control device, and a vehicle, specifically including the following technical solutions:

[0006] In a first aspect, the present application provides an opening and closing lock control method, comprising the following steps:

[0007] In a locked state, the radar detects a target within a first preset range and obtains the target's moving speed;

[0008] If a target is detected and its moving speed is lower than a preset speed threshold V0, the low-power camera is activated and the posture of the target is recognized within a second preset range by the low-power camera; wherein the second preset range is smaller than the first preset range;

[0009] If it is determined that the posture of the target meets the preset posture condition, the depth camera is started and the face recognition of the target is performed within a third preset range by the depth camera; wherein the third preset range is smaller than the second preset range;

[0010] If facial recognition is successful, an unlock command is issued to unlock the door.

[0011] The unlocking and locking control method of this application first detects a target within a first preset range using radar and obtains the target's moving speed. This can block objects moving too fast or people using vehicles, preventing the low-power camera from being frequently activated. Then, the low-power camera performs posture recognition on the target to determine whether the target intends to approach the vehicle, avoiding the frequent activation of the depth camera due to the detection of passers-by. Finally, the depth camera performs facial recognition on the target to unlock the door.

[0012] Because the power consumption of radar, low-power camera and depth camera increases step by step, and the recognition range decreases step by step, the method of this application sets the screening conditions in combination with the user's usage scenario through the cooperation of radar, low-power camera and depth camera, and ultimately achieves the effect of lower power consumption and higher recognition accuracy.

[0013] In one embodiment, the time from when the radar detects the target to when the low-power camera is activated is T1, the first preset range is less than or equal to W1, the second preset range is less than or equal to W2, and W2 satisfies the condition: W2≥W1-V0×T1.

[0014] In this embodiment, the process from radar detecting a target to the low-power camera completing activation includes: radar detecting the target, obtaining the target's moving speed, determining whether the target's moving speed meets a preset speed threshold V0, sending a signal to activate the low-power camera, and the low-power camera completing activation. The duration of this process, combined with the target's moving speed, is considered when setting W2. This ensures that the low-power camera's detection range meets recognition requirements and prevents premature activation of the low-power camera, which increases power consumption.

[0015] In one embodiment, the time duration from when the low-power camera starts to recognize to when the depth camera starts is T2, the third preset range is less than or equal to W3, and W3 satisfies the condition: W3≥W2-V0×T2.

[0016] In this embodiment, the process from low-power camera activation to depth camera activation includes: the low-power camera identifying the target's posture, determining that the target's posture meets the preset posture conditions, sending a signal to activate the depth camera, and the completion of the depth camera activation. The duration of this process, combined with the target's movement speed, is considered when setting W3 to ensure that the depth camera's detection range meets the recognition requirements and to avoid premature activation of the depth camera, which increases power consumption.

[0017] In one embodiment, the first preset range is less than or equal to 5 m; and / or,

[0018] The second preset range is less than or equal to 3m; and / or,

[0019] The third preset range is less than or equal to 1 m.

[0020] In this embodiment, the recognition and activation speeds of the radar, low-power camera, and depth camera are set to the maximum values ​​of each preset range, which can ensure the reliable implementation of the method of the present application and save power consumption.

[0021] In one embodiment, before detecting a target within a first preset range by a radar and obtaining the moving speed of the target in a locked state, the method further includes:

[0022] Collect multiple identification data and filter the identification data that meets user needs based on a predetermined algorithm;

[0023] The filtered identification data that meets the user's needs is processed to determine the second preset range and / or the third preset range.

[0024] In this embodiment, the second preset range and / or the third preset range may also be determined based on historical data. The historical data may represent the user's usage habits, and the user's habits may be analyzed using a neural network or other method to determine the activation and recognition timing of the low-power camera and / or the depth camera, thereby further reducing power consumption and improving recognition accuracy.

[0025] In one embodiment, the preset speed threshold V0 is less than or equal to 1.5 m / s; and / or,

[0026] The preset posture condition is that the target's face is facing the low-power camera at an angle less than or equal to 45°.

[0027] In this embodiment, a person's walking speed is usually less than or equal to 1.5 m / s. The setting of the preset speed threshold V0 can effectively filter out objects and people using transportation, avoiding frequent activation of the low-power camera; and when a user walks towards a vehicle to get on, his face is usually facing the vehicle. The setting of the preset posture condition can effectively filter out passing pedestrians, avoiding frequent activation of the depth camera.

[0028] In one embodiment, before detecting a target within a first preset range by a radar and obtaining the moving speed of the target in a locked state, the method further includes:

[0029] Collect multiple identification data and filter the identification data that meets user needs based on a predetermined algorithm;

[0030] The identified data that meets the user's needs after screening is processed to determine the preset speed threshold V0.

[0031] In this embodiment, the preset speed threshold V0 can also be determined based on historical data. The historical data can represent the user's usage habits. Using a neural network or other method to analyze the user's habits to determine when the radar activates the low-power camera can further reduce power consumption and improve recognition accuracy.

[0032] In one embodiment, if it is determined that the posture of the target meets the preset posture condition, facial recognition of the target is performed within a third preset range by using a depth camera, including:

[0033] Determining that the target's posture satisfies a preset posture condition, and the target's height and / or body shape satisfies a preset appearance condition;

[0034] The depth camera is used to perform facial recognition on the target within a third preset range.

[0035] In this embodiment, the low-power camera can also perform preliminary recognition of the target's height and body shape, and combine the target's posture to determine whether the target is the car owner, thereby improving recognition accuracy and further avoiding the depth camera from being frequently activated to reduce power consumption.

[0036] In one embodiment, performing facial recognition on a target within a third preset range using a depth camera includes:

[0037] Performing facial recognition on a target within a third preset range using a depth camera;

[0038] Based on the facial information of the recognized target, it is determined in sequence whether the recognized target face is a human face, whether the target is a living body, and whether the target face is consistent with the preset facial information.

[0039] In this embodiment, the depth camera can perform face recognition, liveness recognition, and facial recognition on the target in sequence, gradually improving the accuracy and reliability of recognition.

[0040] In one embodiment, performing facial recognition on a target within a third preset range using a depth camera further includes:

[0041] If the facial recognition of the target is performed by the depth camera within a third preset range for more than a predetermined number of times and the unlocking is not successful; and / or, if the facial recognition of the target is performed by the depth camera within a fourth preset range and the unlocking is not successful, a warning signal is sent to the user and the image data captured by the depth camera is sent synchronously; wherein the fourth preset range is less than or equal to the third preset range.

[0042] In this embodiment, when the depth camera fails to unlock the face after multiple facial recognition attempts, or when the depth camera recognizes a target that is too close to the vehicle, the safety of the vehicle may be affected. Therefore, a warning signal is sent to alert the owner, and image data is sent synchronously, which can improve the safety of this method.

[0043] In one embodiment, after issuing the unlock instruction, the method further includes:

[0044] In the unlocked state, the palm vein image is acquired within a third preset range by using the infrared fill light and the depth camera;

[0045] If it is determined that the palm vein image coincides with the preset palm vein image, it is re-locked.

[0046] In this embodiment, in the unlocked state, the user's palm veins can also be identified through the cooperation of infrared fill light and depth camera to provide the user with the function of quickly locking the door through a specific gesture, thereby improving the user experience.

[0047] In a second aspect, the present application provides an opening and closing lock control device, comprising:

[0048] A radar, configured to detect a target within a first preset range and obtain a moving speed of the target;

[0049] A low-power camera for performing posture recognition of a target within a second preset range;

[0050] a depth camera, configured to perform facial recognition on a target within a third preset range;

[0051] The controller is used to control the radar, low-power camera and depth camera to start up in sequence, and to issue unlocking commands to unlock the car.

[0052] It is understandable that the unlocking and locking control device provided in the second aspect of the present application can be used to implement the unlocking and locking control method provided in the first aspect under the control of the controller. The unlocking and locking control device of the present application also improves recognition accuracy and reduces power consumption.

[0053] One embodiment further includes a fill light for providing fill light assistance for the low-power camera.

[0054] One embodiment further includes a signal transmitter, which is used to send a warning signal to the user after unlocking fails and synchronously send image data captured by the depth camera.

[0055] One embodiment further includes a signal receiver, which is used to receive preset facial information or a system upgrade package input by a user.

[0056] In a third aspect, the present application provides a vehicle, which is controlled by the opening and locking control method provided in the first aspect of the present application; and / or the vehicle includes the opening and locking control device provided in the second aspect of the present application.

[0057] The vehicle provided in the third aspect of the present application is controlled by the unlocking and locking control method provided in the first aspect of the present application; and / or includes the unlocking and locking control device provided in the second aspect of the present application, which can improve the safety of the vehicle and reduce the power consumption of the vehicle. Because the vehicle provided in the third aspect of the present application is controlled by the unlocking and locking control method provided in any of the above embodiments, and / or includes the unlocking and locking control device provided in any of the above embodiments, the vehicle provided in the third aspect of the present application has all possible beneficial effects of the unlocking and locking control method provided in any of the above embodiments, and / or has all possible beneficial effects of the unlocking and locking control device provided in any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application.

