WO2025209316A1 - Environment detection methods and related apparatus - Google Patents

Abstract

Environment detection methods and a related apparatus, which are applied to the technical field of vehicles. In a method, a detection unit having lower always-on power consumption is used for detection, and, when the detection unit determines that a condition is met, a computing unit having higher power consumption during operation is woken up, so that more accurate detection is performed on the basis of the computing unit, thus ensuring the detection accuracy of a safety guard function, and simultaneously reducing the power consumption.

Description

Environmental detection method and related device

This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on March 30, 2024, with application number 202410396147.0 and application name “Environmental Detection Methods and Related Devices,” the entire contents of which are incorporated by reference into this application.

Technical Field

The present application relates to the field of automobile technology, and in particular to an environment detection method and related devices.

Background Art

When a vehicle is parked, scratches, collisions, and other incidents can cause damage. In unmonitored areas, it can be difficult for the owner to obtain evidence, or even impossible to provide. To ensure parking safety and protect the rights of vehicle owners, a system that detects a risky situation can alert the owner and save a video of the surrounding area. However, existing designs for this feature consume high power, leading to a pressing challenge: designing a low-power, yet highly accurate detection solution.

Summary of the Invention

The embodiments of the present application provide an environment detection method and related devices, which can reduce power consumption when the security guard function is turned on.

In the first aspect, an embodiment of the present application provides an environment detection method, which can be performed by a detection unit. The detection unit can be a device, or a chip (system) or circuit for a device, and the present application does not limit this. In this method, the detection unit obtains first environment data and performs environment detection based on the first environment data when the vehicle is in a parking state. When a first trigger event is detected, the detection unit can send a first wake-up signal and second environment data to a computing unit. Wherein, the second environment data includes the first environment data and/or a data processing result obtained based on the first environment data. In an embodiment of the present application, when the vehicle is in a parking state, the detection unit is in a powered state (or referred to as being in a working state), and before receiving the first wake-up signal, the computing unit is in a dormant state. That is to say, by normally opening the detection unit with lower power consumption and waking up the computing unit with higher power consumption through the detection unit for accurate detection, the detection accuracy of the environmental safety detection function is guaranteed, while also helping to save power consumption.

In a possible implementation, the power consumption of the detection unit is lower than the power consumption of the calculation unit when it is awakened and working.

In a possible implementation, the first environmental data includes a vibration signal from an acceleration sensor;

The method further comprises:

The detection unit determines that the first trigger event is detected when the vibration signal exceeds a first vibration threshold.

In this implementation, when the detection unit preliminarily identifies a vibration event that may cause danger, it can wake up the computing unit to perform more accurate detection, which has strong operability.

In a possible implementation, the first environmental data includes perception data from an environmental perception sensor;

The method further comprises:

The detection unit determines whether there is a moving object around the vehicle based on the perception data;

The detection unit determines that a first trigger event is detected when it is determined that a moving object exists around the vehicle.

In this implementation mode, when the detection unit detects that an object is approaching the area around the vehicle, it can wake up the computing unit to perform more accurate detection, which has strong operability.

In a possible implementation, the detection unit includes a perception data processing module and a vibration signal processing module; the first environmental data includes a vibration signal from an acceleration sensor and perception data from an environmental perception sensor;

The method further comprises:

The vibration signal processing module sends a second wake-up signal to the perception data processing module when the vibration signal exceeds the first vibration threshold;

The perception data processing module determines whether there is a moving object around the vehicle based on the perception data;

The perception data processing module determines that a first trigger event is detected when it is determined that there is a moving object around the vehicle;

Before receiving the second wake-up signal, the perception data processing module is in a dormant state.

In this implementation, the vibration signal processing module detects vibration and wakes up the perception data processing module to detect vision and radar, and finally pulls up the computing unit. This hierarchical wake-up method can reduce power consumption.

In the second aspect, an embodiment of the present application provides an environment detection method, which can be performed by a computing unit. The computing unit can be a device, or a chip (system) or circuit for a device, and this application does not limit this. In this method, the computing unit receives a first wake-up signal and second environment data from the detection unit. Therefore, it can determine whether to generate an alarm message based on the second environment data after waking up. It should be understood that the above-mentioned second environment data includes the first environment data and/or the data processing result obtained according to the first environment data.

