Car trunk opening method, apparatus and system, and device, medium and product

Abstract

Disclosed in the present application are a car trunk opening method, apparatus and system, and a device, a medium and a product. The car trunk opening method comprises: when a trunk projection function of a target trunk is enabled, performing signal collection by means of a preset sensor, so as to obtain a collection distance between the present sensor and the ground, and collection light intensity of light reflected off the ground; and on the basis of numerical changes in the collection distance and the collection light intensity, determining a trunk opening signal, and on the basis of the trunk opening signal, opening the target trunk.

Description

Automobile trunk opening method, device, system, equipment, medium and product

[0001] The present application claims priority to the Chinese patent application No. 202410943339.9, filed on July 15, 2024, to the Chinese Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of automobile trunk opening, for example, to an automobile trunk opening method, device, system, equipment, medium and product. BACKGROUND

[0003] The principle of trunk projection opening is to judge the distance change through a time of flight sensor (TOF sensor) to identify whether there is a user's foot stepping action.

[0004] However, due to single-point TOF in the case of high reflectivity (black and bright shoes, etc.), the TOF-identified foot stepping distance becomes larger or unchanged (which should be smaller under normal circumstances), resulting in recognition failure. To solve this problem, multiple-point TOF is usually used, but this increases the cost. SUMMARY

[0005] The present application provides an automobile trunk opening method, device, system, equipment, medium and product, which can determine the stepping action by combining the distance and light intensity, making the automobile trunk opening more accurate.

[0006] The present application provides an automobile trunk opening method, which comprises: in the case that the trunk projection function of a target trunk is turned on, signal acquisition is performed through a preset sensor to obtain the acquisition distance from the preset sensor to the ground and the acquisition light intensity of the ground reflection; the trunk opening signal is determined according to the numerical change of the acquisition distance and the acquisition light intensity, and the target trunk is opened according to the trunk opening signal.

[0007] The present application provides an automobile trunk opening device, which comprises: a signal acquisition module, configured to perform signal acquisition through a preset sensor in the case that the trunk projection function of a target trunk is turned on, to obtain the acquisition distance from the preset sensor to the ground and the acquisition light intensity of the ground reflection; a trunk opening judgment module, configured to determine the trunk opening signal according to the numerical change of the acquisition distance and the acquisition light intensity, and to open the target trunk according to the trunk opening signal.

[0008] The application provides an automobile trunk opening system, which comprises a preset sensor, an automobile trunk projection module and an automobile trunk opening module; wherein the preset sensor is arranged to collect a collection distance from the preset sensor to the ground and a collection light intensity of ground reflection; the automobile trunk projection module is arranged to project to the ground; and the automobile trunk opening module is arranged to open the automobile trunk according to the automobile trunk opening method.

[0009] The application provides a computer device, which comprises one or more processors, a memory arranged to store one or more programs, and the one or more programs are executed by the one or more processors to enable the one or more processors to implement the automobile trunk opening method.

[0010] The application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the automobile trunk opening method.

[0011] The application provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the automobile trunk opening method. BRIEF DESCRIPTION OF DRAWINGS

[0012] Fig. 1 is a flow chart of an automobile trunk opening method provided by an embodiment of the application;

[0013] Fig. 2 is a schematic diagram of TOF sensor ranging provided by an embodiment of the application;

[0014] Fig. 3 is a flow chart of an automobile trunk opening method provided by an embodiment of the application;

[0015] Fig. 4 is a schematic diagram of an automobile trunk opening method provided by an embodiment of the application;

[0016] Fig. 5 is a structural schematic diagram of an automobile trunk opening device provided by an embodiment of the application;

[0017] Fig. 6 is a structural schematic diagram of an automobile trunk opening system provided by an embodiment of the application;

[0018] Fig. 7 is a structural schematic diagram of an automobile trunk opening system provided by an embodiment of the application;

[0019] Fig. 8 is a structural schematic diagram of a computer device provided by an embodiment of the application. DETAILED DESCRIPTION

[0020] FIG. 1 is a flowchart of a method for opening a trunk of a vehicle according to an embodiment of the present application. The embodiment can be applied to a scenario of opening a trunk of a vehicle, for example, a trunk of a vehicle with a trunk projection function. The method can be executed by a device for opening a trunk of a vehicle, which can be implemented by software and / or hardware and integrated into a computer device with an application development function.

[0021] As shown in FIG. 1, the method for opening a trunk of a vehicle according to the embodiment includes the following steps:

[0022] In S110, when the trunk projection function of the target trunk is turned on, a preset sensor is used to collect signals to obtain a collection distance of the preset sensor to the ground and a collection light intensity of ground reflection.

[0023] The trunk can be a trunk on a target vehicle. The target vehicle is installed with a trunk projection device, which can project to the ground, for example, project a preset pattern to a preset area on the ground. The preset area can be set according to actual needs. The preset pattern can be a pattern for guiding a user to step on. A sensor arranged at a preset position of the target trunk or a preset position of another part of the target vehicle is used to detect a stepping action at the preset area, so as to confirm that the target trunk can be opened.

[0024] However, the single-point TOF sensor detects the distance change to determine the stepping action. In the case that the user wears shoes with high reflectivity, for example, the user wears black shiny shoes and glass decorated shoes, the detection will be inaccurate.

