CN109532741A - Interior life entity based reminding method, device and automobile data recorder - Google Patents

Interior life entity based reminding method, device and automobile data recorder Download PDF

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Publication number
CN109532741A
CN109532741A CN201811495607.6A CN201811495607A CN109532741A CN 109532741 A CN109532741 A CN 109532741A CN 201811495607 A CN201811495607 A CN 201811495607A CN 109532741 A CN109532741 A CN 109532741A
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China
Prior art keywords
vehicle
life entity
wave signal
signal
detection
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Granted
Application number
CN201811495607.6A
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Chinese (zh)
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CN109532741B (en
Inventor
王丽
苏伟
吕灿
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Zhongke Bijie (suzhou) Technology Co Ltd
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Zhongke Bijie (suzhou) Technology Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
    • B60H1/00—Heating, cooling or ventilating [HVAC] devices
    • B60H1/00642—Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
    • B60H1/00735—Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models
    • B60H1/00742—Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models by detection of the vehicle occupants' presence; by detection of conditions relating to the body of occupants, e.g. using radiant heat detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
    • B60H1/00—Heating, cooling or ventilating [HVAC] devices
    • B60H1/00642—Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
    • B60H1/00735—Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models
    • B60H1/008—Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models the input being air quality
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512—Passenger detection systems
    • B60R21/0153—Passenger detection systems using field detection presence sensors
    • B60R21/01534—Passenger detection systems using field detection presence sensors using electromagneticwaves, e.g. infrared
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512—Passenger detection systems
    • B60R21/0153—Passenger detection systems using field detection presence sensors
    • B60R21/01538—Passenger detection systems using field detection presence sensors for image processing, e.g. cameras or sensor arrays

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Emergency Alarm Devices (AREA)

Abstract

The present invention relates to life entity detection technique fields, and in particular to interior life entity based reminding method, device and automobile data recorder, wherein method includes: and detects in the vehicle when closing of the door and vehicle stall with the presence or absence of life entity；When, there are when life entity, obtaining the image information in the vehicle in vehicle；Prompting message is sent to default personnel；Wherein, the prompting message includes described image information；When receiving the control instruction that the default personnel are fed back based on the prompting message, control vehicle part (air-conditioning, car light, vehicle window) executes corresponding movement.This method is by sending prompting message to default personnel, to remind, there are life entities in default personnel's vehicle, sending interior photo simultaneously is convenient for default personnel to verify, and guarantees that vehicle part can execute corresponding movement according to the control instruction of default personnel, improves the safety of interior life entity.

Description

Interior life entity based reminding method, device and automobile data recorder
Technical field
The present invention relates to life entity detection technique fields, and in particular to interior life entity based reminding method, device and driving note Record instrument.
Background technique
Recent years, children leave car frequent occurrence, and discovery causes child dead not in time.Since environment inside car seals It closes, atmosphere draught-free, especially when summer, according to greenhouse effects principle, 60 degree can be reached in the vehicle interior temperature short time More than, it is easy to cause the safety of children in vehicles to threaten.It is interior over time meanwhile even if vehicle interior temperature is not high Air quality can be gradually reduced, and eventually lead to oxygen content deficiency, also there is asphyxiant danger.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of interior life entity based reminding method, device and automobile data recorder, with Solve the safety problem of life entity in existing vehicle.
According in a first aspect, the embodiment of the invention provides a kind of interior life entity based reminding methods, comprising:
When closing of the door and vehicle stall, detect in the vehicle with the presence or absence of life entity；
When, there are when life entity, obtaining the image information in the vehicle in vehicle；
Prompting message is sent to default personnel；Wherein, the prompting message includes described image information；
When receiving the control instruction that the default personnel are fed back based on the prompting message, control vehicle part is executed Corresponding movement.
Car life entity based reminding method provided in an embodiment of the present invention is detecting to obtain in vehicle there are when life entity Image information in vehicle includes the image information into the prompting message of default personnel transmission, then receives the control of feedback When instruction, control vehicle part executes corresponding movement；That is, by sending prompting message to default personnel, to remind default people There are life entities in member's vehicle, while sending interior photo and default personnel is convenient for verify, and guarantee that vehicle part can be according to The control instruction of default personnel executes corresponding movement, improves the safety of interior life entity.
With reference to first aspect, in first aspect first embodiment, the image information obtained in the vehicle, packet Include: control image capture device shoots the image in the vehicle；Wherein, described image information is the image of the shooting.
Car life entity based reminding method provided in an embodiment of the present invention, is detecting that there are control again when life entity in vehicle Image capture device shoots the image in vehicle, on the one hand can be avoided image capture device and frequently shoots image in vehicle, When life entity being on the other hand not present in vehicle, image capture device can be used for other function, expand the Image Acquisition The application scenarios of equipment.
With reference to first aspect, in first aspect second embodiment, the step that prompting message is sent to default personnel Before rapid, further includes:
When the vehicle is there are when life entity, the environmental data in the vehicle is detected；
Wherein, the prompting message further includes the environmental data.
Car life entity based reminding method provided in an embodiment of the present invention is detecting to detect in vehicle there are when life entity Environmental data is sent to default personnel by the environmental data in vehicle together, convenient for default personnel's energy when sending control instruction Enough referring to the environmental data, the accuracy of the control instruction of subsequent feedback is improved, and then improve the safety of interior life entity.
Second embodiment with reference to first aspect, in first aspect third embodiment, further includes:
When being not received by the control instruction that the default personnel are fed back based on the prompting message, the environment is judged Whether data are more than preset value；
When the environmental data is more than preset value, control vehicle part executes deliberate action.
Car life entity based reminding method provided in an embodiment of the present invention refers in the control for not receiving default personnel's feedback When environmental data is more than preset value in order and vehicle, vehicle part can execute deliberate action automatically.This method can be avoided default Personnel do not notice prompting message for a long time, and when environmental data is more than preset value, executes deliberate action automatically, have higher Reliability, while can guarantee the safety of interior life entity again.
With reference to first aspect, first aspect first embodiment, first aspect second embodiment or first aspect third Embodiment whether there is life entity in the detection vehicle in the 4th embodiment of first aspect, comprising:
The first detection of transmitting wave signal into the vehicle；
Receive the first reflection wave signal being reflected back；
Signal processing is carried out to obtain first object to first reflection wave signal based on the first detection wave signal Signal；
According in vehicle described in the first object signal detection whether there is life entity.
Car life entity based reminding method provided in an embodiment of the present invention, wherein if there are when life entity in vehicle, life The vital sign (for example, pulse, heartbeat or breathing etc.) of body is the movement of body internal, so, target reflection wave signal Doppler frequency shift can be generated relative to detection wave signal, the phase of detection wave signal can change, thus the life of life entity Sign is modulated the first detection wave signal, and the life entity of life entity can be carried in the first reflection wave signal being reflected back Reference number recycles the first detection wave signal to carry out signal processing, obtained first object signal to the first reflection wave signal In to include vital sign parameter signals be can be detected out in vehicle by first object signal with the presence or absence of life entity.This method utilizes Vital sign parameter signals can be detected out with the presence or absence of life entity the modulation of the first detection wave signal, as long as there is life in vehicle Life body can be detected by this method, without being limited by specific location of the life entity in vehicle or motion state, pole The earth improves the accuracy of life entity detection.
4th embodiment with reference to first aspect, it is described based on first inspection in the 5th embodiment of first aspect Survey wave signal includes: to obtain first object signal to first reflection wave signal progress signal processing
It is multiplied to the first detection wave signal and first reflection wave signal to obtain the first product signal；
Low-pass filtering is carried out to obtain the first object signal to first product signal.