In an embodiment of the present application, a detection unit with lower power consumption is kept open, and a computing unit with higher power consumption is awakened by the detection unit to perform precise detection. This not only ensures the detection accuracy of the environmental safety detection function, but also helps to save power consumption.

In one possible implementation, the second environmental data includes the first environmental data and a data processing result obtained based on the first environmental data, the first environmental data includes perception data and a vibration signal, the data processing result includes a suspected area where the mobile object is located, and the suspected area where the mobile object is located is determined based on the perception data;

The calculating unit determines whether to generate warning information based on the second environment data, including:

The computing unit determines a target mobile object based on the sensing data and the suspected area where the mobile object is located;

The calculation unit generates warning information when the distance between the target mobile object and the vehicle is less than or equal to a distance threshold, and/or when the vibration intensity of the vehicle is greater than or equal to a second vibration threshold;

The computing unit re-enters a dormant state when the distance between the target mobile object and the vehicle is greater than a distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold;

Wherein, the vibration intensity of the vehicle is determined based on the vibration signal.

In this implementation, when the computing unit detects a dangerous event, it generates an alarm message to promptly alert the user. When no dangerous event is detected, it enters the sleep state again, which is beneficial to reducing power consumption.

In a possible implementation, the computing unit determines the target moving object based on the perception data and the suspected area where the moving object is located, including:

The computing unit determines a region where at least one object of interest is located based on the sensing data;

The calculation unit determines the target moving object according to the area where the at least one object of interest is located and the suspected area where the moving object is located;

The at least one object of interest includes the target moving object, and the degree of overlap between the area where the target moving object is located and the area where the moving object is suspected to be located is greater than or equal to a preset overlap threshold.

In this implementation, the computing unit fuses the received information with the information determined by itself based on a more accurate detection algorithm to obtain the target moving object, thereby improving detection accuracy.

In a possible implementation, the alarm information includes a target alarm level, where the target alarm level is one of multiple alarm levels, and the multiple alarm levels are used to indicate the severity of the alarm information;

When the distance between the target moving object and the vehicle is less than or equal to a distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level;

When the vibration intensity of the vehicle is greater than or equal to a vibration threshold, or when the distance between the target mobile object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level.

In this implementation mode, by setting different warning levels, different warning severity levels can be indicated. It also reflects the severity of dangerous events occurring in the vehicle, which is conducive to timely reminding the owner to check.

In one possible implementation, the method further includes:

The computing unit sends a third wake-up signal and the alarm information to the control unit, where the alarm information includes a target alarm level.

In one possible implementation, the method further includes:

When the target alarm level is the first alarm level, the computing unit displays the first alarm prompt information through the display device;

When the target alarm level is the second alarm level, the calculation unit sends second alarm prompt information to the user terminal.

In this implementation, different warning levels correspond to different prompting methods, which can reflect the severity of dangerous events occurring in the vehicle and help to remind the owner to check in time.

In one possible implementation, the method further includes:

The computing unit stores the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or

The computing unit saves the video image data associated with the alarm information, and re-enters the dormant state after saving the video image data associated with the alarm information.

In this implementation, by saving the valid video to disk, the car owner can provide evidence for subsequent evidence collection. In addition, after the video is saved, the device goes back to sleep, saving power.

In one possible implementation, the method further includes:

The computing unit re-enters the dormant state if it does not receive the second environmental data from the detecting unit within a first period of time after generating the alarm information.

In this implementation, the computing unit can re-enter the dormant state when there is no detection demand, so as to save power consumption and improve user satisfaction.

On the third aspect, an embodiment of the present application provides an environment detection method, which can be performed by a control unit. The control unit can be a device, or a chip (system) or circuit for a device, which is not limited in this application. In this method, the control unit receives a third wake-up signal and alarm information from the computing unit, and then the control unit can issue an alarm prompt based on the alarm information after waking up. Among them, the alarm information includes a target alarm level.

In an embodiment of the present application, the control unit can be awakened when there is an alarm prompt requirement, which is helpful in reducing power consumption.