[0025] Referring to FIG. 2, the TOF sensor uses a small emitter to emit infrared light, in which the generated light bounces off any object and returns to the sensor. According to the time difference between the emission of the light and the return of the light reflected by the object to the sensor, the sensor can measure the distance between the object and the sensor. The TOF collects a ground distance X1 and a distance X2 between the sensor and the foot after stepping. Normally, X1 > X2, but since the single-point TOF detects the distance between the object with high reflectivity, the TOF-identified stepping distance will be X3, and X1 ≤ X3, that is, the identified distance after stepping becomes larger or unchanged, resulting in recognition failure.

[0026] To solve the problem, the embodiment collects signals by preset sensors, i.e. the collection of reflected infrared light signals, and obtains the collection distance of the preset sensor to the ground and the collection light intensity of the ground reflection according to the reflected infrared light signals. The preset sensor can be a TOF sensor, and a light intensity sensor can be arranged in the TOF sensor to collect the light intensity. The type of the TOF sensor is not limited in the embodiment, such as a single-point TOF sensor or a multi-point TOF sensor, which can test the distance by emitting infrared light. In the embodiment, a single-point TOF sensor is used, thereby saving costs while ensuring detection accuracy.

[0027] The collection distance of the preset sensor to the ground can be understood as the collection distance calculated according to the reflected infrared light signal of the infrared light emitted to the ground. The collection distance is longer when there is no obstacle on the ground, and shorter when there is an obstacle on the ground, for example, in the case of a stepping action, the collection distance is the distance from the preset sensor to the shoe upper. Similarly, the collection light intensity of the ground reflection can be understood as the light intensity of the reflected infrared light signal of the infrared light emitted to the ground. The light intensity is different according to the object of the reflected infrared light, such as the ground or different shoe uppers of various materials.

[0028] Therefore, by collecting the distance and the light intensity, the subsequent confirmation of the luggage opening signal is more accurate.

[0029] S120, determining the luggage opening signal according to the change of the values of the collection distance and the collection light intensity, and opening the target luggage according to the luggage opening signal.

[0030] The stable distance and the stable light intensity can be determined according to the change state of the collection distance and the collection light intensity. The stable distance can be the distance from the preset sensor to the ground without obstacles, and the stable light intensity can be the light intensity of the light reflected by the ground without obstacles.

[0031] The change state, for example, in the collection distance collected for a preset number of times, a plurality of collection distances are compared, and the difference between the current collection distance and the previous collection distance is not more than a preset difference threshold, and the average value of the preset number of collection distances is determined as the stable distance. The stable light intensity can be obtained in the same way.

[0032] According to the change degree of the collection distance relative to the stable distance, such as the degree of decrease, and the change degree of the collection light intensity relative to the stable light intensity, a comprehensive analysis is performed to determine whether there is a stepping action, if so, the luggage opening signal is determined, and the target luggage is opened according to the luggage opening signal.

[0033] The technical scheme of the embodiment obtains the collection distance of the preset sensor to the ground and the collection light intensity of the ground reflection through signal collection by the preset sensor in the case that the luggage projection function of the target luggage is opened. The luggage opening signal is determined according to the numerical change of the collection distance and the collection light intensity, and the target luggage is opened according to the luggage opening signal. The technical scheme of the embodiment solves the problem of low accuracy in the related art that whether to open the luggage is determined only by distance in the luggage projection identification process, and can determine whether to open the luggage by combining distance and light intensity, so that the opening of the automobile luggage is more accurate, and the cost of the automobile luggage projection identification is reduced.

[0034] FIG. 3 is a flowchart of an automobile luggage opening method provided by the embodiment, and the automobile luggage opening method in the embodiment and the above-mentioned embodiments belong to the same concept. The process of determining the luggage opening signal according to the numerical change of the collection distance and the collection light intensity is described. The method can be executed by an automobile luggage opening device, which can be realized by software and / or hardware and integrated in a computer device with application development function.

[0035] As shown in FIG. 3, the process of obtaining the client log content in the automobile luggage opening method of the embodiment includes the following steps:

[0036] S210, in the case that the luggage projection function of the target luggage is opened, signal collection is performed by a preset sensor to obtain the collection distance of the preset sensor to the ground and the collection light intensity of the ground reflection.

[0037] S220, when the continuous signal collection reaches a preset collection number, if the change values of the collection distance and the collection light intensity obtained in the preset collection number meet the corresponding preset change value threshold, the stable distance and the stable light intensity are determined according to the collection distance and the collection light intensity obtained in the preset collection number.

[0038] The stable distance is the collection distance when the ground has no obstacle, and the stable light intensity is the collection light intensity of the ground reflection when the ground has no obstacle.

[0039] For example, infrared light is emitted once every 10 milliseconds, and the distance of the reflected infrared light is calculated, and the light intensity is detected.

[0040] If the signal collection reaches the preset collection number, the stable distance and the stable light intensity can be determined according to the change values of the collection distance and the collection light intensity obtained in the preset collection number. The preset collection number can be set according to actual needs.

[0041] If the difference between the data collected at adjacent collection time points is less than the preset change value threshold in the case of multiple collections, it can be confirmed that no stamping behavior occurs. Therefore, the collected distance change value in this embodiment can be the difference between the collected distances at adjacent times, i.e., the difference between the collected distances at the current collection time and the adjacent previous collection time. The change value of the collected light intensity can be the difference between the collected light intensities at adjacent times, i.e., the difference between the collected light intensities at the current collection time and the adjacent previous collection time. The preset change value threshold can be set according to actual needs.

[0042] For example, if the first to fifth times satisfy the condition of being less than the preset change value threshold, and the difference between the sixth and fifth times does not satisfy the condition of being less than the preset change value threshold, the collection is restarted from the sixth time for 10 times (including the original sixth time). In this way, the collection is continued until the nine difference values obtained by collecting for 10 times all satisfy the condition of being less than the preset change value threshold.