[0059] FIG1 is a schematic diagram of a working scenario of a vehicle provided in an embodiment of the present application;

[0060] FIG2 is a schematic diagram of an internal frame structure of an opening and closing lock control device provided in an embodiment of the present application;

[0061] FIG3 is a schematic diagram of the workflow of the unlocking and locking control method provided in an embodiment of the present application;

[0062] FIG4 is a schematic diagram of the working process of the unlocking and locking control method provided by an embodiment of the present application in a locked state by detecting a target within a first preset range through a radar;

[0063] FIG5 is a schematic diagram of one working process of a low-power camera according to the unlocking and locking control method provided in an embodiment of the present application;

[0064] FIG6 is a second schematic diagram of the working process of the low-power camera according to the unlocking and locking control method provided in an embodiment of the present application;

[0065] FIG7 is a schematic diagram of another internal frame structure of the opening and closing and locking control device provided in an embodiment of the present application;

[0066] FIG8 is a schematic diagram of the working process of the depth camera of the unlocking and locking control method provided in an embodiment of the present application;

[0067] FIG9 is a schematic diagram of a workflow of the lock and unlock control method according to an embodiment of the present application for performing facial recognition on a target within a third preset range using a depth camera;

[0068] FIG10 is a schematic diagram of another internal frame structure of the opening and closing and locking control device provided in an embodiment of the present application;

[0069] FIG11 is a schematic diagram of the working process of determining whether the height of a target meets the preset appearance condition in the embodiment shown in FIG9 of the present application;

[0070] FIG12 is a schematic diagram of a workflow of the lock and unlock control method according to an embodiment of the present application, in which a depth camera is used to perform facial recognition on a target within a third preset range;

[0071] FIG13 is a schematic diagram of a workflow of the lock and unlock control method according to an embodiment of the present application, in which a depth camera is used to perform facial recognition on a target within a third preset range;

[0072] FIG14 is a schematic diagram of a topological structure of an opening and locking control device provided in an embodiment of the present application;

[0073] FIG15 is a schematic diagram of the topological structure of another architecture of the opening and closing control device provided in an embodiment of the present application;

[0074] FIG16 is a schematic diagram of a workflow of the unlocking and locking control method provided in an embodiment of the present application, in which a depth camera is used to perform facial recognition on a target within a third preset range;

[0075] FIG17 is a schematic diagram of another internal frame structure of the opening and closing and locking control device provided in an embodiment of the present application;

[0076] FIG18 is a schematic diagram of a workflow of the lock and unlock control method provided by an embodiment of the present application, in which a depth camera is used to perform facial recognition on a target within a third preset range;

[0077] FIG19 is a schematic diagram of the installation of various functional components in the opening and closing control device provided in an embodiment of the present application;

[0078] FIG20 is a schematic diagram of the target's travel route identified by the unlocking and locking control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0079] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0080] Please refer to Figure 1, which is a schematic diagram of a working scenario of a vehicle 100 provided in an embodiment of the present application. The vehicle 100 of the present application includes a body 101 and doors 102. The doors 102 are rotatably connected to the body 101. The body 101 is used to realize functions such as driving, carrying people and goods of the vehicle 100. The doors 102 can rotate relative to the body 101 to realize the effect of opening or closing the vehicle 100, thereby allowing users to enter or exit the interior of the vehicle 101.

[0081] In one embodiment, a vehicle 100 includes an opening / locking control device 10 . The opening / locking control device 10 may be disposed in a vehicle body 101 and configured to control the opening / closing state of a vehicle door 102 and to lock the vehicle door 102 .

[0082] For example, when the unlocking and locking control device 10 is activated, the door 102 of the vehicle 100 can be opened, exposing an opening to the outside of the vehicle body 101, and the user can enter the interior of the vehicle body 101 through the opening to ride or drive the vehicle 100, or the user can exit the vehicle body 101 through the opening to leave the vehicle 100.

[0083] For example, when the opening and closing locking control device 10 locks the vehicle door 102, it can lock the closed state of the vehicle door 102, that is, the vehicle door 102 cannot rotate relative to the vehicle body 101 when closed. At this time, the vehicle door 102 will form a riding space together with the vehicle body 101 to provide protection for users riding inside the vehicle body 101, thereby improving the safety of the vehicle 100.

[0084] It should be noted that the embodiment shown in FIG1 merely illustrates a possible placement location of the unlocking and locking control device 10 within the vehicle 100, and does not limit the actual structural shape and size of the unlocking and locking control device 10. For example, in the embodiment shown in FIG1 , the unlocking and locking control device 10 is not mounted on the window glass of the vehicle door 102 to avoid obstructing the view through the window. In other embodiments of the present application, the actual structural shape, size, and placement of the unlocking and locking control device 10 can be adjusted based on actual design requirements.

[0085] In one embodiment, the vehicle 100 may also use an opening and closing control method to control the opening and closing state of the door 102 of the vehicle 100. The opening and closing control method provided in the embodiment of the present application may be implemented by the opening and closing control device 10.

[0086] In the embodiment shown in FIG1 , the unlocking and locking control device 10 and the unlocking and locking control method are only used to lock the door 102 of the vehicle 100 , but the unlocking and locking control device 10 and the unlocking and locking control method are not limited to being used only to lock the door 102 of the vehicle 100 .

[0087] In other embodiments of the present application, the unlocking and locking control device 10 and the unlocking and locking control method may also be applied to, but are not limited to, access control, smart home appliances, or other transportation scenarios. The specific use environments of the unlocking and locking control device 10 and the unlocking and locking control method of the present application are not limited in the present embodiment. In the embodiments provided in this specification, the unlocking and locking control device 10 is described using the vehicle 100 as an example.

[0088] In order to facilitate understanding of the unlocking and locking control method provided in the embodiment of the present application and the control process of the vehicle door 102 of the vehicle 100 by the unlocking and locking control device 10 provided in the embodiment of the present application, this application specification will simultaneously introduce the unlocking and locking control method of the present application in conjunction with the unlocking and locking control device 10.

[0089] Please refer to Figures 2 and 3 . Figure 2 is a schematic diagram of the internal structure of the unlocking and locking control device 10 provided in an embodiment of the present application, and Figure 3 is a schematic diagram of the workflow of the unlocking and locking control method provided in an embodiment of the present application. As shown in Figure 2 , the unlocking and locking control device 10 of the present application includes a radar 11, an ultra low power camera (ULPC) 12, a time of flight (ToF) camera 13, and a controller 14.

[0090] The controller 14 is used to control the radar 11, the low-power camera 12 and the depth camera 13 to start up in sequence, and to issue an unlocking command to unlock the door 102 of the vehicle 100, that is, to enable the door 102 of the vehicle 100 to be opened.

[0091] Specifically, the controller 14 is electrically connected to the radar 11, the low-power camera 12, and the depth camera 13, respectively, to transmit control instructions to the radar 11, the low-power camera 12, and the depth camera 13, respectively, so that the radar 11, the low-power camera 12, and the depth camera 13 can respond based on the received control instructions. The controller 14 can be, but is not limited to, a microcontroller unit (MCU).

[0092] It should be noted that in the embodiment shown in FIG2 , the controller 14 is electrically connected to the radar 11, the low-power camera 12, and the depth camera 13, respectively, for illustrative purposes only. However, the controller 14 is not limited to being electrically connected to the radar 11, the low-power camera 12, and the depth camera 13 of the unlocking and locking control device 10 provided in the embodiment of the present application. In other embodiments of the present application, the controller 14 may also be electrically connected to other functional components of the unlocking and locking control device 10, thereby controlling the coordination between the various functional components within the unlocking and locking control device 10 to meet the user's preset requirements.

[0093] As shown in FIG3 , the unlocking and locking control method provided in the embodiment of the present application includes the following steps:

[0094] S100, in a locked state, detecting a target P within a first preset range C1 by using the radar 11 and obtaining a moving speed V of the target P;

[0095] Specifically, please refer to Figure 4 , which illustrates the process of detecting a target P within a first preset range C1 using radar 11 in a locked state using the unlocking and locking control method provided by an embodiment of the present application. As shown in Figure 4 , radar 11 continuously maintains a detection state, enabling real-time detection of a target P moving within the first preset range C1 and obtaining the target P's velocity V within the first preset range C1.

[0096] The first preset range C1 can be understood as the detection range of the radar 11. The target P can be understood as a moving person or a person driving a vehicle within the first preset range C1 of the radar 11. The radar 11 detects the target P, and the radar 11 can obtain the moving speed V of the target P, that is, the walking speed of the target P within the first preset range C1, or the driving speed of the target P when driving a vehicle, etc., which is referred to as "moving speed V" in this application specification.

[0097] The radar 11 continuously maintains a detection state so as to be able to detect the target P moving into the first preset range C1 in real time and obtain the moving speed V of the target P within the first preset range C1.

[0098] Exemplarily, within the first preset range C1, the target P detected by the radar 11 can be a person walking toward the vehicle 100, which is the first target P1 in the schematic diagram of Figure 4, and the moving speed of the first target P1 within the first preset range C1 obtained by the radar 11 is the first moving speed V1.

[0099] Exemplarily, within the first preset range C1, the target P detected by the radar 11 can be a person walking past the vehicle 100, which is the second target P2 in the schematic diagram of Figure 4, and the radar 11 can obtain that the moving speed of the second target P2 within the first preset range C1 is the second moving speed V2.

[0100] Exemplarily, within the first preset range C1, the target P detected by the radar 11 may be a person riding past the vehicle 100, which is the third target P3 in the schematic diagram of Figure 4, and the radar 11 can obtain that the moving speed of the third target P3 within the first preset range C1 is the third moving speed V3.

[0101] It should be noted that, in the embodiment shown in FIG4 , only one possible type of target P detected by the radar 11 within the first preset range C1 is used as an example for illustrative introduction, but the number and type of targets P that can be detected by the radar 11 within the first preset range C1 in the embodiment of the present application are not limited to this, nor is the moving direction of the target P limited to that shown in FIG4 .

[0102] For example, the target P may also be, but not limited to, running past, toward, or away from the vehicle 100. The target P may also be, but not limited to, driving a car, motorcycle, or other vehicle past, toward, or away from the vehicle 100.

[0103] In one embodiment, the first preset range C1 is less than or equal to W1. W1 can be understood as the maximum value of the first preset range C1. Alternatively, it can be understood as the distance between the target P and the vehicle 100 detected by the radar 11 being less than or equal to W1. That is, the maximum value of the distance between the target P and the vehicle 100 detected by the radar 11 is W1. In this specification, W1 is referred to as "the maximum value W1 of the first preset range C1."

[0104] In one embodiment, the first preset range C1 is less than or equal to 5 m.

[0105] For example, in a possible embodiment, the first preset range C1 may be, but is not limited to, less than or equal to 4 meters.