Car life entity based reminding method provided in an embodiment of the present invention, since life entity and transmitting first detect wave signal There may be a certain distance between device, and since vital signs distance can change over time, received first back wave of institute Signal, which has delay, to be changed, and the phase of the first reflection wave signal is modulated by the periodic motion of vital sign parameter signals, because This, is multiplied by the first detection wave signal for the first reflection wave signal, this phase-modulation can be demodulated, so as to obtain One echo signal, in order to which the later use first object signal carries out the detection of life entity.
5th embodiment with reference to first aspect, it is described according to first mesh in first aspect sixth embodiment It marks and whether there is life entity in vehicle described in signal detection, comprising:
Power spectrumanalysis is carried out to the first object signal, to obtain the energy of first reflection wave signal；
When the energy is less than first threshold, determine that there is no the life entities in the vehicle.
5th embodiment or first aspect sixth embodiment with reference to first aspect, in the 7th embodiment of first aspect In, it whether there is life entity in the vehicle according to the first object signal detection, comprising:
The first object signal intermediate frequency rate amount of changing with time is extracted by arc tangent demodulation, to obtain frequency letter Number；
Data processing is carried out to the frequency signal, to obtain vital sign parameter signals；
When the frequency of the vital sign parameter signals is greater than second threshold, determine that there are the life entities in the vehicle.
Car life entity based reminding method provided in an embodiment of the present invention, carrying out arc tangent demodulation to frequency signal can be extensive It appears again vital sign parameter signals, therefore can be detected out life entity using the frequency of vital sign parameter signals and whether there is.
With reference to first aspect, first aspect first embodiment, first aspect second embodiment or first aspect third Embodiment whether there is life entity in the detection vehicle in the 8th embodiment of first aspect, comprising:
Emit at least one second detection wave signal into the vehicle；
Receive multiple second reflection wave signals being reflected back；
Signal processing is carried out to each second reflection wave signal based on the second detection wave signal, to obtain second Echo signal；
Target Bearing Estimation is carried out to all second echo signals, to obtain attitude information；
Being detected based on the attitude information whether there is the life entity in the vehicle.
Car life entity based reminding method provided in an embodiment of the present invention, wherein if there are when life entity in vehicle, life The vital sign (for example, pulse, heartbeat or breathing etc.) of body can be modulated the second detection wave signal, in the be reflected back The vital sign parameter signals of life entity can be carried in two reflection wave signals, and the second detection wave signal is recycled to believe the second back wave Number signal processing and target Bearing Estimation are carried out, includes vital sign parameter signals in obtained attitude information, pass through The attitude information can be detected out in vehicle with the presence or absence of life entity；Using vital sign parameter signals to the second detection wave signal Modulation can be detected out with the presence or absence of life entity, as long as there are life entities to be detected by this method in vehicle, Without being limited by specific location of the life entity in vehicle or motion state, the accurate of life entity detection is greatly improved Property.
8th embodiment with reference to first aspect, it is described based on second inspection in the 9th embodiment of first aspect Wave signal is surveyed, signal processing is carried out to each second reflection wave signal, to obtain the second echo signal, comprising:
It is multiplied to the second detection wave signal and second reflection wave signal to obtain the second product signal；
Low-pass filtering is carried out to obtain second echo signal to second product signal.
Car life entity based reminding method provided in an embodiment of the present invention, since life entity and transmitting second detect wave signal There may be a certain distance between device, received second reflection wave signal of institute has a delay, and the second reflection wave signal Phase is modulated by the periodic motion of vital sign parameter signals.Therefore, the second reflection wave signal is multiplied by the second detection wave signal, This phase-modulation can be demodulated, to obtain the second echo signal, in order to later use second echo signal into The detection of row life entity.
9th embodiment with reference to first aspect, in the tenth embodiment of first aspect, described pair all described second Echo signal carries out target Bearing Estimation, to obtain attitude information, comprising:
Calculate receive each second reflection wave signal and receive between first second reflection wave signal when Between it is poor；
Beam synthesis is carried out based on the time difference and second echo signal, to obtain the dimensional orientation letter Breath.
Car life entity based reminding method provided in an embodiment of the present invention due to life entity and receives the second reflection wave signal There may be a certain distance between device, received second reflection wave signal of institute has a delay, and changes to each in device The distance of energy device is different, therefore calculated each second reflection wave signal and first second are utilized when carrying out Beam synthesis Time difference between transmitted wave signal can guarantee the accuracy of Beam synthesis, provide the foundation for the detection of subsequent life entity.
Tenth embodiment with reference to first aspect, it is described to be based on the space in the 11st embodiment of first aspect Azimuth information detects the life entity, comprising:
When the output power of the wave beam is less than third threshold value, determine that there is no the life entities in the vehicle.
According to second aspect, the embodiment of the invention also provides a kind of interior life entity alarm sets, comprising:
Life entity detection device, image capture device, memory and processor, the memory, the processor and institute It states life entity detection device and described image acquisition equipment communicates with each other connection；
The life entity detection device is used for when closing of the door and vehicle stall, is detected in the vehicle with the presence or absence of life Order body；
Described image acquisition equipment is used to obtain the image information in vehicle；
The processor is used for when there are when life entity, sending prompting message to default personnel in the vehicle；Wherein, institute Stating prompting message includes described image information；In the control instruction for receiving the default personnel and being fed back based on the prompting message When, control vehicle part executes corresponding movement.
Car life entity alarm set provided in an embodiment of the present invention detecting in vehicle there are when life entity, to pre- If personnel send prompting message, then when receiving the control instruction of feedback, control vehicle part executes corresponding movement；That is, logical It crosses and sends prompting message to default personnel, to remind in default personnel's vehicle there are life entity, guarantee that vehicle part can be according to The control instruction of default personnel executes corresponding movement, improves the safety of interior life entity.
In conjunction with second aspect, in second aspect first embodiment, further includes:
Environmental detection set, for detecting the environmental data in the vehicle when the vehicle is there are when life entity.
In conjunction with second aspect or second aspect first embodiment, in second aspect second embodiment, the processing Device judges that the environmental data is when being not received by the control instruction that the default personnel are fed back based on the prompting message No is more than preset value；
When the environmental data is more than preset value, control vehicle part executes deliberate action.
In conjunction with second aspect or second aspect first embodiment or second aspect second embodiment, in second aspect In third embodiment, the life entity detection device further include:
First emitter, interior the first detection of the transmitting wave signal of Xiang Suoshu vehicle；
First receiving device receives the first reflection wave signal being reflected back；
Wherein, the processor is also used to carry out letter to first reflection wave signal based on the first detection wave signal Number processing to obtain first object signal；According in vehicle described in the first object signal detection whether there is life entity.
In conjunction with second aspect or second aspect first embodiment or second aspect second embodiment, in second aspect In 4th embodiment, the life entity detection device further include:
Second emitter, at least one second detection wave signal of the interior transmitting of Xiang Suoshu vehicle；
Second reception device receives multiple second reflection wave signals being reflected back；
Wherein, the processor be also used to based on it is described second detection wave signal to each second reflection wave signal into Row signal processing, to obtain the second echo signal；Target Bearing Estimation is carried out to all second echo signals, to obtain sky Between azimuth information；Being detected based on the attitude information whether there is the life entity in the vehicle.
According to the third aspect, the embodiment of the invention also provides a kind of automobile data recorders, including second aspect of the present invention, or Interior life entity alarm set described in second aspect any embodiment.
In conjunction with the third aspect, in third aspect first embodiment, it is the driving recording that described image, which acquires equipment, The camera of instrument.