[0043] The average of the plurality of collected distances obtained in the preset collection times is determined as the stable distance, and the average of the plurality of collected light intensities obtained in the preset collection times is determined as the stable light intensity. The stable distance can be the distance from the preset sensor to the ground without obstacles, and the stable light intensity can be the light intensity of the infrared light reflected by the ground without obstacles.

[0044] S230, after determining the stable distance and the stable light intensity, monitoring the change value of the collected distance and the collected light intensity collected by the continuous signal collection, and when the change value of at least one of the collected distance and the collected light intensity satisfies the corresponding preset opening signal recognition change value threshold, entering the luggage opening signal recognition mode.

[0045] After determining the stable distance and the stable light intensity, continue to collect signals, and after collecting the collected distance or the collected light intensity each time, subtract the collected distance or the collected light intensity of the previous time to obtain the change value. When the collected distance satisfies the corresponding preset opening signal recognition change value threshold, or the collected light intensity satisfies the corresponding preset opening signal recognition change value threshold in one collection, enter the luggage opening signal recognition mode. The preset opening signal recognition change value threshold can be set according to actual needs. The preset opening signal recognition change value threshold includes a preset distance opening signal recognition change value threshold and a preset light intensity opening signal recognition change value threshold.

[0046] When the change value of at least one of the collected distance and the collected light intensity satisfies the corresponding preset opening signal recognition change value threshold, it indicates that a stamping action may occur, and therefore the luggage opening signal recognition mode is entered.

[0047] S240, in the trunk opening signal identification mode, determining the trunk opening signal according to the difference between the collection distance and the stable distance, and the difference between the collection light intensity and the stable light intensity.

[0048] According to the numerical size of the difference between the collection distance and the stable distance, and the numerical size of the difference between the collection light intensity and the stable light intensity, it is judged whether there is a stepping action to determine the trunk opening signal. The trunk opening signal is used to represent the opening of the target trunk.

[0049] In an embodiment, according to the difference between the collection distance and the stable distance, and the difference between the collection light intensity and the stable light intensity, the trunk opening signal can be determined, which can be to determine the first light intensity relationship between the stable light intensity and the preset calibration stable light intensity threshold value; determine the second light intensity relationship between the collection light intensity and the preset calibration collection light intensity threshold value; according to the first light intensity relationship and the second light intensity relationship, determine the corresponding distance difference value judgment threshold and light intensity difference value judgment threshold; according to the distance difference value judgment threshold and the light intensity difference value judgment threshold, the difference between the collection distance and the stable distance, and the difference between the collection light intensity and the stable light intensity, determine the trunk opening signal.

[0050] The preset calibration stable light intensity threshold value and the preset calibration collection light intensity threshold value can be calibrated according to experimental test, which is not limited in the embodiment. By comparing the relationship between the collection distance, the collection light intensity and the corresponding calibration threshold value, the current ground light intensity state and the obstacle (such as shoes) light intensity state can be determined. The influence of different ground light intensity states and obstacle light intensity states on the test accuracy of TOF sensor is different, so different distance difference value judgment threshold and light intensity difference value judgment threshold can be determined according to different influences, so that whether the difference between the collection distance and the stable distance, and the difference between the collection light intensity and the stable light intensity meet the determination of the trunk opening signal can be judged through the distance difference value judgment threshold and the light intensity difference value judgment threshold.

[0051] In an embodiment, according to the first light intensity relationship and the second light intensity relationship, the corresponding distance difference value judgment threshold and light intensity difference value judgment threshold can include the following four cases:

[0052] Case 1, when the first light intensity relationship is that the stable light intensity is greater than the preset calibration stable light intensity threshold value, and the second light intensity relationship is that the collection light intensity is greater than the preset calibration collection light intensity threshold value, the first distance difference value judgment threshold and the first light intensity difference value judgment threshold are determined.

[0053] Case 2, when the first light intensity relationship is that the stable light intensity is greater than the preset calibration stable light intensity threshold value, and the second light intensity relationship is that the collection light intensity is less than the preset calibration collection light intensity threshold value, the second distance difference value judgment threshold and the second light intensity difference value judgment threshold are determined.

[0054] Case 3, when the first light intensity relationship is that the stable light intensity is less than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the collected light intensity is greater than the preset calibration collected light intensity threshold, the third distance difference judgment threshold and the third light intensity difference judgment threshold are determined.

[0055] Case 4, when the first light intensity relationship is that the stable light intensity is less than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the collected light intensity is less than the preset calibration collected light intensity threshold, the fourth distance difference judgment threshold and the fourth light intensity difference judgment threshold are determined.

[0056] The values of the first distance difference judgment threshold, the second distance difference judgment threshold, the third distance difference judgment threshold and the fourth distance difference judgment threshold are different, and the values of the first light intensity difference judgment threshold, the second light intensity difference judgment threshold, the third light intensity difference judgment threshold and the fourth light intensity difference judgment threshold are different.

[0057] In different cases, different thresholds are set to improve recognition accuracy and avoid the situation that the stepping action cannot be detected when it exists, causing inconvenience to the user.

[0058] In an embodiment, the values of the first distance difference judgment threshold, the second distance difference judgment threshold, the third distance difference judgment threshold and the fourth distance difference judgment threshold increase in turn, and the values of the first light intensity difference judgment threshold, the second light intensity difference judgment threshold, the third light intensity difference judgment threshold and the fourth light intensity difference judgment threshold increase in turn.