[0106] As can be understood, the unlocking and locking control method of the present application uses the radar 11 to detect the target P within the first preset range C1 and obtain the moving speed V of the target P. The radar 11 transmits the target P detected within the first preset range C1 and the moving speed V of the target P to the controller 14, thereby enabling the controller 14 to control other functional components in the unlocking and locking control device 10 to perform subsequent steps based on the information transmitted by the radar 11.

[0107] S200, if a target P is detected and the moving speed V of the target P is lower than a preset speed threshold V0, the low-power camera 12 is activated and the posture of the target P is recognized within a second preset range C2 by the low-power camera 12; wherein the second preset range C2 is smaller than the first preset range C1;

[0108] The low-power camera 12 is configured to perform posture recognition on the target P within the second preset range C2. Specifically, the low-power camera 12 can obtain image information of the user's posture within the second preset range C2. The posture of the target P can be understood as the user's head posture, hand gestures, walking posture, or posture of other body parts, and can also be understood as the walking direction of the target P.

[0109] Specifically, please refer to Figure 5, which is a schematic diagram of the working process of the low-power camera 12 in the unlocking and locking control method provided by an embodiment of the present application. The radar 11 detects the target P within the first preset range C1 and obtains the moving speed V of the target P.

[0110] It should be noted that in the embodiment shown in Figure 5, after the radar 11 detects the target P within the first preset range C1, the radar 11 can automatically shield the target P whose moving speed V is greater than the preset speed threshold V0, but when the moving speed of the target P is less than the preset speed threshold V0, the radar 11 will obtain the moving speed V of the target P and trigger the controller 14 to start the low-power camera 12.

[0111] That is, in the embodiment of the present application, it is possible but not limited to the radar 11 to independently determine whether the moving speed V of the target P within the first preset range C1 is less than the preset speed threshold V0.

[0112] In other embodiments of the present application, after the radar 11 detects the target P within the first preset range C1 and obtains the moving speed V of the target P, the radar 11 can also, but is not limited to, transmit the obtained position information, speed information, etc. of the target P to the controller 14, and determine through the controller 14 whether the moving speed V of the target P is less than the preset speed threshold V0.

[0113] For example, when the radar 11 detects the target P within the first preset range C1, that is, the distance between the target P and the vehicle 100 is less than the maximum value W1 of the first preset range C1, the radar 11 will synchronously obtain the moving speed V of the target P, and can, but is not limited to, determine through the controller 14 whether the moving speed V of the target P is less than the preset speed threshold V0.

[0114] When the radar 11 obtains the moving speed of the target P whose moving speed V is less than the preset speed threshold V0, or when the controller 14 determines that the moving speed V of the target P is less than the preset speed threshold V0, the controller 14 can be triggered to send a start signal to the low-power camera 12. The low-power camera 12 executes the corresponding start program to start based on the received start signal.

[0115] When the moving speed of the target P detected by the radar 11 is greater than the preset speed threshold V0, the controller 14 will not send a start signal to the low-power camera 12 to avoid the person driving the vehicle or other personnel accidentally triggering the low-power camera 12, causing the low-power camera 12 to start invalidly, thereby improving the effectiveness of the low-power camera 12 startup while reducing power consumption.

[0116] For example, as shown in FIG5 , within a first preset range C1, the radar 11 will automatically block targets P whose moving speed V is greater than a preset speed threshold V0, and acquire targets P whose moving speed V is less than the preset speed threshold V0, illustrated in FIG5 as a first target P1, which has a first moving speed V1. At this point, the radar 11 will acquire the first moving speed V1 of the first target P1 and trigger the controller 14 to send a start signal to the low-power camera 12, thereby activating the low-power camera 12.

[0117] For example, as shown in FIG5 , within the first preset range C1, the radar 11 detects the second target P2, and the radar 11 obtains that the second target P2 has a second moving speed V2. At this time, the radar 11 transmits the data information of the second moving speed V2 of the second target P2 to the controller 14, and the controller 14 determines that the second moving speed V2 of the second target P2 is greater than the preset speed threshold V0. For example, the second target P2 may be a person riding a bicycle or a person driving other means of transportation. At this time, the controller 14 determines that the second moving speed V2 of the second target P2 does not meet the conditions for starting the low-power camera 12, and will not send a start signal to the low-power camera 12.

[0118] As can be appreciated, by determining whether the moving speed V of the target P detected by the radar 11 satisfies the preset speed threshold V0, targets P detected by the radar 11 at a speed V greater than the preset speed threshold V0 can be ignored or blocked, thereby preventing the low-power camera 12 from being frequently activated. Furthermore, by blocking objects or people using a vehicle that are moving too fast, the unlocking and locking control method of the present application can improve the accuracy and efficiency of identifying users who wish to open the door 102 of the vehicle 100, while also reducing power consumption.

[0119] That is, the radar 11 detects the target P within the first preset range C1 and obtains the moving speed V of the target P. If the moving speed V of the target P is greater than the preset speed threshold V0 of the unlocking and locking control method of the present application, the target P is determined to be a person who does not have the need to open the door 102 of the vehicle 100, and the person who does not have the need to open the door 102 of the vehicle 100 is excluded as an interference item, and the target P is ignored or blocked to prevent the low-power camera 12 from being falsely triggered by people passing by and who do not have the need to open the door 102 of the vehicle 100 or people driving the vehicle, that is, to avoid frequent activation of the low-power camera 12, so as to accurately determine the user who has the need to open the door 102, improve the accuracy of the activation of the low-power camera 12, and thus improve the unlocking accuracy and usage effect of the unlocking and locking control method of the present application, and enhance the user experience and the safety of the vehicle 100.

[0120] In one embodiment, before detecting a target within a first preset range by a radar and obtaining the moving speed of the target in a locked state, the method further includes:

[0121] Collect multiple identification data and filter the identification data that meets user needs based on a predetermined algorithm;

[0122] The identified data that meets the user's needs after screening is processed to determine the preset speed threshold V0.

[0123] Specifically, each time the user triggers and activates the low-power camera 12 during the process of opening the vehicle door 102 using the unlocking and locking control method of the present application, the radar 11 will obtain information such as the user's movement speed V at that time. Each time the radar 11 obtains the user's movement speed V when triggering and activating the low-power camera 12, a historical data is generated and stored. If the user opens the vehicle door 102 multiple times using the unlocking and locking control method of the present application, multiple historical data will be generated.

[0124] Filtering identification data that meets user requirements based on a predetermined algorithm can be understood as filtering multiple historical data obtained when the user activates the low-power camera 12, which can be, but is not limited to, using a neural network or other algorithm to filter historical data that meets low power consumption, short waiting time, or other requirements that meet user requirements. The filtered historical data, i.e., the filtered identification data that meets user requirements, can be processed using, but is not limited to, an average value or other possible data processing methods to determine the preset speed threshold V0.

[0125] It can be understood that the multiple historical data generated when the user triggers and starts the low-power camera 12 can represent the user's usage habits when using the unlocking and locking control method of the present application to open the door 102 of the vehicle 100. The user habits can be analyzed by, but not limited to, neural networks and other methods to determine the timing for the radar 11 to start the low-power camera 12, which can further reduce power consumption and improve recognition accuracy.

[0126] At the same time, determining the preset speed threshold V0 based on multiple historical data when the user starts the low-power camera 12 can also improve the adaptability of the unlocking and locking control method of the present application to users, and achieve the effect of unlocking the lock without feeling for the user by the unlocking and locking control method of the present application, thereby improving the user's use effect and experience of the unlocking and locking control method of the present application.

[0127] In one embodiment, the preset speed threshold V0 is less than or equal to 1.5 m / s. For example, the preset speed threshold V0 may be 1.5 m / s, or 1.4 m / s, etc.

[0128] It is understood that, under normal circumstances, when a user opens the door 102 of the vehicle 100, they typically approach the vehicle 100 by walking, and a person's walking speed is generally less than or equal to 1.5 m / s. Therefore, by setting the preset speed threshold V0 to be less than or equal to 1.5 m / s, objects and people using vehicles can be effectively filtered out, reducing the number of false triggers of the low-power camera 12, and thus preventing the low-power camera 12 from being frequently activated and affecting its operating performance.

[0129] In one embodiment, before detecting a target within a first preset range by a radar and obtaining the moving speed of the target in a locked state, the method further includes:

[0130] The recognition data is collected multiple times, and the initial preset speed threshold is adjusted based on the collected recognition data to determine the preset speed threshold V0.

[0131] Specifically, when the unlocking and closing control method or the unlocking and closing control device 10 of the present application is first used to identify a user and unlock the car, the low-power camera 12 can be triggered based on an initial preset speed threshold. Subsequently, the radar 11 can acquire multiple historical data each time the user triggers and activates the low-power camera 12, and the initial preset speed threshold can be continuously adjusted based on the acquired multiple historical data, so that the initial preset speed threshold is close to or consistent with the user's habits, ultimately obtaining the preset speed threshold V0. This can improve the accuracy of the preset speed threshold V0 and further enhance the non-sensing unlocking effect of the unlocking and closing control method or the unlocking and closing control device 10 of the present application.

[0132] Further, please refer to Figure 6, which illustrates the operation of the low-power camera 12 in accordance with the unlocking and locking control method provided in an embodiment of the present application. When the radar 11 detects a target P within the second preset range C2, it transmits a detection signal to the controller 14. Upon receiving the signal indicating that the radar 11 has detected the target P within the second preset range C2, the controller 14 transmits a recognition signal to the low-power camera 12, instructing the low-power camera 12 to begin performing posture recognition on the target P.

[0133] The second preset range C2 is smaller than the first preset range C1.

[0134] The second preset range C2 is less than or equal to W2. W2 can be understood as the maximum value of the second preset range C2. In this specification, W2 is referred to as "the maximum value W2 of the second preset range C2." If the second preset range C2 is smaller than the first preset range C1, it can be understood that the maximum value W2 of the second preset range C2 is smaller than the maximum value W1 of the first preset range C1.