In conjunction with the third aspect, in third aspect second embodiment, including the first camera and second camera；Its In, first camera is that described image acquires equipment.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow chart of interior life entity based reminding method according to an embodiment of the present invention；
Fig. 2 is the flow chart of interior life entity based reminding method according to an embodiment of the present invention；
Fig. 3 is the flow chart of the detection method of life entity according to an embodiment of the present invention；
Fig. 4 is the flow chart of the detection method of life entity according to an embodiment of the present invention；
Fig. 5 is the flow chart of the detection method of life entity according to an embodiment of the present invention；
Fig. 6 is the time-domain diagram of frequency signal according to an embodiment of the present invention；
Fig. 7 is the frequency domain figure of vital sign parameter signals according to an embodiment of the present invention；
Fig. 8 is the flow chart of the detection method of life entity according to an embodiment of the present invention；
Fig. 9 is the flow chart of the detection method of life entity according to an embodiment of the present invention；
Figure 10 is the flow chart of the detection method of life entity according to an embodiment of the present invention；
The schematic diagram of target bearing information when Figure 11 is no life entity according to an embodiment of the present invention；
Figure 12 is the schematic diagram of the target bearing information according to an embodiment of the present invention when having a life entity；
Figure 13 is the structural block diagram of interior life entity alarm set according to an embodiment of the present invention；
Figure 14 is the structural block diagram of life entity detection device according to an embodiment of the present invention；
Figure 15 is the structural block diagram of life entity detection device according to an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second " are used for description purposes only, and cannot It is interpreted as indication or suggestion relative importance.
According to embodiments of the present invention, a kind of interior life entity based reminding method embodiment is provided, it should be noted that although Logical order is shown in flow charts, but in some cases, can be executed with the sequence for being different from herein it is shown or The step of description.
A kind of interior life entity based reminding method is provided in the present embodiment, can be used in interior life entity alarm set, Fig. 1 is the flow chart of interior life entity alarm set according to an embodiment of the present invention, as shown in Figure 1, the process includes following step It is rapid:
S11 whether there is life entity in detection vehicle when closing of the door and vehicle stall.
Wherein it is possible to carry out the detection of life entity using the pressure sensor being arranged under automotive seat, can also use Infrared sensor carries out the detection of life entity, or is detected using radar sensor, or the inspection of life entity is carried out using ultrasonic wave Survey etc..No matter which kind of mode only need to guarantee that it is capable of detecting when life entity using.
S12, when there are image informations when life entity, in acquisition vehicle in vehicle.
Detecting that processor obtains the image information in vehicle there are when life entity in vehicle.Wherein, image information Obtaining can be is shot using the Image Acquisition setting being installed in the vehicle, and is also possible to have using existing in vehicle The equipment (for example, automobile data recorder) of image collecting function shoot etc..
S13 sends prompting message to default personnel.
When detecting in vehicle there are when life entity, the prompting message including image information is sent to default personnel. Wherein presetting personnel can be car owner, be also possible to the related personnel etc. bound with the detection vehicle；In addition, the prompting sent The purpose of information is that there are life entities in default personnel's current vehicle for reminding, and not to the transmission form of prompting message at this (for example, it may be short message, wechat, QQ etc.) is limited, can also include the location information etc. of vehicle in prompting message.
S14, when receiving the control instruction that default personnel are fed back based on prompting message, control vehicle part executes corresponding Movement.
Default personnel after receiving prompting message, can based on the image information in prompting message in vehicle whether There are life entities to be verified, and is determining there are judging whether oneself can come back when life entity, or need to send to vehicle and control System instruction etc..When processor receives the control instruction that default personnel are fed back based on prompting message, processor is according to control Instruction control vehicle part executes corresponding movement.Wherein, control instruction, which can be, opens air-conditioning, falls vehicle window etc..
Car life entity based reminding method provided in this embodiment is detecting to obtain vehicle there are when life entity in vehicle Interior image information includes the image information into the prompting message of default personnel transmission, then receives the control instruction of feedback When, control vehicle part executes corresponding movement；That is, by sending prompting message to default personnel, to remind default personnel's vehicle There are life entities in, while sending interior photo and default personnel is convenient for verify, and guarantee that vehicle part can be according to default The control instruction of personnel executes corresponding movement, improves the safety of interior life entity.
Optionally, detection is interior can be with the presence or absence of life entity in vehicle stall and car door car window closing preset time After (for example, 5 minutes).If detecting, there is no life entities in vehicle, start to detect next time；If in certain time (example Such as, 10 minutes) in detect no life entity, then the car life entity alarm set is in sleep pattern, hereafter can be every One hour is detected, and carrying out life entity alarm set in repeatedly (for example, 6 times) detection rear car can stop working completely, Avoid caused parking consumption standby for a long time.
A kind of interior life entity based reminding method is additionally provided in the present embodiment, can be used for interior life entity alarm set In, Fig. 2 is the flow chart of interior life entity alarm set according to an embodiment of the present invention, as shown in Fig. 2, the process includes as follows Step:
S21 whether there is life entity in detection vehicle when closing of the door and vehicle stall.It refers to shown in Fig. 1 The S11 of embodiment, details are not described herein.
S22, when there are image informations when life entity, in acquisition vehicle in vehicle.
Wherein, need to shoot the image information in vehicle there are when life entity in vehicle, processor is set to Image Acquisition Preparation send instruction, to control the image in image capture device shooting vehicle.
Optionally, which can be the camera of automobile data recorder.When a vehicle is started, automobile data recorder Camera turn to front, to record a video to vehicle front；When vehicle stall and detect that there are life entities in vehicle When, the camera of automobile data recorder turns in vehicle and shoots the image in vehicle；It is also possible to additionally set in automobile data recorder Two cameras are arranged in the camera set that is, in automobile data recorder, and one is used to record a video to vehicle front, and one is used for Acquire the image in vehicle.
S23 detects the environmental data in vehicle.
Wherein, the environmental data in vehicle can be temperature in vehicle, CO2Concentration, O2Concentration etc.；Specifically need to examine The environmental data of survey can be detected specifically according to the actual situation.
S24 sends prompting message to default personnel.
Processor further includes having the environmental data detected in the prompting message sent to default personnel；Remaining is asked in detail The S14 of embodiment shown in Figure 1, details are not described herein.
S25 judges whether to receive the control instruction that default personnel are fed back based on prompting message.
Processor can be after sending a period of time after prompting message to default personnel, judge whether to receive The control instruction that default personnel are fed back based on prompting message, if receiving the control instruction that default personnel are fed back based on prompting message When, execute S26；Otherwise, S27 is executed.
S26, control vehicle part execute corresponding movement.
The S15 of embodiment illustrated in fig. 1 is referred to, details are not described herein.
S27 judges whether environmental data is more than preset value.
Processor judges to detect after being not received by the control instruction that default personnel are fed back based on prompting message When environmental data is more than preset value, when environmental data exceeds preset value, S28 is executed；Otherwise, the environment in current vehicle is indicated Discomfort will not be caused to life entity, then executes S23, continue the detection of environmental data in vehicle.
S28, control vehicle part execute deliberate action.
For processor when judging environmental data beyond preset value, control vehicle part executes deliberate action, such as can be with It is to alarm platform alarm, car light flashing, horn blast, the interior air-conditioning system of opening etc..The deliberate action specifically executed Can specifically it be arranged according to the actual situation, herein with no restrictions.
Compared with embodiment illustrated in fig. 1, car life entity based reminding method provided in this embodiment is default not receiving When environmental data is more than preset value in the control instruction and vehicle of personnel's feedback, vehicle part can execute deliberate action automatically.It should Method can be avoided default personnel and not notice prompting message for a long time, and when environmental data is more than preset value, automatic to execute Deliberate action, reliability with higher, while the safety of life entity in vehicle can be taken into account again.
A kind of optional embodiment as the present embodiment, wherein can be used in detection vehicle with the presence or absence of life entity Following method realization, as shown in figure 3, method includes the following steps:
S31 emits the first detection wave signal into vehicle.