[0059] The reason for such setting is that from case 1 to case 2, from case 2 to case 3, and finally from case 3 to case 4, the influence of high reflectivity shoe upper increases in turn, so the detection difficulty becomes higher and higher, and the false recognition rate becomes higher and higher. The embodiment avoids false recognition by increasing the threshold in turn.

[0060] In an embodiment, the luggage opening signal is determined according to the distance difference judgment threshold and the light intensity difference judgment threshold, the difference between the collected distance and the stable distance, and the difference between the collected light intensity and the stable light intensity. It can be that the luggage opening signal is determined when the difference between the collected distance and the stable distance is greater than the distance difference judgment threshold; or, the difference between the collected distance and the stable distance is less than or equal to the distance difference judgment threshold, and the difference between the collected light intensity and the stable light intensity is greater than the light intensity difference judgment threshold.

[0061] In the case that the difference between the collected distance and the stable distance is greater than the distance difference judgment threshold, the light intensity does not need to be judged, and it can be directly determined that the stepping action exists. In the case that the difference between the collected distance and the stable distance is less than or equal to the distance difference judgment threshold, in order to exclude the influence of the high reflectivity shoe surface, it is further judged whether the difference between the collected light intensity and the stable light intensity is greater than the light intensity difference judgment threshold. If yes, it is determined that the stepping action exists, and the luggage opening signal is determined.

[0062] In an embodiment, after the luggage opening signal is determined, in the case that the difference between the collected distance and the stable distance is less than a preset exit distance difference threshold, and the difference between the collected light intensity and the stable light intensity is less than a preset exit light intensity difference threshold, the stable distance and the stable light intensity are re-determined.

[0063] The preset exit distance difference threshold and the preset exit light intensity difference threshold can be 0 or a value close to 0, which can be set according to actual needs. In the case that the difference between the collected distance and the stable distance, and the difference between the collected light intensity and the stable light intensity satisfy the condition of being less than the corresponding exit threshold, it is indicated that the withdrawal action exists at this time, that is, the action of moving the foot away from the projected preset pattern. Therefore, the stable distance and the stable light intensity can be re-determined, and the stepping action recognition, that is, the determination of the target luggage opening signal, is continued.

[0064] Similar to the determination mode of the distance difference judgment threshold and the light intensity difference judgment threshold, the corresponding preset exit distance difference threshold and the preset exit light intensity difference threshold in the four cases, that is, the order of cases 1, 2, 3 and 4, are sequentially increased, so as to improve the recognition accuracy.

[0065] S250, opening the target luggage according to the luggage opening signal.

[0066] The technical scheme of the embodiment is as follows: in the case that the luggage projection function of the target luggage is turned on, the preset sensor is used to collect signals, and the collection distance of the preset sensor to the ground and the collection light intensity of the ground reflection are obtained; when the continuous signal collection reaches a preset collection number, if the change values of the collection distance and the collection light intensity obtained in the preset collection number meet corresponding preset change value thresholds, the stable distance and the stable light intensity are determined according to the collection distance and the collection light intensity obtained in the preset collection number; after the stable distance and the stable light intensity are determined, the change values of the collection distance and the collection light intensity collected by the continuous signal collection are monitored, and when the change value of at least one of the collection distance and the collection light intensity meets a corresponding preset opening signal recognition change value threshold, the luggage opening signal recognition mode is entered; in the luggage opening signal recognition mode, the luggage opening signal is determined according to the difference between the collection distance and the stable distance and the difference between the collection light intensity and the stable light intensity; the stable distance is the collection distance when the ground is free of obstacles, the stable light intensity is the collection light intensity of the ground reflection when the ground is free of obstacles, and the target luggage is opened according to the luggage opening signal. The technical scheme of the embodiment solves the problem in the related art that only the distance is used to determine whether to open the luggage in the luggage projection recognition process, the accuracy is low, the change of the difference between the distance and the light intensity and the light intensity and the distance of the stable ground is analyzed to determine whether to open the luggage, the opening of the automobile luggage is more accurate, and the cost of the automobile luggage projection recognition is reduced.

[0067] Referring to FIG. 4, FIG. 4 is a schematic diagram of an automobile luggage opening method provided by an embodiment of the present application.

[0068] As shown in FIG. 4, the obtained distance and light intensity data are filtered, for example, Kalman filtering, to improve the accuracy of subsequent determination. In the starting state, the distance and light intensity data are collected according to a preset signal collection period of 10 ms, the distance difference is collected for multiple times, and the distance difference is less than or equal to a preset difference threshold, for example, 10 mm, in the case that the distance difference is collected for multiple times and the distance difference is compared with the previous collection each time, the stable distance and the stable light intensity of the stable ground are determined, and the waiting state is entered.

[0069] In the waiting state, the distance and light intensity data are continuously collected, for example, once every 10 ms, the data are compared with the previous data, and if the distance is reduced to a certain threshold or the light intensity is changed to a certain threshold in one collection, the judgment state is entered.

[0070] In the judgment state, the threshold is set and determined according to different ground light intensity states and collection light intensity states. The foregoing content can be referred to. In FIG. 4, the ground light intensity and the ground distance can be understood as the stable light intensity and the stable distance of the foregoing embodiment, and the stepped light intensity and the stepped distance can be understood as the collection light intensity and the collection distance of the foregoing embodiment.

[0071] If the road surface distance (i.e., the ground distance) and the withdrawal distance (i.e., the collection distance) are less than a preset distance exit threshold, and the withdrawal light intensity (i.e., the collection light intensity) and the ground light intensity difference are less than a preset light intensity exit threshold, the current judgment is exited, and the process returns to the start state.