[0135] For example, when the radar 11 can transmit the distance information of the target P relative to the vehicle 100 to the controller 14, it can but is not limited to judging through the controller 14 whether the distance between the target P and the vehicle 100 is within the second preset range C2, that is, judging through the controller 14 whether the distance between the target P and the vehicle 100 is less than the maximum value W2 of the second preset range C2.

[0136] If it is determined that the target P is within the second preset range C2, that is, the distance between the target P and the vehicle 100 is less than the second preset range C2, the controller 14 is triggered to start the low-power camera 12 to start posture recognition of the target P.

[0137] Among them, the low-power camera 12 can perform posture recognition on the target P. The low-power camera 12 can be understood as the head posture, gestures, walking posture or posture of other body parts of the target P, and can also be understood as the walking direction of the target P.

[0138] For example, the low-power camera 12 can identify the head angle of the target P to determine whether the target P has the action or posture of preparing to open the door.

[0139] The low-power camera 12 can also identify the outer contour of the target P for recognition. The outer contour can be understood as the contour features of the target P, such as height and body shape, to determine whether the target P is a person, or to provide auxiliary reference information for determining whether the identified target P is the owner of the vehicle 100, thereby improving the recognition accuracy and reliability of the low-power camera 12.

[0140] In one embodiment, the time from when the radar 11 detects the target P to when the low-power camera 12 is activated is T1, and the maximum value of the second preset range C2 is W2, which satisfies the condition: W2 ≥ W1 - V0 × T1.

[0141] Specifically, as shown in FIG6 , the process from when the radar 11 detects the target P to when the low-power camera 12 is started includes:

[0142] The radar 11 detects that the target P moves to the maximum value W1 of the first preset range C1, and simultaneously obtains the moving speed V of the target P at this time;

[0143] The radar 11 transmits the acquired speed information of the target P whose moving speed V is less than the preset speed threshold V0 to the controller 14 , and triggers the controller 14 to send a start signal to the low-power camera 12 .

[0144] The low-power camera 12 receives a start signal from the controller 14 and loads an internal start program to start the low-power camera 12;

[0145] The low-power camera 12 is started up successfully.

[0146] In the present application specification, the time required from the radar 11 detecting the target P to the completion of the startup of the low-power camera 12 is indicated as T1 in FIG6 , that is, the time required from the time the radar 11 detects the target P moving to the maximum value W1 position of the first preset range C1 and triggers the startup of the low-power camera 12 until the completion of the startup of the low-power camera 12 is T1.

[0147] It can be understood that when setting the maximum value W2 of the second preset range C2, referring to the time consumption of this process and the moving speed V of the target P can ensure that the detection range of the low-power camera 12 meets the recognition requirements and avoid the low-power camera 12 starting prematurely to increase power consumption.

[0148] In one embodiment, the time for the radar 11 to detect the target P and obtain the moving speed V of the target P can be, but is not limited to, 180 ms.

[0149] In one embodiment, the loading time of the low-power camera 12, that is, the startup time of the low-power camera 12 can be but is not limited to 520 ms.

[0150] In one embodiment, the second preset range C2 is less than or equal to 3 meters. It can be understood that the second preset range C2 is less than or equal to 3 meters, that is, the distance between any position within the second preset range C2 detected by the radar 11 and the vehicle 100 is less than or equal to 3 meters. It can also be understood that the maximum value W2 of the second preset range C2 is less than or equal to 3 meters.

[0151] It can be understood that in order to ensure the recognition accuracy and reliability of the low-power camera 12, this embodiment sets the second preset range C2 to be less than or equal to 3m, that is, when the maximum relative distance between the target P and the vehicle 100 is less than or equal to 3m, the accuracy of the low-power camera 12 in recognizing the posture of the target P and the reliability of the posture recognition of the target P can be guaranteed, thereby improving the effectiveness and accuracy of the unlocking and locking control method of this application to enhance the user experience.

[0152] It should be noted that in the embodiment of the present application, the second preset range C2 is less than or equal to 3m, which is only used as an example for illustrative introduction, but the second preset range C2 detected by the radar 11 of the present application is not limited to being set to less than or equal to 3m.

[0153] In other embodiments of the present application, the size of the second preset range C2 can also be adjusted according to the moving speed of the target P detected by the radar 11, or according to the environment in which the target P is detected by the radar 11.

[0154] By setting the radar 11 to adjust the distance for waking up the low-power camera 12 according to the moving speed V of the detected target P or according to different environments when detecting the target P, the adaptability and adaptability effect of the unlocking and locking control method of the present application can be improved, and the unlocking and locking control method of the present application or the unlocking and locking control device 10 of the present application can be further improved to achieve the effect of the senseless unlocking, thereby improving the user experience.

[0155] In one embodiment, before detecting a target within a first preset range by a radar and obtaining the moving speed of the target in a locked state, the method further includes:

[0156] Collect multiple identification data and filter the identification data that meets user needs based on a predetermined algorithm;

[0157] The identified data that meets the user's needs after screening is processed to determine a second preset range C2.

[0158] Specifically, each time the user opens the vehicle door 102 through the unlocking and locking control method of the present application, the time required from the detection of the target P by the radar 11 to the completion of the startup of the low-power camera 12, or the distance between the user and the vehicle 100 at this time, or the user's moving speed and other relevant information, will form a corresponding historical data and be stored.

[0159] When the user opens the vehicle door 102 multiple times through the unlocking and locking control method of the present application, a plurality of historical data will be generated.

[0160] Filtering identification data that meets user requirements based on a predetermined algorithm can be understood as filtering the acquired multiple historical data using, but not limited to, a neural network or other algorithm to select historical data that meets low power consumption, short waiting time, or other requirements that meet user requirements. The filtered historical data, i.e., the filtered identification data that meets user requirements, can be processed using, but not limited to, an average value or other possible data processing methods to determine the second preset range C2.

[0161] It is understood that the multiple historical data generated by the time it takes for the radar 11 to detect the target P multiple times until the low-power camera 12 is completely activated can represent the user's usage habits when using the unlocking and locking control method of the present application to open the door 102 of the vehicle 100. Based on the multiple historical data obtained, the user's habits can be analyzed using, but not limited to, a neural network or other method to determine the time it takes for the low-power camera 12 to be completely activated after the target P is detected, thereby further reducing power consumption and improving recognition accuracy.

[0162] At the same time, determining the second preset range C2 based on multiple historical data of the time required for the radar 11 to detect the target P multiple times until the low-power camera 12 completes the startup can also improve the adaptability of the unlocking and locking control method of the present application to users, and achieve the effect of unlocking the lock without feeling for the user by the unlocking and locking control method of the present application, thereby improving the user's use effect and experience of the unlocking and locking control method of the present application.

[0163] In one embodiment, before detecting a target within a first preset range by a radar and obtaining the moving speed of the target in a locked state, the method further includes:

[0164] The identification data is collected multiple times, and the initial second preset range is adjusted based on the collected identification data to determine the second preset range C2.

[0165] Specifically, when the unlocking and locking control method or the unlocking and locking control device 10 of the present application is first used to identify the user and unlock, the low-power camera 12 can be activated based on the initial second preset range to start the recognition. The initial second preset range can be understood as the first set second preset range.

[0166] Then, multiple historical data can be formed by the radar 11 detecting the target P multiple times until the low-power camera 12 completes the startup, and the initial second preset range can be continuously adjusted based on the multiple historical data obtained to make the initial second preset range closer to or in line with user habits, and finally obtain the second preset range.

[0167] By continuously adjusting the initial second preset range through the collected identification data to determine the second preset range C2, the accuracy of the second preset range C2 can be improved, and the effect of the non-sensing unlocking of the unlocking and locking control method or the unlocking and locking control device 10 of the present application can be further improved.

[0168] For an embodiment, please refer to Figure 7, which is a schematic diagram of another internal framework structure of the lock and unlock control device 10 provided in an embodiment of the present application. As shown in Figure 7, the lock and unlock control device 10 includes a fill light 15, which is provided in correspondence with the low-power camera 12 to provide fill light assistance for the low-power camera 12.

[0169] Specifically, when the low-power camera 12 is working at night, in a basement, in a dark environment or other insufficiently lit environment, the fill light 15 can be set to provide fill light for the low-power camera 12 to obtain the posture image information of the target P, so as to meet the working requirements of the low-power camera 12, thereby improving the accuracy and precision of the low-power camera 12 in recognizing the posture of the target P and improving the user experience.

[0170] In one embodiment, when the illumination of the environment in which the vehicle 100 is located is less than 10 lux, the controller 14 can control the fill light 15 to start, so as to provide fill light for the low-power camera 12 to perform posture recognition on the target P, or for the depth camera 13 to perform facial recognition on the target P.

[0171] S300, if it is determined that the posture of the target P meets the preset posture condition, the depth camera 13 is started and the face of the target P is recognized within a third preset range C3 by the depth camera 13; wherein the third preset range C3 is smaller than the second preset range C2;

[0172] Specifically, please refer to Figure 8 in conjunction with Figures 2 and 3 , which illustrates the operation of the depth camera 13 in the lock and unlock control method provided in an embodiment of the present application. The depth camera 13 is configured to perform facial recognition on the target P within a third preset range C3 , which can be understood as acquiring facial feature image information of the target P via the depth camera 13 .

[0173] When the radar 11 detects the target P within the second preset range C2 and activates the low-power camera 12 through the controller 14 , the low-power camera 12 begins to recognize the posture of the target P.

[0174] After the low-power camera 12 recognizes the posture of the target P, it can process the posture information of the recognized target P by itself, that is, the low-power camera 12 recognizes and obtains the posture information of the target P, and can determine by itself whether the posture of the target P meets the preset posture conditions.

[0175] If the low-power camera 12 determines that the posture of the target P meets the preset posture condition, the controller 14 is triggered to send a start signal to the depth camera 13. The depth camera 13 starts after receiving the start signal sent by the controller 14.