In a possible implementation, the control unit issues an alarm prompt according to the alarm information, including:

When the target alarm level is the first alarm level, the control unit displays the first alarm prompt information through the display device;

When the target alarm level is the second alarm level, the control unit sends second alarm prompt information to the user terminal.

In this implementation, different warning levels correspond to different prompting methods, which can reflect the severity of dangerous events occurring in the vehicle and help to remind the owner to check in time.

In one possible implementation, the method further includes:

The control unit stores the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or

The control unit saves the video image data associated with the alarm information, and re-enters the dormant state after saving the video image data associated with the alarm information.

In this implementation, by saving the valid video to disk, the car owner can provide evidence for subsequent evidence collection. In addition, after the video is saved, the device goes back to sleep, saving power.

In a fourth aspect, an embodiment of the present application provides an environmental detection method, in which a detection unit obtains first environmental data and performs environmental detection based on the first environmental data when the vehicle is in a parking state. When the detection unit detects a first trigger event, it sends a first wake-up signal and second environmental data to the computing unit, and then the computing unit can determine whether to generate an alarm message based on the second environmental data after waking up. The second environmental data includes the first environmental data and/or a data processing result obtained based on the first environmental data. When the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the computing unit is in a dormant state.

In a possible implementation, the power consumption of the detection unit is lower than the power consumption of the calculation unit when it is awakened and working.

In a possible implementation, the first environmental data includes a vibration signal from an acceleration sensor;

The method further comprises:

The detection unit determines that the first trigger event is detected when the vibration signal exceeds a first vibration threshold.

In a possible implementation, the first environmental data includes perception data from an environmental perception sensor;

The method further comprises:

The detection unit determines whether there is a moving object around the vehicle based on the perception data;

The detection unit determines that a first trigger event is detected when it is determined that a moving object exists around the vehicle.

In a possible implementation, the detection unit includes a perception data processing module and a vibration signal processing module; the first environmental data includes a vibration signal from an acceleration sensor and perception data from an environmental perception sensor;

The method further comprises:

The vibration signal processing module sends a second wake-up signal to the perception data processing module when the vibration signal exceeds the first vibration threshold;

The perception data processing module determines whether there is a moving object around the vehicle based on the perception data;

The perception data processing module determines that a first trigger event is detected when it is determined that there is a moving object around the vehicle;

Before receiving the second wake-up signal, the perception data processing module is in a dormant state.

In one possible implementation, the second environmental data includes the first environmental data and a data processing result obtained based on the first environmental data, the first environmental data includes perception data and a vibration signal, the data processing result includes a suspected area where the mobile object is located, and the suspected area where the mobile object is located is determined based on the perception data;

The calculating unit determines whether to generate warning information based on the second environment data, including:

The computing unit determines a target mobile object based on the sensing data and the suspected area where the mobile object is located;

The calculation unit generates warning information when the distance between the target mobile object and the vehicle is less than or equal to a distance threshold, and/or when the vibration intensity of the vehicle is greater than or equal to a second vibration threshold;

The computing unit re-enters a dormant state when the distance between the target mobile object and the vehicle is greater than a distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold;

Wherein, the vibration intensity of the vehicle is determined based on the vibration signal.

In a possible implementation, the computing unit determines the target moving object based on the perception data and the suspected area where the moving object is located, including:

The computing unit determines a region where at least one object of interest is located based on the sensing data;

The calculation unit determines the target moving object according to the area where the at least one object of interest is located and the suspected area where the moving object is located;

The at least one object of interest includes the target moving object, and the degree of overlap between the area where the target moving object is located and the area where the moving object is suspected to be located is greater than or equal to a preset overlap threshold.

In a possible implementation, the alarm information includes a target alarm level, where the target alarm level is one of multiple alarm levels, and the multiple alarm levels are used to indicate the severity of the alarm information;

When the distance between the target moving object and the vehicle is less than or equal to a distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level;

When the vibration intensity of the vehicle is greater than or equal to a vibration threshold, or when the distance between the target mobile object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level.

In one possible implementation, the method further includes:

The computing unit sends a third wake-up signal and the alarm information to the control unit, where the alarm information includes a target alarm level;

The control unit issues an alarm prompt according to the alarm information.