[0072] FIG. 5 is a structural schematic diagram of an automobile trunk opening device provided by an embodiment of the present application. The embodiment can be applied to the scenario of opening an automobile trunk, for example, opening the trunk of a vehicle with a trunk projection function. The automobile trunk opening device can be realized by software and / or hardware, and integrated in a computer terminal device with application development function.

[0073] As shown in FIG. 5, the automobile trunk opening device includes a signal collection module 310 and a trunk opening judgment module 320. The signal collection module 310 is configured to collect signals through a preset sensor when the trunk projection function of a target trunk is turned on, to obtain a collection distance from the preset sensor to the ground and a collection light intensity of ground reflection. The trunk opening judgment module 320 is configured to determine a trunk opening signal according to the numerical change of the collection distance and the collection light intensity, and to open the target trunk according to the trunk opening signal.

[0074] The technical solution of the embodiment collects signals through a preset sensor when the trunk projection function of a target trunk is turned on, to obtain a collection distance from the preset sensor to the ground and a collection light intensity of ground reflection. The trunk opening signal is determined according to the numerical change of the collection distance and the collection light intensity, and the target trunk is opened according to the trunk opening signal. The technical solution of the embodiment solves the problem in the related art that only distance is relied on to determine whether to open the trunk in the trunk projection identification process, and the accuracy is low. The trunk can be opened by combining distance and light intensity, so that the opening of the automobile trunk is more accurate, and the cost of the automobile trunk projection identification is reduced.

[0075] In one embodiment, the trunk opening judgment module 320 is configured to:

[0076] When the continuous signal acquisition reaches the preset acquisition number, if the change values of the acquisition distance and the acquisition light intensity obtained in the preset acquisition number satisfy the corresponding preset change value threshold, the stable distance and the stable light intensity are determined according to the acquisition distance and the acquisition light intensity obtained in the preset acquisition number; after the stable distance and the stable light intensity are determined, the change values of the acquisition distance and the acquisition light intensity obtained by the continuous signal acquisition are monitored, and when the change value of at least one of the acquisition distance and the acquisition light intensity satisfies the corresponding preset opening signal recognition change value threshold, the luggage case opening signal recognition mode is entered; in the luggage case opening signal recognition mode, the luggage case opening signal is determined according to the difference between the acquisition distance and the stable distance and the difference between the acquisition light intensity and the stable light intensity; wherein the stable distance is the acquisition distance when the ground is obstacle-free, and the stable light intensity is the acquisition light intensity of the ground reflection when the ground is obstacle-free.

[0077] In an embodiment, the luggage case opening judgment module 320 is further configured to determine a first light intensity relationship between the stable light intensity and a preset calibration stable light intensity threshold; determine a second light intensity relationship between the acquisition light intensity and a preset calibration acquisition light intensity threshold; determine the corresponding distance difference value judgment threshold and the light intensity difference value judgment threshold according to the first light intensity relationship and the second light intensity relationship; and determine the luggage case opening signal according to the distance difference value judgment threshold and the light intensity difference value judgment threshold, the difference between the acquisition distance and the stable distance, and the difference between the acquisition light intensity and the stable light intensity.

[0078] In an embodiment, the luggage case opening judgment module 320 is further configured to: when the first light intensity relationship is that the stable light intensity is greater than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the acquisition light intensity is greater than the preset calibration acquisition light intensity threshold, determine the first distance difference value judgment threshold and the first light intensity difference value judgment threshold; when the first light intensity relationship is that the stable light intensity is greater than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the acquisition light intensity is less than the preset calibration acquisition light intensity threshold, determine the second distance difference value judgment threshold and the second light intensity difference value judgment threshold; when the first light intensity relationship is that the stable light intensity is less than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the acquisition light intensity is greater than the preset calibration acquisition light intensity threshold, determine the third distance difference value judgment threshold and the third light intensity difference value judgment threshold; when the first light intensity relationship is that the stable light intensity is less than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the acquisition light intensity is less than the preset calibration acquisition light intensity threshold, determine the fourth distance difference value judgment threshold and the fourth light intensity difference value judgment threshold; wherein the values of the first distance difference value judgment threshold, the second distance difference value judgment threshold, the third distance difference value judgment threshold and the fourth distance difference value judgment threshold are different, and the values of the first light intensity difference value judgment threshold, the second light intensity difference value judgment threshold, the third light intensity difference value judgment threshold and the fourth light intensity difference value judgment threshold are different.

[0079] In an embodiment, the first distance difference judgment threshold value, the second distance difference judgment threshold value, the third distance difference judgment threshold value and the fourth distance difference judgment threshold value increase in value in turn, and the first light intensity difference judgment threshold value, the second light intensity difference judgment threshold value, the third light intensity difference judgment threshold value and the fourth light intensity difference judgment threshold value increase in value in turn.

[0080] In an embodiment, the luggage opening judgment module 320 is further configured to determine the luggage opening signal when the difference between the collected distance and the stable distance is greater than the distance difference judgment threshold value, or determine the luggage opening signal when the difference between the collected distance and the stable distance is less than or equal to the distance difference judgment threshold value and the difference between the collected light intensity and the stable light intensity is greater than the light intensity difference judgment threshold value.

[0081] In an embodiment, the luggage opening judgment module 320 is further configured to re-determine the stable distance and the stable light intensity when the difference between the collected distance and the stable distance is less than a preset exit distance difference threshold value and the difference between the collected light intensity and the stable light intensity is less than a preset exit light intensity difference threshold value.