[0176] It should be noted that in the embodiment of the present application, only the low-power camera 12 can independently determine whether the posture of the identified target P meets the preset posture condition as an example for illustrative description, but the manner in which the present application processes the posture information of the identified target P is not limited to this. In other embodiments of the present application, the controller 14 can also process and determine the acquired posture information of the target P.

[0177] For example, after the low-power camera 12 recognizes the posture of the target P, it can also transmit the recognized posture information to the controller 14. The controller 14 receives the posture information of the target P transmitted by the low-power camera 12 and determines whether the posture of the target P recognized by the low-power camera 12 meets the preset posture condition.

[0178] If the controller 14 determines that the posture of the target P meets the preset posture condition, it sends a start signal to the depth camera 13. The depth camera 13 starts after receiving the start signal sent by the controller 14.

[0179] When the radar 11 detects the target P within the third preset range C3, for example, the target P may continue to move toward the vehicle 100 and the distance between the target P and the vehicle 100 continues to decrease to less than the third preset range C3, the controller 14 will be triggered to send an identification signal to the depth camera 13.

[0180] The depth camera 13 starts to perform facial recognition on the target P after receiving the recognition signal sent by the controller 14 .

[0181] The depth camera 13 performs facial recognition on the target P, which can be understood as the depth camera 13 recognizing the facial features of the target P. This may include, but is not limited to, recognizing facial parts such as the pupils, nose tip, nostrils, lips, and eyebrows of the target P. The overall facial contour of the target P may also be recognized. When the face of the target P is partially obscured, the depth camera 13 may also recognize the facial features of the target P that are exposed.

[0182] In one embodiment, the third preset range C3 is smaller than the second preset range C2.

[0183] The third preset range C3 is less than or equal to W3. W3 can be understood as the maximum value of the third preset range C3. In this specification, W3 is referred to as "the maximum value W3 of the third preset range C3." If the third preset range C3 is smaller than the second preset range C2, it can be understood that the maximum value W3 of the third preset range C3 is smaller than the maximum value W2 of the second preset range C2.

[0184] In one embodiment, the preset posture condition is that the angle of the target P's face toward the low-power camera 12 is less than or equal to 45°.

[0185] Specifically, when the low-power camera 12 performs posture recognition on the target P, it can recognize the angle of the target P's head relative to the low-power camera 12. Since the target P is moving toward the vehicle 100 and has the need to open the door 102 of the vehicle 100, the target P's face is usually facing the vehicle 100. Therefore, it can also be understood that the angle of the target P's face relative to the low-power camera 12 is recognized.

[0186] After the low-power camera 12 obtains the angle information of the head of the target P or the face facing the vehicle 100 relative to the low-power camera 12, the low-power camera 12 can determine by itself whether the angle of the head of the target P or the face facing the vehicle 100 relative to the low-power camera 12 meets the preset posture condition, or it can transmit the obtained angle information to the controller 14, and the controller 14 determines whether the angle of the head of the target P or the face facing the vehicle 100 relative to the low-power camera 12 meets the preset posture condition.

[0187] That is, the low-power camera 12 can determine by itself or the controller 14 can determine whether the angle of the target P's head or the face facing the vehicle 100 relative to the low-power camera 12 is less than or equal to 45°.

[0188] If the preset posture condition is that the angle of the target P's face toward the low-power camera 12 is less than or equal to 45°, the trigger controller 14 sends a start signal to the depth camera 13 to start the depth camera 13 .

[0189] It can be understood that by setting the preset condition that the angle of the target P's face toward the low-power camera 12 is less than or equal to 45°, and when the low-power camera 12 recognizes that the posture of the target P meets the preset condition, the depth camera 13 is started through the controller 14. While the target P who has the need to open the door 102 of the vehicle 100 can start the depth camera 13 in time and perform facial recognition to unlock it, it can also exclude interference items such as other pedestrians passing by the vehicle 100, pedestrians driving a vehicle, or people who have not opened the door 102 of the vehicle 100, that is, it can effectively filter out passing pedestrians to reduce the number of false triggering of the depth camera 13, avoid frequent startup of the depth camera 13 and affect the working performance of the depth camera 13, thereby improving the accuracy and effectiveness of the startup of the depth camera 13.

[0190] In one embodiment, the time duration from when the low-power camera 12 starts to recognize to when the depth camera 13 starts is T2, and the maximum value of the third preset range C3 is W3, which satisfies the condition: W3≥W2-V0×T2.

[0191] Specifically, as shown in FIG8 , the process from the low-power camera 12 starting recognition to the depth camera 13 starting completion includes:

[0192] The low-power camera 12 recognizes the posture of the target P and determines whether the posture information of the target P meets the preset posture condition. If the posture of the identified target P meets the preset posture condition, the trigger controller 14 sends a start signal to the depth camera 13;

[0193] The depth camera 13 receives the start signal sent by the controller 14, and the depth camera 13 loads the internal start program to start;

[0194] The depth camera 13 is started.

[0195] In one embodiment, the time required for the low-power camera 12 to recognize the posture of the target P may be, but is not limited to, 280 ms.

[0196] In one embodiment, the time required for the depth camera 13 to load an internal program and start up, that is, the startup time of the depth camera 13 , may be but is not limited to 607 ms.

[0197] In the present application specification, the time required from the start of recognition by the low-power camera 12 to the completion of the startup of the depth camera 13 is indicated as T2 in FIG8 , that is, the time required from the start of recognition by the low-power camera 12 and the triggering of the startup of the depth camera 13 until the completion of the startup of the depth camera 13 is T2.

[0198] It can be understood that by referring to the time taken in setting the third preset range C3 and combining it with the moving speed V of the target P, the detection range of the depth camera 13 can be ensured to meet the recognition requirements and the depth camera 13 can be prevented from starting prematurely and increasing power consumption.

[0199] In one embodiment, the third preset range C3 is less than or equal to 1 m.

[0200] In order to ensure the recognition accuracy and reliability of the depth camera 13, the present embodiment sets the third preset range C3 to be less than or equal to 1m, that is, when the maximum relative distance between the target P and the vehicle 100 is less than or equal to 1m, the accuracy of the depth camera 13 in recognizing the facial features of the target P and the reliability of the facial features of the target P can be guaranteed, thereby improving the effectiveness and accuracy of the unlocking and locking control method of the present application to enhance the user experience.

[0201] At the same time, in the embodiment of the present application, the first preset range C1, the second preset range C2, and the third preset range C3 are set accordingly based on the recognition and startup speed of the radar 11, the low-power camera 12, and the depth camera 13, respectively. This can improve the recognition accuracy and recognition reliability of the radar 11, the low-power camera 12, and the depth camera 13, thereby improving the reliability of the unlocking and locking control method of the present application and saving power consumption.

[0202] In one embodiment, before detecting a target within a first preset range by a radar and obtaining the moving speed of the target in a locked state, the method further includes:

[0203] Collect multiple identification data and filter the identification data that meets user needs based on a predetermined algorithm;

[0204] The identified data that meets the user's needs after screening is processed to determine a third preset range C3.

[0205] Specifically, each time a user opens the vehicle door 102 using the unlocking and locking control method of the present application, the time required for the low-power camera 12 to recognize the user's gesture and trigger the activation of the depth camera 13, the user's distance from the vehicle 100 at that time, the user's movement speed at that time, and other information will be stored as a corresponding historical data. If a user opens the vehicle door 102 using the unlocking and locking control method of the present application multiple times, multiple historical data will be accumulated.

[0206] Filtering identification data that meets user requirements based on a predetermined algorithm can be understood as filtering the acquired multiple historical data using, but not limited to, a neural network or other algorithm to select historical data that meets low power consumption, short latency, or other requirements that meet user requirements. The filtered historical data, i.e., the identified data that meets user requirements, can be processed using, but not limited to, an average value or other possible data processing methods to determine the third preset range C3.

[0207] It is understood that the historical data generated each time the low-power camera 12 completes posture recognition of the target P and triggers the activation of the depth camera 13 can represent the user's usage habits when using the unlocking and locking control method of the present application to open the door 102 of the vehicle 100. Based on the accumulated historical data, the user's habits can be analyzed using, but not limited to, neural networks to determine the time required from detecting the target P to the completion of the activation of the low-power camera 12, thereby further reducing power consumption and improving recognition accuracy.

[0208] At the same time, determining the third preset range C3 based on multiple historical data can also improve the adaptability of the unlocking and locking control method of the present application to users, achieve the effect of unlocking the lock without feeling for the user by the unlocking and locking control method of the present application, and thus improve the user's use effect and experience of the unlocking and locking control method of the present application.

[0209] In one embodiment, before detecting a target within a first preset range by a radar and obtaining the moving speed of the target in a locked state, the method further includes:

[0210] The identification data is collected multiple times, and the initial third preset range is adjusted based on the collected identification data to determine the third preset range C3.

[0211] Specifically, when the unlocking and locking control method or the unlocking and locking control device 10 of the present application is first used to identify the user and unlock, the depth camera 13 can be started based on the initial third preset range. The initial third preset range can be understood as the initially set third preset range.

[0212] Then, the historical data generated each time the low-power camera 12 completes the posture recognition of the target P and triggers the depth camera 13 to start up can be used, and the initial third preset range can be continuously adjusted based on the multiple historical data obtained to make the initial third preset range closer to or in line with user habits, and finally obtain the third preset range C3.

[0213] By continuously adjusting the initial third preset range with the collected identification data to determine the third preset range C3, the accuracy of the third preset range C3 can be improved, and the effect of the senseless unlocking of the unlocking and locking control method or the unlocking and locking control device 10 of the present application can be further improved to enhance the user experience.