In a possible implementation, the control unit issues an alarm prompt according to the alarm information, including:

When the target alarm level is the first alarm level, the control unit displays the first alarm prompt information through the display device;

When the target alarm level is the second alarm level, the control unit sends second alarm prompt information to the user terminal.

In one possible implementation, the method further includes:

The control unit stores the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or

The control unit saves the video image data associated with the alarm information, and re-enters the dormant state after saving the video image data associated with the alarm information.

In one possible implementation, the method further includes:

When the target alarm level is the first alarm level, the computing unit displays the first alarm prompt information through the display device;

When the target alarm level is the second alarm level, the calculation unit sends second alarm prompt information to the user terminal.

In one possible implementation, the method further includes:

The computing unit stores the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or

The computing unit saves the video image data associated with the alarm information, and re-enters the dormant state after saving the video image data associated with the alarm information.

In one possible implementation, the method further includes:

The computing unit re-enters the dormant state if it does not receive the second environmental data from the detecting unit within a first period of time after generating the alarm information.

Regarding the technical effects brought about by the fourth aspect and any possible implementation method, reference may be made to the introduction of the technical effects corresponding to the first to third aspects and the corresponding implementation methods.

In a fifth aspect, an embodiment of the present application provides an environment detection device, which may be a detection unit including a module or unit for executing the method as described in any one of the first aspects.

In one possible design, the detection unit includes:

a processing unit, configured to obtain first environmental data and perform environmental detection based on the first environmental data when the vehicle is in a parked state;

a transceiver unit, configured to send a first wake-up signal and second environment data to the computing unit when a first trigger event is detected, where the second environment data includes the first environment data and/or a data processing result obtained based on the first environment data;

Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state.

In a possible implementation, the power consumption of the detection unit is lower than the power consumption of the calculation unit when it is awakened and working.

In a possible implementation, the first environmental data includes a vibration signal from an acceleration sensor;

When performing environmental detection according to the first environmental data, the processing unit is configured to:

When the vibration signal exceeds a first vibration threshold, it is determined that the first trigger event is detected.

In a possible implementation, the first environmental data includes perception data from an environmental perception sensor;

When performing environmental detection according to the first environmental data, the processing unit is configured to:

determining whether there is a moving object around the vehicle based on the perception data;

In a case where it is determined that there is a moving object around the vehicle, it is determined that a first triggering event is detected.

In a possible implementation, the processing unit includes a perception data processing module and a vibration signal processing module; the first environmental data includes a vibration signal from an acceleration sensor and perception data from an environmental perception sensor;

When performing environmental detection according to the first environmental data:

The vibration signal processing module is configured to send a second wake-up signal to the perception data processing module when detecting that the vibration signal exceeds a first vibration threshold;

The perception data processing module is used to determine whether there is a moving object around the vehicle based on the perception data;

The perception data processing module is configured to determine that a first trigger event is detected when it is determined that there is a moving object around the vehicle;

Before receiving the second wake-up signal, the perception data processing module is in a dormant state.

In a sixth aspect, an embodiment of the present application provides an environment detection device, which may be a computing unit including a module or unit for executing the method as described in any one of the second aspects.

In one possible design, the computing unit includes:

a transceiver unit, configured to receive a first wake-up signal and second environment data from the detection unit, where the second environment data includes the first environment data and/or a data processing result obtained based on the first environment data;

a processing unit, configured to determine whether to generate alarm information based on the second environment data;

Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state.

In a possible implementation, the power consumption of the detection unit is lower than the power consumption of the calculation unit when it is awakened and working.

In one possible implementation, the second environmental data includes the first environmental data and a data processing result obtained based on the first environmental data, the first environmental data includes perception data and a vibration signal, the data processing result includes a suspected area where the mobile object is located, and the suspected area where the mobile object is located is determined based on the perception data;

When determining whether to generate alarm information based on the second environment data, the processing unit is configured to:

determining a target mobile object based on the sensing data and the suspected area where the mobile object is located;

generating an alarm message when the distance between the target mobile object and the vehicle is less than or equal to a distance threshold, and/or when the vibration intensity of the vehicle is greater than or equal to a second vibration threshold;

re-entering the dormant state when the distance between the target mobile object and the vehicle is greater than a distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold;

Wherein, the vibration intensity of the vehicle is determined based on the vibration signal.