[0082] The automobile luggage opening device provided by the embodiments of the present application can perform the automobile luggage opening method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0083] FIG. 6 is a structural schematic diagram of an automobile luggage opening system provided by an embodiment of the present application, and the present embodiment can be applied to the case of opening the automobile luggage. The automobile luggage opening system of the present embodiment can include the following structures: a preset sensor 410, an automobile luggage projection module 420 and an automobile luggage opening module 430. The preset sensor 410 is configured to collect the collected distance from the preset sensor to the ground and the collected light intensity of the ground reflection; the automobile luggage projection module 420 is configured to project onto the ground; and the automobile luggage opening module 430 is configured to open the automobile luggage according to the method provided by any of the embodiments of the present application.

[0084] The automobile luggage opening module 430 is configured to, when the luggage projection function of the target luggage is opened, collect signals through the preset sensor to obtain the collected distance from the preset sensor to the ground and the collected light intensity of the ground reflection; determine the luggage opening signal according to the numerical change of the collected distance and the collected light intensity, and open the target luggage according to the luggage opening signal.

[0085] In an embodiment, the automobile trunk opening module 430 is further configured to: when the continuous signal collection reaches a preset collection number, if the change values of the collection distance and the collection light intensity obtained in the preset collection number satisfy corresponding preset change value thresholds, determine the stable distance and the stable light intensity according to the collection distance and the collection light intensity obtained in the preset collection number; after the stable distance and the stable light intensity are determined, monitor the change values of the collection distance and the collection light intensity collected by the continuous signal collection, and when the change value of at least one of the collection distance and the collection light intensity satisfies a corresponding preset opening signal recognition change value threshold, enter a trunk opening signal recognition mode; in the trunk opening signal recognition mode, determine the trunk opening signal according to the difference between the collection distance and the stable distance and the difference between the collection light intensity and the stable light intensity; wherein the stable distance is the collection distance when the ground is free of obstacles, and the stable light intensity is the collection light intensity of the ground reflection when the ground is free of obstacles.

[0086] In an embodiment, the automobile trunk opening module 430 is further configured to: determine a first light intensity relationship between the stable light intensity and a preset calibration stable light intensity threshold; determine a second light intensity relationship between the collection light intensity and a preset calibration collection light intensity threshold; determine corresponding distance difference judgment thresholds and light intensity difference judgment thresholds according to the first light intensity relationship and the second light intensity relationship; and determine the trunk opening signal according to the distance difference judgment thresholds and the light intensity difference judgment thresholds, the difference between the collection distance and the stable distance, and the difference between the collection light intensity and the stable light intensity.

[0087] In an embodiment, the automobile trunk opening module 430 is further configured to: when the first light intensity relationship is that the stable light intensity is greater than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the collection light intensity is greater than the preset calibration collection light intensity threshold, determine a first distance difference judgment threshold and a first light intensity difference judgment threshold; when the first light intensity relationship is that the stable light intensity is greater than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the collection light intensity is less than the preset calibration collection light intensity threshold, determine a second distance difference judgment threshold and a second light intensity difference judgment threshold; when the first light intensity relationship is that the stable light intensity is less than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the collection light intensity is greater than the preset calibration collection light intensity threshold, determine a third distance difference judgment threshold and a third light intensity difference judgment threshold; and when the first light intensity relationship is that the stable light intensity is less than the preset calibration stable light intensity threshold, and the second light intensity relationship is that the collection light intensity is less than the preset calibration collection light intensity threshold, determine a fourth distance difference judgment threshold and a fourth light intensity difference judgment threshold; wherein the values of the first distance difference judgment threshold, the second distance difference judgment threshold, the third distance difference judgment threshold, and the fourth distance difference judgment threshold are different, and the values of the first light intensity difference judgment threshold, the second light intensity difference judgment threshold, the third light intensity difference judgment threshold, and the fourth light intensity difference judgment threshold are different.

[0088] In an embodiment, the first distance difference judgment threshold value, the second distance difference judgment threshold value, the third distance difference judgment threshold value and the fourth distance difference judgment threshold value are sequentially increased in value, and the first light intensity difference judgment threshold value, the second light intensity difference judgment threshold value, the third light intensity difference judgment threshold value and the fourth light intensity difference judgment threshold value are sequentially increased in value.

[0089] In an embodiment, the trunk opening module 430 is further configured to determine the trunk opening signal when the difference between the collected distance and the stable distance is greater than the distance difference judgment threshold value, or when the difference between the collected distance and the stable distance is less than or equal to the distance difference judgment threshold value, and the difference between the collected light intensity and the stable light intensity is greater than the light intensity difference judgment threshold value.

[0090] In an embodiment, the trunk opening module 430 is further configured to re-determine the stable distance and the stable light intensity when the difference between the collected distance and the stable distance is less than a preset exit distance difference threshold value, and the difference between the collected light intensity and the stable light intensity is less than a preset exit light intensity difference threshold value.

[0091] In an embodiment, the system further comprises a vehicle body domain controller configured to obtain the distance between the target object and the vehicle body, and send a projection opening instruction to the trunk projection module 420 when the distance meets a first instruction sending threshold value; correspondingly, the trunk projection module 420 is configured to project onto the ground according to the projection opening instruction sent by the vehicle body domain controller.

[0092] The target object can be a key of a target vehicle.