[0214] For one embodiment, please refer to FIG. 9 , which is a schematic diagram illustrating the workflow of the lock and unlock control method provided by the present invention, wherein the depth camera 13 performs facial recognition on the target P within the third preset range C3. As shown in FIG. 9 , step S300, "If it is determined that the posture of the target P meets the preset posture condition, then the depth camera 13 performs facial recognition on the target P within the third preset range C3," includes:

[0215] S301: Determine whether the posture of the target P meets a preset posture condition and the height of the target P meets a preset appearance condition;

[0216] Specifically, when the target P moves into the second preset range C2 and triggers the low-power camera 12 to begin recognizing the target P's posture, the low-power camera 12 can recognize the target P's head posture information and height information, and determine whether the target P's posture meets the preset posture conditions based on the target P's posture information. If the target P's posture meets the preset posture conditions, the target P's height information can be further used to determine whether the target P's height meets the preset appearance conditions.

[0217] For an embodiment, please refer to Figure 10 , which illustrates another internal framework structure of an unlocking and locking control device 10 provided in an embodiment of the present application. As shown in Figure 10 , unlocking and locking control device 10 includes a signal receiver 16 , which is configured to receive user input of preset facial information, preset appearance condition information, or a system upgrade package.

[0218] Specifically, the user may transmit the preset data input by the user to the signal receiver 16 via wired, wireless or other possible data transmission methods without limitation.

[0219] In addition, the signal receiver 16 can be electrically connected to the controller 14 so as to be able to transmit the preset data input by the user received by the signal receiver 16 to the controller 14, so that the controller 14 can control the various functional structural components in the unlocking and locking control device 10 to execute corresponding instructions based on the received preset data, thereby enabling the unlocking and locking control device 10 provided in the embodiment of the present application to meet the user's preset needs and enhance the user's usage experience.

[0220] The preset data input by the user may include, but is not limited to, preset facial information, preset appearance condition information, or system upgrade package data.

[0221] Exemplarily, the preset facial information input by the user can be understood as the facial feature information of the user himself or the user who is allowed to open the door 102 of the vehicle 100, which can be recorded by the user but is not limited to electronic devices such as smart phones, bracelets, tablets, computers, etc., and then the recorded facial feature information is transmitted to the signal receiver 16 through wired, wireless or other possible data transmission methods, so that after the unlocking and locking control device 10 identifies the target P, it can be compared with the preset facial information entered by the user in advance to determine whether the identified target P is the owner of the vehicle 100 or the user who is allowed to open the door 102 of the vehicle 100, and after the comparison is successful, the unlocking method or the unlocking device executes the unlocking instruction.

[0222] For example, the user may also input the height, body shape and other external profile information of the owner of the vehicle 100 or the user who is allowed to open the door 102 of the vehicle 100 in advance through the signal receiver 16 .

[0223] Further, referring to FIG. 11 , FIG. 11 is a schematic diagram illustrating the process of determining whether the height of the subject P meets the preset appearance requirements in the embodiment shown in FIG. The unlocking and locking control method of the present application can pre-enter the height information of the vehicle 100 owner, or the user who is authorized to unlock the vehicle 100 , as a basis for the controller 14 to determine whether the subject P's height meets the preset appearance requirements.

[0224] In the diagram of FIG11 , the low-power camera 12 recognizes the posture and height of the third object P3 and the posture and height of the fourth object P4, and obtains the posture information and height information of the third object P3 and the posture information and height information of the fourth object P4. In the diagram of FIG11 , the height of the third object P3 is indicated as H3, and the height of the fourth object P4 is indicated as H4.

[0225] After the low-power camera 12 acquires the posture and height information of the third object P3, it can determine on its own or transmit the acquired information to the controller 14, which then determines whether the posture of the third object P3 meets the preset posture condition. If the posture of the third object P3 meets the preset posture condition, the controller 14 then determines whether the height H3 of the third object P3 meets the preset appearance condition.

[0226] If the height H3 of the third subject P3 is equal to or within the allowable error range of the height of the pre-registered vehicle owner or any user permitted to open the vehicle door 102 of the vehicle 100, then the height H3 of the third subject P3 is determined to meet the preset appearance condition. The subsequent steps of the unlocking and locking control method of the present application are then performed.

[0227] After the low-power camera 12 acquires the posture information and height information of the fourth object P4, it first determines whether the posture of the fourth object P4 meets the preset posture condition. If the posture of the fourth object P4 meets the preset posture condition, it then determines whether the height H4 of the fourth object P4 meets the preset appearance condition.

[0228] If the height H4 of the fourth target P4 is not equal to the height of the vehicle owner entered in advance, or the height of any one of the users allowed to open the door 102 of the vehicle 100, or the difference between the two exceeds the allowable error range, it is determined that the height H4 of the fourth target P4 does not meet the preset appearance conditions, and the subsequent steps of the unlocking and locking control method of this application will not be performed.

[0229] S302 : Perform facial recognition on the target P within a third preset range C3 using the depth camera 13 .

[0230] Specifically, when the controller 14 determines that the height of the target P meets the preset appearance condition, it sends a start signal to the depth camera 13. The depth camera 13 performs facial recognition on the target P within the third preset range C3.

[0231] It should be noted that in the embodiments of the present application, only height is used as an example to illustrate the preset appearance condition, but the height of the target P is not limited to being the only basis for determining whether the target P meets the preset appearance condition. In other embodiments of the present application, the target P's body shape and other appearance contour information can also be used as the basis for determining whether the target P meets the preset appearance condition.

[0232] For example, in one embodiment, please refer to FIG. 12 , which is a schematic diagram illustrating the workflow of the lock and unlock control method provided by the present invention, wherein the depth camera 13 performs facial recognition on the target P within the third preset range C3. As shown in FIG. 12 , step S300, "If it is determined that the posture of the target P satisfies the preset posture condition, then the depth camera 13 performs facial recognition on the target P within the third preset range C3," includes:

[0233] S301a, determining that the posture of the target P meets a preset posture condition, and the body shape of the target P meets a preset appearance condition;

[0234] Specifically, the low-power camera 12 identifies and obtains the posture information and body shape information of the target P, and can transmit the obtained posture information and body shape information of the target P to the controller 14. The controller 14 first determines whether the posture of the target P meets the preset posture conditions based on the received posture information of the target P, for example, whether the angle between the face of the target P and the low-power camera 12 is less than or equal to 45 degrees.

[0235] If the controller 14 determines that the posture of the target P meets the preset posture condition, it continues to judge the body shape information of the target P obtained by the low-power camera 12.

[0236] The body shape of the target P can be understood as the width of the target P. Furthermore, the unlocking and locking control method of the present application can pre-enter the body shape information of the owner of the vehicle 100 or the user who is allowed to unlock the vehicle 100, so as to serve as a basis for the controller 14 to determine whether the body shape of the target P meets the preset shape condition.

[0237] If the body shape of the target P matches the body shape information of the vehicle owner or the user who has allowed the vehicle 100 to be opened, the body shape of the target P is determined to meet the preset shape condition.

[0238] S302a, performing facial recognition on the target P within a third preset range C3 using the depth camera 13.

[0239] In one embodiment, the height and body shape of the target P may also be used as a basis for determining whether the target P meets the preset appearance conditions.

[0240] It can be understood that by identifying the height or body shape of the target P and combining it with the posture of the target P, it is determined whether the target P is the owner of the vehicle or the user who is allowed to open the door 102 of the vehicle 100.

[0241] That is, adding the step of determining whether the height or body shape of the target P meets the preset appearance conditions can exclude the case where the low-power camera 12 recognizes that the target P has a posture that meets the preset posture conditions, but the height or body shape is too different from or does not meet the requirements of the owner of the vehicle 100, thereby avoiding the depth camera 13 from being triggered incorrectly, thereby improving the recognition accuracy of the unlocking and locking control method of the present application, and further avoiding the depth camera 13 from being frequently activated to reduce power consumption.

[0242] In one embodiment, the time required for the depth camera 13 to perform facial recognition on the target P may be, but is not limited to, 365 ms.

[0243] For an embodiment, please refer to FIG. 13 , which is a schematic diagram illustrating the workflow of the lock and unlock control method provided by the embodiment of the present application, wherein the depth camera 13 performs facial recognition on the target P within the third preset range C3. As shown in FIG. 13 , step S302 of “performing facial recognition on the target P within the third preset range C3 using the depth camera 13” includes:

[0244] S3021, performing facial recognition on the target P within a third preset range C3 using the depth camera 13;

[0245] Specifically, the radar 11 detects the target P within the third preset range C3, and triggers the controller 14 to control the depth camera 13 to perform facial detection on the target P detected by the radar 11, that is, to control the depth camera 13 to extract facial feature information of the target P, such as but not limited to the pupils, nose, mouth, or other facial features of the target P, as well as facial contour features and other information.

[0246] In one embodiment, if the face of the target P is partially obscured, the depth camera 13 may be used to extract information such as the facial features or outline of the target P that are exposed. For example, if the target P may be wearing an item such as a mask, the depth camera 13 may be used to extract facial features such as the pupils and eyebrows that are exposed to the target P.

[0247] S3022. Based on the facial information of the identified target P, determine in sequence whether the face of the identified target P is a human face, whether the target P is a living body, and whether the face of the target P is consistent with the preset facial information.

[0248] Specifically, in step S3022 "based on the facial information of the identified target, it is judged in sequence whether the face of the identified target is a human face, whether the target is a living body, and whether the face of the target is consistent with the preset facial information", when the depth camera 13 performs facial recognition on the target P within the third preset range C3 and obtains the facial feature information of the target P, it is judged in sequence whether the face of the identified target P is a human face, whether it is a living body, and whether it is consistent with the preset facial information.

[0249] If the face of the target P is determined to be a human face, the depth camera 13 performs liveness detection on the target within the third preset range C3;

[0250] After the depth camera 13 performs facial detection on the target P within the third preset range C3, that is, obtains the facial features and contour information of the target P, it can process the acquired facial features and contour information of the target P by itself, that is, judge whether the face of the target P is a human face based on the identified and acquired facial features and contour information of the target P, that is, whether it conforms to the facial features and contours of humans.