The first emitter in interior life entity alarm set emits the first detection wave signal into vehicle, first inspection Surveying wave signal can be ultrasonic signal, be also possible to other kinds of detection wave signal.For example, the first emitter is emitted First detection wave signal be monochromatic.
S32 receives the first reflection wave signal being reflected back.
First detection wave signal is reflected back first receiving device after contact life entity or other objects, i.e., first receives Device receives the first reflection wave signal being reflected back.Wherein, the first emitter and first receiving device can be integrated (that is, the same device can not only emit detection wave signal, but also can receive the reflection wave signal being reflected back), is also possible to separate (that is, emitter is independently arranged with reception device, the realizing corresponding function respectively) being arranged.
S33 carries out signal processing to the first reflection wave signal based on the first detection wave signal to obtain first object signal.
Wherein, signal processing can be demodulation, be also possible to Hilbert transform.Demodulation is from the modulated letter for carrying message Restore the process of message in number.Since vital sign parameter signals can be modulated the first detection wave signal, so that first is anti- Vital sign parameter signals are carried in ejected wave signal, therefore the first reflection wave signal is demodulated i.e. using the first detection wave signal Decomposable vital sign parameter signals out.
S34, according in first object signal detection vehicle whether there is life entity.
Processor can be the frequency for extracting vital sign parameter signals in first object signal after obtaining first object signal Rate can be the energy using vital sign parameter signals, and the amplitude for being also possible to vital sign parameter signals carries out the detection etc. of life entity Deng.
Wherein, if the vital sign of life entity is (for example, pulse, heartbeat or breathing etc. there are when life entity in vehicle Deng) be body internal movement, so, target reflection wave signal relative to detection wave signal can generate Doppler frequency shift, examine The phase for surveying wave signal can change, so that the vital sign of life entity is modulated detection wave signal, what is be reflected back The vital sign parameter signals of life entity can be carried in reflection wave signal, and detection wave signal is recycled to carry out signal to reflection wave signal Processing includes that vital sign parameter signals be can be detected out in vehicle by echo signal and whether there is in obtained echo signal Life entity.The detection method of the life entity, which can be detected out the modulation of detection wave signal using vital sign parameter signals, whether there is Life entity, as long as vehicle in there are life entities to be detected by this method, without by life entity in vehicle in Specific location or motion state limitation, greatly improve the accuracy of detection.
As another optional embodiment of the present embodiment, can be used in detection vehicle with the presence or absence of life entity as follows Method is realized, as shown in figure 4, this method comprises the following steps:
S41 emits the first detection wave signal into vehicle.
Wherein, the first detection wave signal that the first emitter emits into vehicle is monochromatic, can be using following public Formula indicates:
T (t)=cos (2 π fct) (1)
Wherein, fcFor the frequency of the first detection wave signal.
Remaining refers to the S31 of embodiment illustrated in fig. 3, and details are not described herein.
S42 receives the first reflection wave signal being reflected back.
Wherein it is possible to indicate the vital sign parameter signals (chest displacement caused by heartbeat, breathing etc.) of life entity using x (t). Spacing between first emitter and life entity is d0, then the first detection wave signal emits from the first emitter, given birth to It orders sign modulation back reflection and returns first receiving device, be once emitted to the distance for receiving signal wave process using following formula It indicates:
2d (t)=2d0+2x(t) (2)
First reflection wave signal R (t) can be indicated using following formula:
Wherein, c is the spread speed of the first detection wave signal.
Formula (2) are substituted into formula (3) and are unfolded, are obtained
Wherein, λ is the wavelength of the first detection wave signal.
Further, since the cycle T > > d of vital sign parameter signals0/ c, it is therefore assumed thatInIt can neglect Slightly.Therefore, the first reflection wave signal can indicate are as follows:
S43 carries out signal processing to the first reflection wave signal based on the first detection wave signal to obtain first object signal.
It can be seen that the first reflection wave signal and the first detection wave signal are closely similar from formula (5).Due to life entity with There may be a certain distance between first emitter, received first reflection wave signal of institute has delay, and the first reflection The phase of wave signal is modulated by the periodic motion of vital sign parameter signals.Therefore, sharp on the basis of the first reflection wave signal Signal processing (using demodulation method in the present embodiment) is carried out with the first detection wave signal, this phase-modulation can be solved It adjusts.Specifically, comprising the following steps:
S431 is multiplied to the first detection wave signal and the first reflection wave signal to obtain the first product signal.
Convolution (1) and formula (4), using R (t) × T (t), to obtain the first product signal；Specifically,
Include high fdrequency component and low frequency component in the first product signal it can be seen from formula (6), is taken in low frequency component With vital sign parameter signals x (t), i.e., it is multiplied using the first detection wave signal with the first reflection wave signal, it is subsequent to extract Vital sign parameter signals in first reflection wave signal.
S432 carries out low-pass filtering to the first product signal to obtain first object signal.
Processor carries out low-pass filtering for some high fdrequency components after obtaining the first product signal, to the first product signal In-phase component I (t) after removal, in available first object signal.
Incorporated by reference to formula (6), the in-phase component I (t) in first object signal can be indicated are as follows:
In addition, the first reflection wave signal is multiplied with 90 ° of phase shift of the first detection wave signal, and carry out low-pass filtering Afterwards, the quadrature component Q (t) in first object signal can be obtained, can indicate are as follows:
Finally, I (t) and Q (t) composition first object signal S (t) can be indicated using following formula:
S (t)=I (t)+iQ (t) (9)
S44, according in first object signal detection vehicle whether there is life entity.
Processor is after obtaining first object signal, due to including collected life entity in first object signal Reference breath, therefore power spectrumanalysis is carried out to first object signal, the energy of available first reflection wave signal recycles anti- The energy of ejected wave can be detected out in vehicle compared with first threshold carries out size with the presence or absence of life entity.Specifically, including with Lower step:
S441 carries out power spectrumanalysis to first object signal, to obtain the energy of the first reflection wave signal.
Power spectrum illustrates that echo signal power with the variation relation of frequency, power spectrumanalysis is carried out to it, is analyzed low Frequency energy size, can be obtained the energy of the first reflection wave signal.
S442 determines that there is no life entities in vehicle when energy is less than first threshold.
Processor is compared using the obtained energy of the first reflection wave signal and the first threshold of setting, when energy is small When first threshold, then it is assumed that life entity is not present.
Optionally, when energy is greater than or equal to first threshold, it is believed that there are life entity, can continue to be given birth to The detection of body is ordered, to improve detection accuracy.
Compared with embodiment illustrated in fig. 3, the detection method of the life entity is due to life entity and the dress for emitting detection wave signal There may be a certain distance between setting, the received reflection wave signal of institute has delay, and the phase of reflection wave signal is being given birth to The periodic motion of life sign is modulated.Therefore, detection wave signal, this phase-modulation energy will be multiplied by reflection wave signal It is enough demodulated, so as to echo signal；Power spectrumanalysis is carried out to the echo signal, the low frequency energy of reflection wave signal can be obtained Size is measured, is compared using obtained energy with first threshold, the detection of life entity can be carried out.
As another optional embodiment of the present embodiment, can also be generated using the fine motion (breathing, heartbeat) of human body Micro-Doppler effect carry out life entity detection, as shown in figure 5, specifically comprising the following steps:
S51 emits the first detection wave signal into vehicle.
Wherein, the first detection wave signal is ultrasonic signal.Since the vital sign parameter signals of life entity are relative to the first inspection Surveying wave signal, there are radial motions, then frequency displacement can occur in the first reflection wave signal being reflected back, (alternatively referred to as Doppler is existing As the frequency shift amount of generation is known as Doppler frequency).Subsequent is since the fine motions vital sign such as heartbeat and breathing is to the first detection wave The frequency of signal causes to deviate, and determines heartbeat and respiration information by detection micro-doppler frequency.