[0093] As shown in FIG. 7, the system further comprises a trunk controller. When the whole vehicle engine ignition switch is off (IG OFF), the vehicle body domain controller identifies that the user holds the key and approaches the trunk, sends a projection opening instruction to the trunk projection module 420 through a local interconnect network (LIN) bus, and the trunk projection module 420 projects a preset pattern on the ground. After that, the trunk opening module 430 identifies the user's stepping action and sends a trunk opening request instruction to the vehicle body domain controller, and the vehicle body domain controller sends a trunk opening instruction to the trunk controller through a controller area network (CAN) bus to execute the trunk opening action, i.e., to open the trunk by driving the trunk motor through a hard wire.

[0094] The technical scheme of the embodiment determines the luggage opening signal according to the numerical change of the collection distance and the collection light intensity, and opens the target luggage according to the luggage opening signal. The technical scheme of the embodiment solves the problem of low accuracy in determining whether to open the luggage in the luggage projection identification process in the related art, can determine whether to open the luggage by combining the distance and the light intensity, makes the opening of the automobile luggage more accurate, and reduces the cost of the automobile luggage projection identification.

[0095] FIG. 8 is a structural schematic diagram of a computer device provided by an embodiment of the application. FIG. 8 shows a block diagram of an exemplary computer device 12 suitable for implementing the embodiments of the application. The computer device 12 shown in FIG. 8 is merely an example, and should not impose any limitation on the functions and use range of the embodiments of the application. The computer device 12 can be any terminal device with computing capability, such as a smart controller, a server, a mobile phone, and the like.

[0096] As shown in FIG. 8, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 can include one or more processors or processing units 16, a system memory 28, and a bus 18 that connects the different system components, including the system memory 28 and the processing unit 16.

[0097] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus architectures. For example, these architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0098] The computer device 12 includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

[0099] System memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (typically called a "hard drive"). A magnetic disk drive can also be provided for reading from and writing to a removable, non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive can be provided for reading from or writing to a removable, non-volatile optical disk (e.g., a "compact disk", CD, or other optical media). In these instances, each can be connected to bus 18 by one or more data media interfaces. As will be further depicted and described below, memory can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.

[0100] Program / utility 40 having a set (at least one) of program modules 42 can be stored in system memory 28 by way of example, such programs / modules include an operating system, one or more application programs, other program modules, and program data, each or combinations thereof specified and / or used by the embodiments of the application. Program modules 42 generally carry out the functions and / or methodologies of embodiments of the application as described herein.

[0101] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; one or more devices that enable a user to interact with computer device 12; and / or any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface(s) 22. Still yet, computer device 12 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or the Internet) through network adapter 20. As an example, network adapter 20 can enable computer device 12 to communicate with a local or remote device, such as a server, via a network 24. As shown, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and / or software modules could be used in conjunction with computer device 12. Examples, include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, artificial intelligence systems, and data backup systems, etc.

[0102] Processing unit 16 can execute instructions stored in system memory 28 to perform various functions and data processing, such as implementing the method for opening a trunk of a vehicle provided by embodiments of the present application, which includes: in the case that a trunk projection function of a target trunk is turned on, collecting signals by a preset sensor to obtain a collection distance from the preset sensor to the ground and a collection light intensity of ground reflection; determining a trunk opening signal according to a numerical change of the collection distance and the collection light intensity, and opening the target trunk according to the trunk opening signal.

[0103] The present application also provides a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for opening a trunk of a vehicle provided by any of the embodiments of the present application, which includes: in the case that a trunk projection function of a target trunk is turned on, collecting signals by a preset sensor to obtain a collection distance from the preset sensor to the ground and a collection light intensity of ground reflection; determining a trunk opening signal according to a numerical change of the collection distance and the collection light intensity, and opening the target trunk according to the trunk opening signal.

[0104] The computer storage medium of the embodiments of the present application can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may, for example, be: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. Examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, RAM, ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device.

[0105] The computer-readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave in a propagated data signal, in which the computer-readable program code is contained. Such propagated data signal can take a variety of forms, including but not limited to electro-magnetic, optical or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium that is not a storage medium and that can be used to carry or propagate program code for use by or in connection with an instruction execution system, apparatus or device.

[0106] The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wire line, optical fiber cable, radio frequency (RF), and the like, or any suitable combination thereof.

[0107] The computer program code for carrying out operations of the present application can be written in one or more programming languages or combinations of languages including object oriented programming languages, such as Java, Smalltalk, Python, C++, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a LAN or a WAN, or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0108] The embodiment of the present application further provides a computer program product comprising a computer program which, when executed by a processor, implements the method for opening a trunk of a vehicle as provided in any embodiment of the present application.

[0109] In implementing the computer program product, the computer program code for performing the operations of the present application can be written in one or more programming languages or combinations of languages including an object oriented programming language such as Java, Smalltalk, Python, C++ or conventional procedural programming languages such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a LAN or a WAN, or the connection can be made to an external computer (for example through the Internet using an Internet Service Provider).

[0110] The modules or steps of the present application described above can be implemented by using general computing devices, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices, and can be implemented by using computer device executable program codes, so that they can be stored in storage devices and executed by computing devices, or they can be respectively made into multiple integrated circuit modules, or multiple modules or steps among them can be made into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

Claims

1. A method for opening a trunk of a vehicle, comprising: in response to a trunk projection function of a target trunk being turned on, collecting signals by a preset sensor to obtain a collection distance of the preset sensor to the ground and a collection light intensity of ground reflection; determining a trunk opening signal according to a numerical change of the collection distance and the collection light intensity, and opening the target trunk according to the trunk opening signal.