In a possible implementation, when determining the target moving object based on the perception data and the suspected area where the moving object is located, the processing unit is configured to:

determining, based on the sensing data, an area where at least one object of interest is located;

determining the target moving object according to the area where the at least one object of interest is located and the suspected area where the moving object is located;

The at least one object of interest includes the target moving object, and the degree of overlap between the area where the target moving object is located and the area where the moving object is suspected to be located is greater than or equal to a preset overlap threshold.

In a possible implementation, the alarm information includes a target alarm level, where the target alarm level is one of multiple alarm levels, and the multiple alarm levels are used to indicate the severity of the alarm information;

When the distance between the target moving object and the vehicle is less than or equal to a distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level;

When the vibration intensity of the vehicle is greater than or equal to a vibration threshold, or when the distance between the target mobile object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level.

In a possible implementation, the transceiver unit is configured to:

A third wake-up signal and the alarm information are sent to a control unit, where the alarm information includes a target alarm level.

In a possible implementation, the processing unit is configured to:

When the target alarm level is the first alarm level, displaying the first alarm prompt information through the display device;

When the target alarm level is the second alarm level, second alarm prompt information is sent to the user terminal.

In a possible implementation, the device further includes a storage unit:

The storage unit is used to store the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or

The storage unit is used to store the video image data associated with the alarm information;

The processing unit is configured to re-enter a dormant state after the storage unit saves the video image data associated with the alarm information.

In a possible implementation, the processing unit is configured to:

If no second environmental data is received from the detection unit within a first period of time after the alarm information is generated, the system re-enters the dormant state.

In a seventh aspect, an embodiment of the present application provides an environment detection device, which may be a control unit including a module or unit for executing the method as described in any one of the third aspects.

In one possible design, the control unit includes:

a transceiver unit, configured to receive a third wake-up signal and alarm information from the computing unit, wherein the alarm information includes a target alarm level;

A processing unit is used to issue an alarm prompt based on the alarm information.

In a possible implementation, when the control unit issues an alarm prompt based on the alarm information, the processing unit is configured to:

When the target alarm level is the first alarm level, displaying the first alarm prompt information through the display device;

When the target alarm level is the second alarm level, second alarm prompt information is sent to the user terminal.

In a possible implementation, the device further includes a storage unit:

The storage unit is used to store the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or

The storage unit is used to store the video image data associated with the alarm information;

The processing unit is configured to re-enter a dormant state after the storage unit saves the video image data associated with the alarm information.

Regarding the technical effects brought about by the fifth to seventh aspects and any possible implementation methods, reference may be made to the introduction of the technical effects corresponding to the first to third aspects and the corresponding implementation methods.

Optionally, in the environment detection device described in any one of the first to third aspects and any possible implementation manner:

In one design, the environment detection device is a detection unit, a computing unit, or a control unit. When the environment detection device is a detection unit, a computing unit, or a control unit, the transceiver unit may be a transceiver or an input/output interface; and the processing unit may be at least one processor. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input/output interface may be an input/output circuit.

In another design, the environment detection device is a chip (system) or circuit used in a detection unit, a computing unit, or a control unit. When the environment detection device is a chip (system) or circuit used in a detection unit, a computing unit, or a control unit, the transceiver unit can be a communication interface (input/output interface), an interface circuit, an output circuit, an input circuit, a pin, or related circuits on the chip (system) or circuit; and the processing unit can be at least one processor, a processing circuit, or a logic circuit.

In an eighth aspect, an embodiment of the present application provides an environment detection device, comprising a processor. The processor is coupled to a memory and can be configured to execute instructions in the memory to implement the method of any of the first to third aspects described above and any possible implementation method. Optionally, the environment detection device further comprises a memory. Optionally, the environment detection device further comprises a communication interface, and the processor is coupled to the communication interface.

In a ninth aspect, embodiments of the present application provide an environment detection device, comprising: a logic circuit and a communication interface. The communication interface is configured to receive or send information; the logic circuit is configured to receive or send information via the communication interface, so that the environment detection device executes the method of any of the first to third aspects and any possible implementation thereof.