[0251] If it is determined that the facial features and contour information of the detected target P are consistent with those of humans, liveness detection of the target P is started within the third preset range C3.

[0252] Among them, the depth camera 13 performs liveness detection on the target P, which can be understood as determining the real features of the target P through the depth camera 13, that is, it can be but not limited to blinking, opening the mouth, shaking the head, nodding and other individual or combined actions, and combined with the facial features and contour information of the target P detected by the depth camera 13, to determine whether the target P is a real living body.

[0253] It can be understood that by performing liveness detection on the target P through the depth camera 13, it can be determined that the target P is a real living body, so as to avoid the situation where interference information such as photos, videos, face-changing, masks, occlusions, three-dimensional animations and screen reshoots trigger the unlocking device to open the door 102 of the vehicle 100, thereby improving the accuracy of the unlocking and locking control method of the present application in identifying the owner of the vehicle or the user who is allowed to open the door 102 of the vehicle 100, and improving the safety of the vehicle 100.

[0254] In one embodiment, in the embodiment shown in Figure 13, the depth camera 13 is only used as an example to illustrate that it can process the information of the target P obtained within the third preset range C3 by itself, but the embodiment of the present application is not limited to this. In other embodiments of the present application, the depth camera 13 can also transmit the facial information of the target P obtained to the controller 14, and the controller 14 processes and judges the information obtained by the depth camera 13.

[0255] If the target P is determined to be a living body, the depth camera 13 compares the face of the target P with the preset facial information within the third preset range C3.

[0256] Specifically, after the depth camera 13 performs liveness detection on the target P, it determines whether the target P is a real living body.

[0257] If the target P is determined to be a real living body, the face of the target P is compared with the preset facial information within the third preset range C3 for identification.

[0258] The preset facial information may be pre-registered facial features and contour information of the owner of the vehicle 100 or the user who is allowed to open the door 102 of the vehicle 100. The depth camera 13 compares the facial features and contour information of the target P identified within the third preset range C3 based on the preset facial information, thereby determining whether the target P identified within the third preset range C3 is the owner of the vehicle 100 or the user who is allowed to open the door 102 of the vehicle 100.

[0259] It can be understood that when the target P moves to the third preset range C3, the depth camera 13 is used to perform face judgment, liveness recognition, and facial recognition on the target P in turn, which can avoid interference information such as animals, photos, videos, face-changing, masks, occlusions, three-dimensional animations, and screen reshoots in turn, so that the unlocking and locking control method of the present application can accurately identify the owner of the vehicle 100 and the user who is allowed to open the door 102 of the vehicle 100, and exclude other people, creatures, or objects that are not allowed or have falsely triggered unlocking, thereby gradually achieving the effect of improving the recognition accuracy and reliability of the unlocking and locking control device 10 and the unlocking and locking control method of the present application, so as to further improve the safety of the vehicle 100.

[0260] S400: If facial recognition is successful, an unlock command is issued to unlock the door.

[0261] Specifically, please refer to Figure 14, which is a schematic diagram of the topological structure of one embodiment of the unlocking and locking control device 10 provided in the present application. As shown in Figure 14, the unlocking and locking control device 10 in the present application embodiment can be equipped with a vehicle door motor control system 19. The vehicle door motor control system 19 is electrically connected to the controller 14 to receive unlocking commands sent by the controller 14 and is used to open the vehicle door 102, thereby realizing the unlocking function of the unlocking and locking control device of the present application.

[0262] Furthermore, in step S400, "If facial recognition is successful, an unlock command is issued to unlock the door," the depth camera 13 performs facial recognition on the target P within the third preset range C3. If facial recognition is successful, the depth camera 13 sends a recognition success signal to the controller 14. Upon receiving the recognition success signal sent by the depth camera 13, the controller 14 sends an unlock command to the door motor control system 19, thereby controlling the door motor control system 19 to unlock the door.

[0263] The opening and closing control method usually requires the relevant devices to be in standby mode for a long time, and the devices used for safety reasons consume relatively large power, which results in increased energy consumption of the non-sensing opening and closing function.

[0264] The present unlocking and locking control method first uses radar 11 to detect a target P within a first preset range C1 and obtain the target P's moving speed V. This can block objects moving too fast or people using a vehicle, preventing the low-power camera 12 from being frequently activated. The low-power camera 12 then performs posture recognition on the target P to determine whether the target P intends to approach the vehicle 100, thus avoiding the frequent activation of the depth camera 13 due to the detection of passing pedestrians. Finally, the depth camera 13 performs facial recognition on the target P to unlock the door.

[0265] Because the power consumption of the radar 11, the low-power camera 12 and the depth camera 13 increases step by step, and the recognition range decreases step by step, the method of the present application sets the screening conditions in combination with the user's usage scenario through the cooperation of the radar 11, the low-power camera 12 and the depth camera 13, and ultimately achieves the effect of controlling low power consumption and high recognition accuracy.

[0266] Furthermore, the unlocking and locking control device 10 provided in the embodiments of the present application can be used to implement the unlocking and locking control method of any of the aforementioned embodiments through the control of the controller 14. The unlocking and locking control device 10 of the present application also improves recognition accuracy and reduces power consumption. Furthermore, the unlocking and locking control device 10 of the present application is used to implement the unlocking and locking control method of any of the aforementioned embodiments, and thus possesses all the possible beneficial effects of the unlocking and locking control method of any of the aforementioned embodiments.

[0267] Furthermore, the vehicle 100 of the present application is controlled by the unlocking and locking control method provided by any of the above embodiments of the present application, which can improve the safety of the vehicle 100 and reduce the power consumption of the vehicle 100. Because the vehicle 100 of the present application is controlled by the unlocking and locking control method provided by any of the above embodiments, the vehicle 100 provided by the embodiment of the present application has all the possible beneficial effects of the unlocking and locking control method provided by any of the above embodiments.

[0268] At the same time, the vehicle 100 of the present application is equipped with the unlocking and locking control device 10 provided in any of the above-mentioned embodiments, which can improve the safety of the vehicle 100 and reduce the power consumption of the vehicle 100. Because the vehicle 100 of the present application includes the unlocking and locking control device 10 provided in any of the above-mentioned embodiments, the vehicle 100 of the present application has all possible beneficial effects of the unlocking and locking control device 10 provided in any of the above-mentioned embodiments.

[0269] For an embodiment, please refer to Figure 15 , which is a schematic diagram of the topological structure of another embodiment of the unlocking and locking control device 10 provided in the embodiment of the present application. As shown in Figure 15 , the unlocking and locking control device 10 provided in the embodiment of the present application also includes an infrared fill light 17 , which is provided in correspondence with the depth camera 13 and works in conjunction with the depth camera 13 to capture an image of the user's palm veins.

[0270] In one embodiment, after issuing the unlock instruction, the method further includes:

[0271] In the unlocked state, the infrared fill light 17 and the depth camera 13 cooperate to obtain a palm vein image within a third preset range C3;

[0272] If it is determined that the palm vein image coincides with the preset palm vein image, it is re-locked.

[0273] It can be understood that in the unlocked state, by setting the infrared fill light 17 and cooperating with the infrared fill light 17 and the depth camera 13, the user's palm veins can be identified to provide the user with the function of quickly locking the door through a specific gesture, thereby improving the user experience.

[0274] In one embodiment, please refer to Figures 16 and 17 . Figure 16 is a schematic diagram of the workflow of the unlocking and locking control method provided in the embodiment of the present application, wherein the depth camera 13 performs facial recognition on the target P within the third preset range C3. Figure 17 is a schematic diagram of another internal framework structure of the unlocking and locking control device 10 provided in the embodiment of the present application. As shown in Figure 16 , step S300 of "performing facial recognition on the target P within the third preset range C3 using the depth camera 13" also includes:

[0275] If the depth camera 13 performs facial recognition on the target P within the third preset range C3 for more than a predetermined number of times N and fails to unlock, a warning signal is sent to the user and the image data collected by the depth camera 13 is sent synchronously.

[0276] As shown in FIG17 , the unlocking and locking control device 10 includes a signal transmitter 18 . The signal transmitter 18 is used to send a warning signal to the user and synchronously send image data collected by the depth camera 13 after unlocking fails.

[0277] Specifically, the signal transmitter 18 can be electrically connected to the controller 14 so as to receive the signal sending instruction transmitted by the controller 14 when unlocking fails, and can send a warning signal and facial image data of the target P obtained by the depth camera 13 to the user based on the instruction transmitted by the controller 14.

[0278] The signal transmitter 18 may be, but is not limited to, a Bluetooth or wireless electronic device that can be used to transmit warning signals and image data. Users may, but are not limited to, receive the warning signal emitted by the signal transmitter 18 of the unlocking and locking control device 10 and the facial feature image information of the target P captured by the depth camera 13 through electronic devices such as smartphones, wristbands, tablets, and computers.

[0279] It can be understood that by setting up the signal transmitter 18, a warning signal can be sent to the user in a timely manner, so that the user can understand the status of the vehicle 100 in real time, thereby improving the use effect of the unlocking and locking control device 10 of the present application and improving the safety of the vehicle 100.

[0280] Furthermore, as shown in FIG16 , when the radar 11 detects the target P within the first preset range C1, the controller 14 will first start the low-power camera 12 to perform posture recognition on the target P within the second preset range C2, and then start the depth camera 13 to perform facial recognition on the target P within the third preset range C3.

[0281] When the radar 11 detects a target P within the third preset range C3, and the depth camera 13 performs facial recognition for more than a predetermined number N times, that is, after the depth camera 13 performs facial recognition for more than or equal to N times, the unlocking is not successful. At this time, the depth camera 13 sends a facial recognition failure signal to the controller 14, and the depth camera 13 simultaneously obtains facial image data of the target P whose facial recognition exceeds the predetermined number N times and transmits it to the controller 14.