2. The method of claim 1, wherein, determining the trunk opening signal according to the numerical change of the collection distance and the collection light intensity, comprising: in response to continuous signal collection reaching a preset collection number, and the change values of the collection distance and the collection light intensity obtained in the preset collection number satisfying corresponding preset change value thresholds, determining a stable distance and a stable light intensity according to the collection distance and the collection light intensity obtained in the preset collection number; after the stable distance and the stable light intensity are determined, monitoring the change values of the collection distance and the collection light intensity collected by continuous signal collection, and in response to the change value of at least one of the collection distance and the collection light intensity satisfying a corresponding preset trunk opening signal identification change value threshold, entering a trunk opening signal identification mode; in the trunk opening signal identification mode, determining the trunk opening signal according to a difference value between the collection distance and the stable distance, and a difference value between the collection light intensity and the stable light intensity; wherein the stable distance is the collection distance when the ground is free of obstacles, and the stable light intensity is the collection light intensity of ground reflection when the ground is free of obstacles.

3. The method of claim 2, wherein, determining the trunk opening signal according to the difference value between the collection distance and the stable distance, and the difference value between the collection light intensity and the stable light intensity, comprising: determining a first light intensity relationship between the stable light intensity and a preset calibration stable light intensity threshold; determining a second light intensity relationship between the collection light intensity and a preset calibration collection light intensity threshold; determining corresponding distance difference judgment thresholds and light intensity difference judgment thresholds according to the first light intensity relationship and the second light intensity relationship; determining the trunk opening signal according to the distance difference judgment thresholds and the light intensity difference judgment thresholds, the difference value between the collection distance and the stable distance, and the difference value between the collection light intensity and the stable light intensity.

4. The method of claim 3, wherein, determining the distance difference judgment thresholds and the light intensity difference judgment thresholds according to the first light intensity relationship and the second light intensity relationship, comprising: in response to the first light intensity relationship being that the stable light intensity is greater than the preset calibration stable light intensity threshold, and the second light intensity relationship being that the collection light intensity is greater than the preset calibration collection light intensity threshold, determining a first distance difference judgment threshold and a first light intensity difference judgment threshold; in response to the first light intensity relationship being that the stable light intensity is greater than the preset calibration stable light intensity threshold, and the second light intensity relationship being that the collection light intensity is less than the preset calibration collection light intensity threshold, determining a second distance difference judgment threshold and a second light intensity difference judgment threshold; determining a third distance difference judgment threshold and a third light intensity difference judgment threshold in response to the first light intensity relationship being that the stable light intensity is less than the preset calibration stable light intensity threshold and the second light intensity relationship being that the collection light intensity is greater than the preset calibration collection light intensity threshold; determining a fourth distance difference judgment threshold and a fourth light intensity difference judgment threshold in response to the first light intensity relationship being that the stable light intensity is less than the preset calibration stable light intensity threshold and the second light intensity relationship being that the collection light intensity is less than the preset calibration collection light intensity threshold; wherein the first distance difference judgment threshold, the second distance difference judgment threshold, the third distance difference judgment threshold and the fourth distance difference judgment threshold have different values, and the first light intensity difference judgment threshold, the second light intensity difference judgment threshold, the third light intensity difference judgment threshold and the fourth light intensity difference judgment threshold have different values.

5. The method of claim 4, wherein, The values of the first distance difference judgment threshold, the second distance difference judgment threshold, the third distance difference judgment threshold and the fourth distance difference judgment threshold increase in turn, and the values of the first light intensity difference judgment threshold, the second light intensity difference judgment threshold, the third light intensity difference judgment threshold and the fourth light intensity difference judgment threshold increase in turn.

6. The method of claim 3, wherein, According to the distance difference judgment threshold and the light intensity difference judgment threshold, the difference between the collection distance and the stable distance, and the difference between the collection light intensity and the stable light intensity, the luggage opening signal is determined, including: determining the luggage opening signal in response to the difference between the collection distance and the stable distance being greater than the distance difference judgment threshold; or, determining the luggage opening signal in response to the difference between the collection distance and the stable distance being less than or equal to the distance difference judgment threshold, and the difference between the collection light intensity and the stable light intensity being greater than the light intensity difference judgment threshold.

7. The method of claim 2, after determining the luggage opening signal, further comprising: redetermining the stable distance and the stable light intensity in response to the difference between the collection distance and the stable distance being less than a preset exit distance difference threshold, and the difference between the collection light intensity and the stable light intensity being less than a preset exit light intensity difference threshold.

8. An automobile luggage opening device, comprising: a signal collection module configured to collect signals through a preset sensor in response to the opening of a luggage projection function of a target luggage, to obtain a collection distance of the preset sensor to the ground and a collection light intensity of ground reflection; a luggage opening judgment module configured to determine a luggage opening signal according to the numerical change of the collection distance and the collection light intensity, and to open the target luggage according to the luggage opening signal.

9. An automotive trunk opening system comprising: a preset sensor, an automobile luggage projection module and an automobile luggage opening module; wherein the preset sensor is configured to collect the collection distance of the preset sensor to the ground and the collection light intensity of ground reflection; the automobile luggage projection module is configured to project to the ground; the automobile luggage opening module is configured to open the target luggage. The automobile trunk opening module is arranged to open the automobile trunk according to the method of any one of claims 1-7.

10. A computer device, comprising: at least one processor; a memory arranged to store at least one program; when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the automobile trunk opening method of any one of claims 1-7.

11. A computer readable storage medium storing a computer program, which, when executed by a processor, implements the automobile trunk opening method of any one of claims 1-7.

12. A computer program product comprising a computer program, which, when executed by a processor, implements the automobile trunk opening method of any one of claims 1-7.

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