In the tenth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store a computer program (also referred to as code, or instructions); when the computer program is run on a computer, the method of any one of the above-mentioned first to third aspects and any possible implementation method is implemented.

In the eleventh aspect, an embodiment of the present application provides a computer program product, which includes: a computer program (also referred to as code, or instructions); when the computer program is run, it enables the computer to execute any one of the above-mentioned first to third aspects and any possible implementation method.

In a twelfth aspect, an embodiment of the present application provides a chip, comprising a processor configured to execute instructions. When the processor executes the instructions, the chip performs the method of any one of the first to third aspects and any possible implementation methods described above. Optionally, the chip further comprises a communication interface configured to receive or send signals.

In the thirteenth aspect, an embodiment of the present application provides a vehicle, which includes at least one detection unit as described in the fifth aspect, or the computing unit as described in the sixth aspect, or the control unit as described in the seventh aspect.

In a fourteenth aspect, an embodiment of the present application provides a system, comprising a detection unit and a computing unit, wherein the detection unit is configured to execute the method of the first aspect and any possible implementation manner described above, and the computing unit is configured to execute the method of the second aspect and any possible implementation manner described above. Optionally, the system may further comprise a control unit configured to execute the method of the third aspect and any possible implementation manner described above.

In addition, in the process of executing the method described in any aspect of the first to third aspects and any possible implementation method, the process of sending information and/or receiving information in the above method can be understood as the process of the processor outputting information and/or the process of the processor receiving input information. When outputting information, the processor can output the information to the transceiver (or communication interface, or sending module) so that it can be transmitted by the transceiver. After the information is output by the processor, it may also need to undergo other processing before it reaches the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or sending module) receives the information and inputs it into the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before it is input into the processor.

Based on the above principles, for example, the sending of information mentioned in the above method can be understood as the processor outputting information. For another example, the receiving of information can be understood as the processor receiving input information.

Optionally, for the operations such as transmission, sending and receiving involved in the processor, if there is no special explanation, or if they do not conflict with their actual functions or internal logic in the relevant description, they can be more generally understood as processor output, reception, input and other operations.

Optionally, in the process of executing the method described in any aspect of the first to third aspects and any possible implementation method, the processor may be a processor specifically used to execute these methods, or a processor that executes these methods by executing computer instructions in a memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately provided on different chips. The embodiments of the present application do not limit the type of memory and the configuration of the memory and the processor.

In a possible implementation, the at least one memory is located outside the device.

In yet another possible implementation, the at least one memory is located within the device.

In another possible implementation, part of the at least one memory is located inside the device, and another part of the memory is located outside the device.

In this application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a system architecture applicable to an embodiment of the present application;

FIG2 is a schematic diagram of another system architecture applicable to an embodiment of the present application;

FIG3 is a flow chart of an environmental detection method provided in an embodiment of the present application;

FIG4 is a schematic diagram of a target moving object provided in an embodiment of the present application;

FIG5 is a schematic diagram of an environmental detection process provided by an embodiment of the present application;

FIG6 is another schematic diagram of the environmental detection process provided by an embodiment of the present application;

FIG7 is another flow chart of the environmental detection method provided in an embodiment of the present application;

FIG8 is a schematic structural diagram of an environment detection device provided in an embodiment of the present application;

FIG9 is a schematic structural diagram of another environment detection device provided in an embodiment of the present application;

FIG10 is a schematic diagram of the structure of a chip provided in an embodiment of the present application.

DETAILED DESCRIPTION

The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application. It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. “And/or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “/” generally indicates that the related objects before and after are in an “or” relationship.

Furthermore, unless otherwise indicated, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish between multiple objects and are not used to define the order, timing, priority, or importance of multiple objects. For example, the first message and the second message are only used to distinguish different message types and do not indicate differences in structure, importance, etc. between the two messages.

First, some terms in this application are explained to facilitate understanding by those skilled in the art.

1. Security Guard Function

The safety guard function refers to the function of detecting the safety status of the vehicle through sensors on the vehicle while the vehicle is parked. When it is determined that the vehicle is at risk of damage or intrusion, it notifies the owner and records relevant environmental information.