S52 receives the first reflection wave signal being reflected back.
Please referring to (5) first reflection wave signal of formula can indicate are as follows:
Wherein, vital sign parameter signals x (t) can be regarded as the chest displacement of life entity, and chest displacement be by heartbeat and Caused by breathing.
Remaining refers to the S42 of embodiment illustrated in fig. 4, and details are not described herein.
S53 carries out signal processing to the first reflection wave signal based on the first detection wave signal to obtain first object signal.
S531 is multiplied to the first detection wave signal and the first reflection wave signal to obtain the first product signal.It please join in detail The S431 of embodiment as shown in Figure 4, details are not described herein.
S532 carries out low-pass filtering to the first product signal to obtain first object signal.It refers to real shown in Fig. 4 The S432 of example is applied, details are not described herein.
S54, according in first object signal detection vehicle whether there is life entity.
Processor first carries out energy measuring to first object signal S (t), detects whether that there are life entities；Utilizing energy Detection excludes in the case where life entity is not present, then extracts the vital sign parameter signals in S (t), utilizes the frequency of vital sign parameter signals The detection of rate progress life entity.Specifically, comprising the following steps:
S541 carries out power spectrumanalysis to first object signal, to obtain the energy of the first reflection wave signal.
Processor carries out power spectrumanalysis to first object signal S (t), analyzes low frequency energy size, obtains the first reflection The energy of wave signal.
Remaining refers to the S441 of embodiment illustrated in fig. 4, and details are not described herein.
S542, judges whether the energy of the first reflection wave signal is less than first threshold.
Processor is compared using the obtained energy of the first reflection wave signal and the first threshold of setting, when energy is small When first threshold, then S543 is executed；Otherwise, then it is assumed that there may be life entity needs further to be detected, and S544 is executed.
S543 determines that there is no life entities in vehicle.
S544 is demodulated by arc tangent and is extracted the first object signal intermediate frequency rate amount of changing with time, to obtain frequency letter Number.
Processor carries out life entity when the energy for detecting the first reflection wave signal is greater than or equal to first threshold again Detection.Wherein, echo signal S (t) is indicated using following formula:
Further,
Wherein,
In above formula, φ (t) is the frequency amount of changing with time in echo signal.Echo signal S (t) includes the life of acquisition Doppler effect caused by body, it is subsequent that life entity can be judged whether there is to S (t) progress energy measuring.
It it can be concluded that, is exponential relationship between echo signal S (t) and the frequency amount of changing with time φ (t) by formula (11), Therefore the frequency extracted in first object signal S (t) is demodulated by arc tangent changes with time φ (t) to get frequency letter is arrived Number.
Wherein, arc tangent demodulation is specifically expressed as follows:
But inventor has found during atual detection, for arctan function, the codomain of its own is When carrying out arc tangent demodulation it is possible that discontinuity point, so as to cause the decaying of detection performance.Therefore, using following formula Carry out arc tangent demodulation:
In formula, φ (t) is the frequency signal；Q (t) is the quadrature component in the first object signal；I (t) is institute State the in-phase component in first object signal；QDCFor the DC component in the quadrature component；IDCFor in the in-phase component DC component；F isIntegral multiple.For example, as shown in fig. 6, showing the time-domain diagram of frequency signal in Fig. 6.
S545 carries out data processing to frequency signal, to obtain vital sign parameter signals.
Processor carries out data processing to the frequency signal φ (t) extracted, can recover vital sign parameter signals.Specifically Ground is similar to linear relationship as shown in formula (11) between frequency signal φ (t) and vital sign parameter signals x (t), therefore, can be with By obtaining vital sign parameter signals x (t) after some data processings.
S546, judges whether the frequency of life entity sign is greater than second threshold.
Processor can recover vital sign parameter signals x (t) after demodulating to frequency signal using arc tangent.Restoring Out after vital sign parameter signals x (t), down-sampled and then FFT transform can be carried out, the frequency spectrum of vital sign parameter signals can be obtained. For example, as shown in fig. 7, showing the frequency domain figure of vital sign parameter signals in Fig. 7, wherein biggish frequency is palmic rate, frequency Lesser is respiratory rate.For example, respiratory rate is 0.2Hz-0.6Hz, palmic rate 1Hz-2Hz, it is determined that vehicle memory In life entity.
Using the frequency of the vital sign parameter signals x (t) compared with second threshold carries out size, to detect life entity.Wherein, When the frequency of vital sign parameter signals is greater than second threshold, S547 is executed；Otherwise, S543 is executed.
S547 detects that there are life entities.
Compared with embodiment illustrated in fig. 4, the detection method of the life entity, when carrying out arc tangent demodulation it is possible that not Continuity point may result in the decline of detection performance, therefore, by being modified to arc tangent demodulation, after can be avoided demodulation There is discontinuity point, improves detection performance.In addition, passing through the doppler information of detection reflection wave signal (i.e. ultrasonic echo) It determines the vital sign information of life entity, the fine motions information such as heartbeat and breathing is extracted by signal processing and reaches detection mesh , this method can carry out quick heartbeat breathing detection to life entity in certain distance.Since THE VELOCITY OF SOUND IN AIR is much smaller than light Speed obtains same speed mobile object the Doppler frequency shift of same size, and ultrasonic carrier frequency is much smaller than electromagnetic wave, It is easy to realize in the car or in confined space.In addition, compared to using the radar system ultrasound cost of electromagnetic wave lower.
Optionally, in S54, S541 and S542 be can be omitted, i.e. processor is directly logical after obtaining echo signal It crosses arc tangent demodulation and extracts the first object signal intermediate frequency rate amount of changing with time, to obtain frequency signal；To frequency signal into Row data processing, to obtain vital sign parameter signals；When the frequency of vital sign parameter signals is greater than second threshold, detect there is life Order body.
Another optional embodiment as the present embodiment, wherein whether there is life entity, such as Fig. 8 in detection vehicle Shown, detection method includes the following steps for the life entity:
S61 emits at least one second detection wave signal into vehicle.
Second emitter emits at least one second detection wave signal into vehicle, which can be Ultrasonic signal is also possible to other kinds of detection wave signal.For example, the second emitter each of is emitted the second detection Wave signal is monochromatic.
S62 receives multiple second reflection wave signals being reflected back.
Each second detection wave signal is reflected back the second reception device, i.e., second after contact life entity or other objects Reception device receives multiple second reflection wave signals being reflected back.Wherein, the second emitter and the second reception device can be with It is integrated (that is, the same device can not only emit detection wave signal, but also the reflection wave signal being reflected back can be received), it can also To be (that is, emitter is independently arranged with reception device, the realizing corresponding function respectively) being provided separately.
S63 carries out signal processing to each second reflection wave signal based on the second detection wave signal, to obtain the second target Signal.
Wherein, signal processing can be demodulation, be also possible to Hilbert transform.Demodulation is from the modulated letter for carrying message Restore the process of message in number.Since vital sign parameter signals can be modulated the second detection wave signal, so that second is anti- Vital sign parameter signals are carried in ejected wave signal, therefore the second reflection wave signal is demodulated i.e. using the second detection wave signal Decomposable vital sign parameter signals out.
S64 carries out target Bearing Estimation to all second echo signals, to obtain attitude information.
To all second echo signals, (wherein, each second reflection wave signal corresponds to the second target letter to processor Number) carry out target Bearing Estimation, that is, all second echo signals are synthesized into an attitude information.Due to each second Echo signal corresponds to the second reflection wave signal for being modulated by vital sign parameter signals, therefore, by the second echo signal into The attitude information obtained after row Beam synthesis can dramatically reflect detected vital sign parameter signals.