[0282] After the controller 14 receives the facial recognition failure signal sent by the depth camera 13 and obtains the facial image data of the target P whose facial recognition exceeds the predetermined number N, it can be transmitted to the user through the signal transmitter 18 so that the user can grasp the status of the vehicle 100 in real time and can check the unlocking status and safety status of the vehicle 100 in time.

[0283] It can be understood that when the depth camera 13 performs facial recognition on the target P multiple times within the third preset range C3 but fails to unlock successfully, the target P detected in the third preset range C3 may affect the safety of the vehicle 100, so a warning signal is sent to remind the owner, and image data is sent synchronously, thereby improving the security of the unlocking and locking control method of the present application and the unlocking and locking control device 10 used to implement the present application.

[0284] In one embodiment, the preset number N may be but is not limited to 2 times.

[0285] For one embodiment, please refer to FIG. 18 , which is a schematic diagram illustrating the workflow of the lock and unlock control method provided by the embodiment of the present application, wherein the depth camera 13 performs facial recognition on the target P within the third preset range C3. As shown in FIG. 18 , step S300 of “performing facial recognition on the target P within the third preset range C3 using the depth camera 13” further includes:

[0286] If the depth camera 13 performs facial recognition on the target P within a fourth preset range and fails to unlock the target, a warning signal is sent to the user and the image data captured by the depth camera 13 is sent synchronously; wherein the fourth preset range is less than or equal to 0.5m.

[0287] Specifically, when the radar 11 detects the target P within the first preset range C1, the controller 14 will first start the low-power camera 12 to perform posture recognition on the target P within the second preset range C2, and then start the depth camera 13 to perform facial recognition on the target P within the third preset range C3.

[0288] When the depth camera 13 fails to recognize the face of the target P within the third preset range C3, the distance between the face of the target P and the depth camera 13 is detected at this time, and the distance information between the face of the target P and the depth camera 13 is sent to the controller 14.

[0289] After receiving the distance information between the face of the target P and the depth camera 13 , the controller 14 determines whether the distance between the face of the target P and the depth camera 13 is within a fourth preset range.

[0290] If the distance between the detected face of the target P and the depth camera 13 is within the fourth preset range, facial feature image data of the current target P is acquired, and the acquired facial feature image data of the current target P is transmitted to the controller 14 .

[0291] After the controller 14 receives the facial image data of the target P sent by the depth camera 13, it can be transmitted to the user through the signal transmitter 18, so that the user can grasp the status of the vehicle 100 in real time and can check the unlocking status and safety status of the vehicle 100 in time.

[0292] If the distance between the detected face of the target P and the depth camera 13 exceeds the fourth preset range, the depth camera 13 performs facial recognition on the target P again.

[0293] In this embodiment, when the depth camera 13 identifies the target P within a range that is too close to the vehicle 100 and fails to perform facial recognition on the target P, it is determined that the target P may affect the safety of the vehicle 100, thereby sending a warning signal to alert the vehicle owner and synchronously sending image data, thereby improving the security of the unlocking and locking control method of the present application and the unlocking and locking control device 10 used to implement the present application.

[0294] In one embodiment, please refer to Figures 19 and 20 . Figure 19 is a schematic diagram illustrating the installation of various functional components of the unlocking and locking control device 10 provided in an embodiment of the present application, and Figure 20 is a schematic diagram illustrating the unlocking and locking control method provided in an embodiment of the present application identifying the path of a target P. As shown in Figures 19 and 20 , in this embodiment of the present application, the installation parameters and setting parameters of the unlocking and locking control device 10 can be adjusted based on users of different heights or body shapes.

[0295] For example, as shown in (a) of FIG19 , the viewing angle range O1 of the low-power camera 12 or the depth camera 13 in the vertical direction may be set to, but is not limited to, ±70°.

[0296] For example, as shown in (b) of FIG19 , the viewing angle range O2 of the low-power camera 12 or the depth camera 13 in the horizontal direction may be set to, but is not limited to, ±55°.

[0297] For example, as shown in (c) of FIG19 , the installation height L of the low-power camera 12 or the depth camera 13 may be, but is not limited to, 1.4 m.

[0298] For example, as shown in FIG19(c), the elevation angle θ of the low-power camera 12 or the depth camera 13 can be, but is not limited to, 15°. The elevation angle of the low-power camera 12 can be understood as the angle between the optical axis of the low-power camera 12 and the horizontal direction, and the elevation angle of the depth camera 13 can be understood as the angle between the optical axis of the depth camera 13 and the horizontal direction. In FIG19(c), the installation diagram of the low-power camera 12 is used as an example, and the depth camera 13 can be shown simultaneously.

[0299] For example, as shown in FIG19( c ), the horizontal distance L between the low-power camera 12 or the depth camera 13 and the user may be, but is not limited to, 0.3-0.9 m.

[0300] For example, as shown in FIG19( c ), the low-power camera 12 or the depth camera 13 can be adapted to the user's height, which may be, but is not limited to, 1.32-2.47 m.

[0301] Exemplarily, the low-power camera 12 or the depth camera 13 can adapt to the user's head length which may be but is not limited to 0.25m.

[0302] Furthermore, as shown in Figure 20, when a target P enters the recognizable area of ​​the present invention's unlocking and locking control method along different paths, the unlocking time required by the present invention's unlocking and locking control method or unlocking and locking control device varies, and the distances at which the unlocking and locking control method or device can be recognized vary. For example, when a target P enters the recognizable area along either the first path D1 or the second path D2, respectively, at a speed V of 1.3 m / s, the present invention's unlocking and locking control method successfully recognizes the target P in only 0.5-1 second, and the recognition distance for the target P can be, but is not limited to, 0.6 m.

[0303] For example, when the target P follows the third path D3 and enters the identifiable area at a moving speed V of 1.3 m / s, the time for the unlocking and locking control method of the present application to successfully identify the target P can be less than 0.5 s, and the identification distance of the target P can be but is not limited to 0.6 m.

[0304] The above-described embodiments do not constitute a limitation on the scope of protection of this technical solution. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the above-described embodiments shall be included in the scope of protection of this technical solution.

Claims

1. A method for controlling opening and closing a lock, characterized in that: The steps include: In a locked state, the radar detects a target within a first preset range and obtains a moving speed of the target; If a target is detected and the moving speed of the target is lower than a preset speed threshold V0, the low-power camera is started and the posture of the target is recognized within a second preset range by the low-power camera; wherein the second preset range is smaller than the first preset range; If it is determined that the posture of the target meets the preset posture condition, the depth camera is started and the face recognition of the target is performed within a third preset range by the depth camera; wherein the third preset range is smaller than the second preset range; If facial recognition is successful, an unlock command is issued to unlock the door.

2. The method according to claim 1, characterized in that The time from when the radar detects the target to when the low-power camera is activated is T1, the first preset range is less than or equal to W1, the second preset range is less than or equal to W2, and W2 meets the condition: W2≥W1-V0×T1; and / or, The time from the low power camera starting recognition to the depth camera starting is T2, the third preset range is less than or equal to W3, and W3 meets the condition: W3≥W2-V0×T2.

3. The method according to claim 1, characterized in that The first preset range is less than or equal to 5m; and / or, The second preset range is less than or equal to 3m; and / or, The third preset range is less than or equal to 1 m.

4. The method according to claim 1, characterized in that Before detecting a target in a first preset range by a radar in a locked state and obtaining the moving speed of the target, the method further includes: Collect multiple identification data, and filter the identification data that meets user needs based on a predetermined algorithm; Processing the identified data that meets the user's needs after screening to determine the second preset range and / or the third preset range; and / or, Collect multiple identification data, and filter the identification data that meets user needs based on a predetermined algorithm; The identified data that meets the user's needs after screening is processed to determine the preset speed threshold V0.

5. The method according to any one of claims 1 to 4, characterized in that: The preset speed threshold V0 is less than or equal to 1.5 m / s; and / or, The preset posture condition is that the angle of the target's face toward the low-power camera is less than or equal to 45°.

6. The method according to any one of claims 1 to 4, characterized in that: If it is determined that the posture of the target meets the preset posture condition, performing facial recognition on the target within a third preset range by using a depth camera, includes: Determining that the posture of the target satisfies a preset posture condition, and that the height and / or body shape of the target satisfies a preset appearance condition; Then, facial recognition is performed on the target within a third preset range using a depth camera.

7. The method according to any one of claims 1 to 4, characterized in that: The performing facial recognition on the target within a third preset range by using a depth camera includes: Performing facial recognition on the target within a third preset range by using a depth camera; Based on the recognized facial information of the target, it is determined in turn whether the recognized face of the target is a human face, whether the target is a living body, and whether the face of the target is consistent with the preset facial information.

8. The method according to any one of claims 1 to 4, characterized in that: The performing facial recognition on the target within a third preset range by using a depth camera also includes: If facial recognition of the target is performed by the depth camera within a third preset range for more than a predetermined number of times and the unlocking is not successful; and / or, if facial recognition of the target is performed by the depth camera within a fourth preset range and the unlocking is not successful, a warning signal is sent to the user and the image data captured by the depth camera is sent synchronously; wherein the fourth preset range is less than or equal to the third preset range.

9. The method according to any one of claims 1 to 4, characterized in that: After issuing the unlock instruction, the method further includes: In the unlocked state, the palm vein image is acquired within the third preset range by using the infrared fill light and the depth camera in cooperation; If it is determined that the palm vein image coincides with the preset palm vein image, it is re-locked.

10. An opening and closing lock control device, characterized in that: include: A radar, used to detect a target within a first preset range and obtain a moving speed of the target; A low-power camera, used for performing posture recognition on the target within a second preset range; A depth camera, used for performing facial recognition on the target within a third preset range; The controller is used to control the radar, the low-power camera and the depth camera to start up in sequence, and to issue an unlocking instruction to unlock the door.

11. A vehicle, characterized in that: The vehicle is controlled by the unlocking and locking control method according to any one of claims 1 to 9; and / or the vehicle includes the unlocking and locking control device according to claim 10.

Images