2. Sensors

The sensors involved in the embodiments of the present application include acceleration sensors (also known as vibration sensors, shock sensors, etc.) and environmental perception sensors. The environmental perception sensors may include vision sensors and/or radar sensors, etc., without limitation. For example, vision sensors include fisheye, eagle eye, monocular, binocular, four-way cameras, etc., without limitation here. Radar sensors may include radar (radio detection and ranging, Radar), laser radar (light detection and ranging, LiDAR), millimeter wave radar, ultrasonic radar, etc., without limitation here.

In real life, when the driver parks and leaves the car, the vehicle is often scratched or collided. In response to the need for car safety monitoring after the driver leaves the car, the safety guard function has been introduced. Under the safety guard function, the safety of the vehicle is detected by sensors on the vehicle, and an early warning is issued and the sensed data is recorded after a predefined event occurs, which can help car owners maintain their rights and reduce their losses. In related technologies, the safety guard function is usually achieved with the help of sensors and analysis capabilities of intelligent driving (referred to as intelligent driving domain). Due to the reuse of the algorithm module of intelligent driving, it is necessary to run the algorithm module of intelligent driving when running the safety guard function, resulting in high computing power consumption and large power consumption. Therefore, how to design a solution with low power consumption and high detection accuracy has become an urgent problem to be solved.

Based on this, this application proposes an environmental detection method that can reduce vehicle power consumption and help improve user experience.

For example, please refer to Figure 1, which is a schematic diagram of a system architecture applicable to an embodiment of the present application. As shown in Figure 1, the system includes a mobile data center (MDC) and a cockpit domain controller (CDC). The MDC includes four cameras, an ultrasonic radar, an accelerometer, a microcontroller unit (MCU), and a system on chip (SOC). The SOC is connected to the four cameras, the accelerometer and ultrasonic radar are connected to the MCU, and the MCU is connected to the SOC. By deploying lightweight vibration detection and radar detection on the MCU, high-power components such as the SOC and CDC do not need to be constantly on during the operation of the safety guard function. Specifically, the MCU can be constantly on and receive vibration information collected by the accelerometer for vibration detection or receive radar signals collected by the radar for radar detection. If the MCU identifies vibrations that may pose a threat to the vehicle or objects close to the vehicle, it wakes up the SOC for further, more accurate detection. After waking up, the SOC receives video data streams from four cameras, as well as vibration and radar detection information provided by the MCU. After processing using algorithms such as motion frame detection, radar detection, vibration detection, and human-vehicle artificial intelligence (AI) detection, it ultimately determines whether a dangerous event has occurred. If an event deemed hazardous to the vehicle has occurred, an alert is sent to the CDC. Furthermore, the CDC can save the video corresponding to the dangerous event to disk. It should be understood that the MCU deploys lightweight vibration and radar detection algorithms, powered by a small battery (e.g., 20AH).

As another example, please refer to Figure 2, which is another system architecture diagram applicable to the embodiment of the present application. As shown in Figure 2, the system includes four cameras, ultrasonic radar, acceleration sensor, automatic parking assist (APA), MCU and CDC. The APA is connected to the four cameras and ultrasonic radar, the acceleration sensor is connected to the MCU, and both the APA and the MCU are connected to the CDC. By deploying lightweight vibration detection on the MCU, and deploying lightweight visual detection and radar detection on the APA, high-power components such as the CDC do not need to be constantly on during the operation of the safety guard function. Specifically, the MCU is constantly on to obtain and detect the vibration signal collected by the acceleration sensor. If a vibration that may pose a threat to the vehicle is detected, the CDC is awakened for further, more accurate detection. At the same time, the APA can also use the perception data collected by the ultrasonic radar and the four cameras for detection. When an approaching object is detected around the vehicle, the CDC can also be awakened for further, more accurate detection. After waking up, the CDC can perform motion frame detection, radar detection, vibration detection, and human-vehicle AI detection on data from the MCU and APA based on the visual system. The fusion processing system then makes a comprehensive judgment on the visual system's detection results. If it determines that an event has occurred that poses a threat to the vehicle, it triggers a highlighted alarm on the display and pushes it remotely to the user's mobile phone. Ultimately, the effective video storage system writes it to the disk. It should be understood that both the APA and the MCU can operate independently. The APA deploys lightweight algorithms such as visual detection and radar detection, while the MCU deploys lightweight algorithms such as vibration detection, powered by a small battery (e.g., 20AH).