S65 detects life entity based on attitude information.
For processor after obtaining attitude information, the power that can use attitude information carries out the inspection of life entity It surveys, the frequency that can also extract the vital sign that the changed power of attitude information is reflected carries out the detection of vital sign, It is also possible to combinations of the above (for example, combination of power, frequency and amplitude) etc..Though using synthesis mode, due to Vital sign parameter signals are carried in attitude information, therefore the detection of life entity can be carried out using the attitude information.
Wherein, if the vital sign of life entity is (for example, pulse, heartbeat or breathing etc. there are when life entity in vehicle Deng) the second detection wave signal can be modulated, the life of life entity can be carried in the second reflection wave signal being reflected back Sign recycles the second detection wave signal to carry out signal processing and target Bearing Estimation, institute to the second reflection wave signal Include vital sign parameter signals in obtained attitude information, by the attitude information can be detected out in vehicle whether There are life entities.This method can be detected out with the presence or absence of life the modulation of the second detection wave signal using vital sign parameter signals Body, as long as vehicle in there are life entities to be detected by this method, without by life entity in vehicle in tool The limitation of body position or motion state greatly improves the accuracy of detection.
Another optional embodiment as the present embodiment, wherein can be adopted in detection vehicle with the presence or absence of life entity It realizes with the following method, as shown in figure 9, detection method includes the following steps for the life entity:
S71 emits at least one second detection wave signal into vehicle.
Wherein, at least one second detection wave signal that the second emitter emits into vehicle is monochromatic.Each Second detection wave signal can be indicated using following formula:
T (t)=cos (2 π fct) (1)
Wherein, fcFor the frequency of the second detection wave signal.
Remaining refers to the S61 of embodiment illustrated in fig. 8, and details are not described herein.
S72 receives multiple second reflection wave signals being reflected back.
Wherein it is possible to indicate the vital sign parameter signals of life entity using x (t).Between second emitter and life entity Spacing is r0, then each second detection wave signal emits from the second emitter, returned by vital sign parameter signals modulation back reflection Second reception device is once emitted to the distance for receiving signal wave process using the expression of following formula:
2r (t)=2r0+2x(t) (2)
In addition, i-th of second reflection wave signal Ri(t) it can be indicated using following formula:
Wherein, a is the amplitude of second reflection wave signal；τiI-th second transmittings are received for the second reception device Time difference between wave signal and first the second reflection wave signal, i=2 ..., N, N are the quantity of the second reflection wave signal；c For the spread speed of the second detection wave signal.
About the above-mentioned time difference, can by recording the receiving time of each second reflection wave signal, using record when Between calculate the time difference；Time difference etc. can also be calculated by other means.
For example, the second emitter and the second reception device are the array that multiple array elements are formed, each array element transmitting one A second detection wave signal, receives one second detection wave signal；Since each second detection wave signal is reflected back from being emitted to It is poor to have the regular hour between array element, therefore, is with the time that array element receives first the second reflection wave signal Point, then the meaning of time difference is described as follows:
τ2Receive the 2nd the second reflection wave signal for array element and receive between the 1st the second reflection wave signal when Between it is poor；
τ3Receive the 3rd the second reflection wave signal for array element and receive between the 1st the second reflection wave signal when Between it is poor；
……；
τNReceive the second reflection wave signal of n-th for array element and receive between the 1st the second reflection wave signal when Between it is poor.
S73 carries out signal processing to each second reflection wave signal based on the second detection wave signal, to obtain the second target Signal.
Wherein, the signal processing in the present embodiment is demodulation.It can be seen that the second reflection wave signal and second from formula (3) It is closely similar to detect wave signal.Due to that may have a certain distance between life entity and the second emitter, institute received the Two reflection wave signals have delay, and the phase of the second reflection wave signal is modulated by the periodic motion of vital sign parameter signals. Therefore, IQ demodulation, this phase-modulation are carried out using the second detection wave signal on the basis of the second reflection wave signal It is demodulated.Specifically, comprising the following steps:
S731 is multiplied to the second detection wave signal and the second reflection wave signal to obtain the second product signal.
Convolution (1) and formula (4), utilize Ri(t) × T (t), to obtain the second product signal fi(t)；Specifically,
Formula (2) are substituted into formula (3) again, the second product signal can be obtained, carry life in second product signal It orders sign x (t), i.e., is multiplied using the second detection wave signal with the second reflection wave signal, it is subsequent to extract second instead Vital sign parameter signals in ejected wave signal.
S732 carries out low-pass filtering to the second product signal to obtain the second echo signal.
Processor carries out low-pass filtering for some high frequency signals after obtaining the second product signal, to product signal In-phase component I after removal, in available echo signali(t)。
In addition, reflection wave signal is multiplied with 90 ° of phase shift of detection wave signal, and after carrying out low-pass filtering Obtain the quadrature component Q in echo signali(t)。
Finally, by Ii(t) and Qi(t) complex signal is formed, echo signal s can be formedi(t).Wherein, each second is anti- Ejected wave signal Ri(t) corresponding echo signal can be expressed as si(t), i.e. siIt (t) is i-th of second reflection wave signal Ri(t) right The second echo signal answered can be indicated using following formula:
Optionally, after IQ demodulation, low-pass filtering can be carried out again, obtains zero intermediate frequency signals.Due to being demodulated in IQ Contain only low frequency signal later, thus it is subsequent can be carried out when carrying out Beam synthesis it is down-sampled to reduce operand.
S74 carries out target Bearing Estimation to all second echo signals, to obtain attitude information.
To all second echo signals, (wherein, each second reflection wave signal corresponds to the second target letter to processor Number) carry out target Bearing Estimation, i.e., all second echo signals are synthesized into an attitude information.Wherein, the present embodiment In target Bearing Estimation be Beam synthesis.Specifically includes the following steps:
S741 calculates the time received between first the second reflection wave signal of each second reflection wave signal and reception Difference.
Wherein, the second emitter and the second reception device are the array element array that multiple array elements are formed, each array element it Between spacing it is equal, be d；Before calculating the time difference, the second reflection wave signal that each array element receives can be first traversed Glancing angle θ, be used for subsequent calculating；It is also assumed that it is flat that the second reflection wave signal that each array element receives, which is approximately considered, Capable, therefore the glancing angle θ for the second reflection wave signal that each array element receives in array is equal.
Second emitter receive each second reflection wave signal and receive first the second reflection wave signal between when Between difference can using following formula calculate:
Wherein, i=1,2 ... ..., N；(6)
In formula, τiFor the time difference between i-th of second reflection wave signals and first the second reflection wave signal；N is institute State the quantity of the second reflection wave signal；D is the spacing of the array of transmitting the second detection wave signal；θ is what array received arrived The glancing angle of second reflection wave signal；C is the spread speed of the second detection wave signal.
S742 carries out Beam synthesis based on time difference and the second echo signal, to obtain attitude information.
Processor calculates wave beam output power after calculating the time difference, using time difference and the second echo signal (the also referred to as output power of attitude information) can carry out Beam synthesis using following formula:
Wherein,2r (t)=2r0+2x(t)；
In formula, P (θ, r) is wave beam output power；siIt (t) is the corresponding second target letter of i-th of second reflection wave signals Number；r0For pre-determined distance；X (t) is vital sign parameter signals.
S75, it is interior with the presence or absence of life entity based on attitude information detection vehicle.
Processor is compared after wave beam output power is calculated, using wave beam output power with third threshold value, When wave beam output power is less than third threshold value, life entity is not present in detection.
Optionally, in addition when wave beam output power is greater than or is equal to third threshold value, it is believed that there are life entities；It can also To carry out the detection of life entity again, to improve the accuracy of detection.
Compared with embodiment illustrated in fig. 8, the detection method of life entity provided in this embodiment due to life entity and receives hair There may be a certain distance between the device of ejected wave signal, received second reflection wave signal of institute has delay and changes to each The distance of energy device is different, therefore calculated each second reflection wave signal and first second are utilized when carrying out Beam synthesis Time difference between transmitted wave signal can guarantee the accuracy of Beam synthesis.
As another optional embodiment of the present embodiment, can also be generated using the fine motion (breathing, heartbeat) of human body Micro-Doppler effect carry out life entity detection specifically comprise the following steps: as shown in Figure 10
S81 emits at least one second detection wave signal into vehicle.
Wherein, the second detection wave signal is ultrasonic signal.Second emitter is ultrasound transducer array, and second receives Device is ultrasound transducer array.Since the vital sign parameter signals (breathing, heartbeat etc.) of life entity are relative to the second detection wave There are radial motions for signal, then the second reflection wave signal being reflected back can occur frequency displacement (alternatively referred to as micro-doppler phenomenon, The frequency shift amount of generation is known as Doppler frequency), the subsequent detection for recycling Beam synthesis to carry out life entity.
S82 receives multiple second reflection wave signals being reflected back.
Formula (3) are please referred to, i-th of second reflection wave signal R being reflected backi(t) it can be indicated using following formula:
Remaining refers to the S72 of embodiment illustrated in fig. 9, and details are not described herein.
S83 carries out signal processing to each second reflection wave signal based on the second detection wave signal, to obtain the second target Signal.
Processor first carries out ADC sampling to the second reflection wave signal and then demodulates.Demodulation may include walking as follows It is rapid:
S831 is multiplied to the second detection wave signal and the second reflection wave signal to obtain the second product signal.It please join in detail The S731 of embodiment as shown in Figure 9, details are not described herein.
S832 carries out low-pass filtering to the second product signal to obtain the second echo signal.It refers to real shown in Fig. 9 The S732 of example is applied, details are not described herein.
S84 carries out target Bearing Estimation to all second echo signals, to obtain attitude information.It refers to The S74 of embodiment illustrated in fig. 9, details are not described herein.
S85, it is interior with the presence or absence of life entity based on attitude information detection vehicle.
S851, judges whether wave beam output power is less than third threshold value.
Processor is compared after wave beam output power is calculated, using wave beam output power with third threshold value, When wave beam output power is less than third threshold value, S852 is executed；Otherwise, S853 is executed.
S852 determines that there is no life entities in vehicle.
S853 determines the position of life entity using attitude information.
Processor utilizes wave beam output power P (θ, r) when judging that wave beam output power is greater than or is equal to third threshold value Determine the spatial position (θ of life entity0,r0), including attitude information and space length.It is not present for example, Figure 11 is shown The schematic diagram of attitude information when life entity, Figure 12 show that there are the schematic diagrames of attitude information when life entity.
S854, the corresponding wave beam output power of tracing positional is to obtain tracking signal.
After determining the position of life entity, wave beam output power P (θ at the position is tracked0,r0) change with time A (t).For example, adjustable second emitter emits multiple ultrasonic waves to the position after determining the position of life entity Then signal carries out the corresponding wave beam output power in the Beam synthesis real-time tracking position again, the wave beam gone out using real-time tracking Output power calculates the wave beam output power at the position and changes with time A (t) to get tracking signal is arrived.
S855, it is interior with the presence or absence of life entity based on tracking signal detection vehicle.
Processor carries out power spectrumanalysis after obtaining tracking signal, to tracking signal, can extract vital sign Signal.Specifically, comprising the following steps:
(1) tracking signal is filtered to obtain filtering signal.
(2) power spectrumanalysis is carried out to filtering signal, to obtain vital sign parameter signals.
Power spectrum illustrates the power of filtering signal with the variation relation of frequency, by carrying out power spectrum to filtering signal Vital sign parameter signals can be obtained in analysis.
After recovering vital sign parameter signals x (t), down-sampled and then FFT transform can be carried out, life entity can be obtained The frequency spectrum of reference number.Whether processor, which by comparing the frequency of vital sign parameter signals is greater than the 4th threshold value, which can be detected, whether there is Life entity.
(3) when the frequency of vital sign parameter signals is greater than four threshold values, determine that there are life entities in vehicle.
(4) when the frequency of vital sign parameter signals is less than or equal to four threshold values, determine that there is no life entities in vehicle.
Compared with embodiment illustrated in fig. 7, the detection method of the life entity wave beam output power and third threshold value comparison it Afterwards, detect that there may be life entities in vehicle；Possible life entity is tracked again, extracts vital sign parameter signals again The detection for carrying out life entity, improves the accuracy of detection；In addition, the present embodiment is produced using the fine motion (breathing, heartbeat) of human body The progress Wave beam forming of frequency displacement caused by raw micro-Doppler effect, the frequency dependence of the amplitude of Wave beam forming and breathing, heartbeat, from And life entity detection is carried out, it ensure that the accuracy of detection.
The embodiment of the invention also provides a kind of interior life entity alarm sets, as shown in figure 13, life entity detection dress Set may include life entity detection device 91, image capture device 92, processor 93 and memory 94；The processor 93 is deposited Reservoir 94 is communicated with each other and is connect with the life entity detection device 91 and image capture device 92.In addition, above-mentioned processor 93 can be connected with memory 94 by bus or other modes, in Figure 13 for being connected by bus.
Wherein, the life entity detection device 91 is used in closing of the door and vehicle stall, and detecting in the vehicle is It is no that there are life entities.Described image acquisition equipment 92 is used to obtain the image information in vehicle.
Memory 94 can be high speed RAM memory (Random Access Memory, effumability random access memory Device), it is also possible to non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.Storage Device 94 optionally can also be that at least one is located remotely from the storage device of aforementioned processor 93.It wherein stores and answers in memory 94 With program, and processor 93 calls the program code stored in memory 94, with for performing the following operations:
When there are image informations when life entity, in acquisition vehicle in the vehicle；Prompting message is sent to default personnel； Wherein, the prompting message includes described image information；Receiving what the default personnel were fed back based on the prompting message When control instruction, control vehicle part executes corresponding movement.
Optionally, processor 93 calls the program code stored in memory 94, for executing in embodiment illustrated in fig. 1 S14-S15；Or, executing the S25 to S29 in embodiment illustrated in fig. 2.
In addition, memory 94 may include volatile memory (English: volatile memory), such as arbitrary access Memory (English: random-access memory, abbreviation: RAM)；Memory also may include nonvolatile memory (English Text: non-volatile memory), for example, flash memory (English: flash memory), hard disk (English: hard disk Drive, abbreviation: HDD) or solid state hard disk (English: solid-state drive, abbreviation: SSD)；Memory 94 can also include The combination of the memory of mentioned kind.
Wherein, processor 93 can be central processing unit (English: central processing unit, abbreviation: CPU), The combination of network processing unit (English: network processor, abbreviation: NP) or CPU and NP.
Wherein, processor 93 can further include hardware chip.Above-mentioned hardware chip can be specific integrated circuit (English: application-specific integrated circuit, abbreviation: ASIC), programmable logic device (English: Programmable logic device, abbreviation: PLD) or combinations thereof.Above-mentioned PLD can be Complex Programmable Logic Devices (English: complex programmable logic device, abbreviation: CPLD), field programmable gate array (English: Field-programmable gate array, abbreviation: FPGA), Universal Array Logic (English: generic array Logic, abbreviation: GAL) or any combination thereof.
As a kind of optional embodiment of the present embodiment, which further includes having environment measuring dress It sets, for when there are environmental datas when life entity, in detection vehicle for vehicle.
As a kind of optional embodiment of the present embodiment, as shown in figure 14, the life entity detection device 91 further include:
First emitter 911, for the first detection of transmitting wave signal into vehicle；
First receiving device 912, for receiving the first reflection wave signal being reflected back；
Wherein, the processor 93 is also used to carry out first reflection wave signal based on the first detection wave signal Signal processing is to obtain first object signal；According in vehicle described in the first object signal detection whether there is life entity.
Optionally, the first emitter 911 is ultrasonic transducer, and first receiving device 912 is ultrasonic transducer.
Still optionally further, the first emitter 911 is wholely set with first receiving device 912, that is, uses same ultrasound Energy converter realizes the first detection wave signal of transmitting and receives the first reflection wave signal being reflected back.
It is removed into the detection method of the life entity of embodiment illustrated in fig. 5 to vehicle in addition, processor 93 is also used to execute Fig. 3 The step of except the first detection wave signal of transmitting and the first reflection wave signal of reception reflection meeting.
As a kind of optional embodiment of the present embodiment, as shown in figure 15, the life entity detection device 91 further include:
Second emitter 913, for emitting at least one second detection wave signal into the vehicle；
Second reception device 914, for receiving multiple second reflection wave signals being reflected back；
Wherein, the processor 93 is also used to based on the second detection wave signal to each second reflection wave signal Signal processing is carried out, to obtain the second echo signal；Wave target Bearing Estimation is carried out to all second echo signals, with To attitude information；Being detected based on the attitude information whether there is the life entity in vehicle.
Optionally, the second emitter 913 includes ultrasound transducer array, and the second reception device 914 includes ultrasonic transduction Device array.Wherein, the arrangement of array element can be specifically arranged according to the actual situation in ultrasound transducer array, not limit herein System.
Still optionally further, the second emitter 913 is wholely set with the second reception device 914, that is, uses same ultrasound Transducer array realizes at least one second detection wave signal of transmitting and receives multiple second reflection wave signals being reflected back；Or Person emits one second detection wave signal and receives multiple second reflection wave signals being reflected back.
It is removed into the detection method of the life entity of embodiment illustrated in fig. 9 to described in addition, processor 93 is also used to execute Fig. 8 The step of except multiple second reflection wave signals that at least one second detection wave signal of transmitting and reception are reflected back in vehicle.
The embodiment of the invention also provides a kind of automobile data recorders, including life entity in Figure 13-embodiment illustrated in fig. 15 Detection device.
Optionally, described image acquisition device is the camera of automobile data recorder.
Still optionally further, the automobile data recorder includes two cameras, and the first camera is described image acquisition dress It sets, second camera is for recording a video to vehicle front；That is, the first camera is for shooting image in vehicle, the second camera shooting Head is for recording a video to vehicle front.
Automobile data recorder provided in this embodiment, by the camera of automobile data recorder by automobile data recorder and life physical examination It surveys module to combine, greatly improves the application scenarios of automobile data recorder.
Optionally, which includes life entity detection device, camera, environmental detection set, GPS positioning dress It sets, memory and processor.
As a specific application example of the present embodiment, it is by the camera of automobile data recorder of image capture device Example, is described as follows the course of work of the automobile data recorder: when the vehicle is running, the camera in automobile data recorder turns to vehicle Front is to record a video to front；When vehicle stall, life entity detection device, which detects, whether there is life entity in vehicle, work as inspection It measures there are when life entity in vehicle, processor controls camera and turns in vehicle to start ring to the image in shooting vehicle Border detection device detects the environmental data in vehicle；Processor gets the image information, sends and mentions to default personnel It wakes up information (including the image information got), judges whether that the control for receiving default personnel's feedback refers within a preset time It enables；When receiving control instruction, control vehicle part executes corresponding movement；When being not received by control instruction, judgement Whether the environmental data in vehicle is exceeded；When environmental data is exceeded, control vehicle part executes deliberate action；Work as environmental data When not exceeded, return continued to the step of environmental data detects in vehicle.
It is that can lead to it will be understood by those skilled in the art that realizing all or part of the process in above-described embodiment method Computer program is crossed to instruct relevant hardware and complete, the program can be stored in a computer-readable storage medium In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can for magnetic disk, CD, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, abbreviation: HDD) or solid state hard disk (Solid-State Drive, SSD) etc.；The storage medium can also include the combination of the memory of mentioned kind.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention Spirit and scope in the case where make various modifications and variations, such modifications and variations are each fallen within by appended claims institute Within the scope of restriction.

Claims (10)

1. a kind of car life entity based reminding method characterized by comprising
When closing of the door and vehicle stall, detect in the vehicle with the presence or absence of life entity；
When, there are when life entity, obtaining the image information in the vehicle in vehicle；
Prompting message is sent to default personnel；Wherein, the prompting message includes described image information；
When receiving the control instruction that the default personnel are fed back based on the prompting message, control vehicle part executes corresponding Movement.
2. the method according to claim 1, wherein the image information obtained in the vehicle, comprising: control Imaged acquisition equipment shoots the image in the vehicle；Wherein, described image information is the image of the shooting.
3. the method according to claim 1, wherein it is described to default personnel send prompting message the step of it Before, further includes:
When the vehicle is there are when life entity, the environmental data in the vehicle is detected；
Wherein, the prompting message further includes the environmental data.
4. according to the method described in claim 3, it is characterized by further comprising:
When being not received by the control instruction that the default personnel are fed back based on the prompting message, the environmental data is judged It whether is more than preset value；
When the environmental data is more than preset value, control vehicle part executes deliberate action.
5. method according to any of claims 1-4, which is characterized in that whether there is in the detection vehicle Life entity, comprising:
Emit at least one second detection wave signal into the vehicle；
Receive multiple second reflection wave signals being reflected back；
Signal processing is carried out to each second reflection wave signal based on the second detection wave signal, to obtain the second target Signal；
Target Bearing Estimation is carried out to all second echo signals, to obtain attitude information；
It is determined in the vehicle based on the attitude information with the presence or absence of the life entity.
6. according to the method described in claim 5, it is characterized in that, described detect wave signal based on described second, to each institute It states the second reflection wave signal and carries out signal processing, to obtain the second echo signal, comprising:
It is multiplied to the second detection wave signal and second reflection wave signal to obtain the second product signal；
Low-pass filtering is carried out to obtain second echo signal to second product signal.
7. according to the method described in claim 6, it is characterized in that, described pair of all second echo signals carry out target side Position estimation, to obtain attitude information, comprising:
Calculate the time difference received between first second reflection wave signal of each second reflection wave signal and reception；
Beam synthesis is carried out based on the time difference and second echo signal, to obtain the dimensional orientation signal.
8. the method according to the description of claim 7 is characterized in that described detect the vehicle based on the attitude information It is interior to whether there is the life entity, comprising:
When the output power of the wave beam is less than third threshold value, determine that there is no the life entities in the vehicle.
9. a kind of car life entity alarm set characterized by comprising
Life entity detection device, image capture device, memory and processor, the memory, the processor and the life Life body detection device and described image acquisition equipment communicate with each other connection；
The life entity detection device is used in closing of the door and vehicle stall, is detected in the vehicle with the presence or absence of life Body；
Described image acquisition equipment is used to obtain the image information in the vehicle；
The processor is used for when there are when life entity, sending prompting message to default personnel in the vehicle；Wherein, described to mention Awake information includes described image information；When receiving the control instruction that the default personnel are fed back based on the prompting message, It controls vehicle part and executes corresponding movement.
10. a kind of automobile data recorder, which is characterized in that including interior life entity alarm set as claimed in claim 9.
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