It should be noted that the "parking" mentioned in this application means that the vehicle is stopped and the parking gear is engaged. Optionally, parking can sometimes also be referred to as parking, which is not limited in this application. In addition, being in a powered state can also be understood as being in an operating state.

The following is a detailed introduction to the environmental detection method and related devices provided by this application:

Please refer to Figure 3, which is a flow chart of the environment detection method provided by an embodiment of the present application. As shown in Figure 3, the environment detection method includes the following steps S301 to S303. The execution subject of the method shown in Figure 3 can be a vehicle, or the execution subject of the method shown in Figure 3 can also be a chip or vehicle-mounted component in which the detection software is deployed in the vehicle. For example, the detection software can be deployed in the vehicle's CDC, MDC, APA, MCU and other vehicle-mounted components (or chips), and this application does not limit this. For the convenience of description, Figure 3 mainly uses the vehicle-mounted component in which the detection software is deployed in the vehicle as an example of the execution subject of the method. Specifically, the vehicle component can be a detection unit, a computing unit or a control unit. It should be noted that Figure 3 is a schematic flow chart of an embodiment of the method of the present application, showing the detailed communication steps or operations of the method, but these steps or operations are only examples. The embodiment of the present application can also perform other operations or variations of the various operations in Figure 3. In addition, the various steps in Figure 3 can be performed in a different order from that presented in Figure 3, and it is possible that not all operations in Figure 3 need to be performed. Among them:

S301 : When a vehicle is in a parking state, a detection unit obtains first environmental data and performs environmental detection according to the first environmental data.

In some feasible implementations, when the vehicle is in a parked state, sensors deployed on the vehicle continuously collect first environmental data around the vehicle and send the collected first environmental data to the detection unit. Accordingly, after the detection unit receives the first environmental data from the sensor, it can perform environmental detection based on the acquired first environmental data. Specifically, when the vehicle is in a parked state, the detection unit is in a powered state, and the computing unit is in a dormant state before receiving the first wake-up signal. In addition, the power consumption of the detection unit is lower than the power consumption of the computing unit when it is working after being awakened.

In one possible implementation (I), if the system architecture shown in FIG1 is used, the detection unit can specifically be an MCU, and the sensors connected to the MCU can include an accelerometer and a radar sensor, that is, the accelerometer and the radar sensor have a communication connection with the MCU. The first environmental data collected by the accelerometer is a vibration signal, and the first environmental data collected by the radar sensor is a radar signal. The MCU can determine whether the vehicle is generating abnormal vibrations based on the vibration signal, or can determine whether there are moving objects around the vehicle based on the radar signal. Specifically, if the vibration intensity indicated by the vibration signal is not less than a first vibration threshold, it can be determined that the vehicle is generating abnormal vibrations; if the vibration intensity indicated by the vibration signal is less than the first vibration threshold, it can be determined that the vehicle is not generating abnormal vibrations. Radar detection can be used to determine whether an object is approaching the vehicle. For example, if the distance between the moving object and the vehicle is less than or equal to a certain distance threshold (hereinafter referred to as the first distance threshold for ease of distinction) determined based on the radar signal, it can be determined that there is a moving object around the vehicle; if the distance between the moving object and the vehicle is greater than the first distance threshold, it can be determined that there are no moving objects around the vehicle. It should be understood that the branch to which the "equal to" situation involved in the embodiments of the present application belongs can be determined according to actual circumstances and is not limited.

Generally speaking, if the MCU detects abnormal vibration and/or detects the presence of a moving object approaching the vehicle, it is considered that a first trigger event has been detected. For example, the moving object may refer to a moving person, a motor vehicle, a non-motor vehicle, etc., without limitation.

In one possible implementation (two), if the system architecture shown in Figure 2 is adopted, the detection unit may specifically include an MCU and/or an APA, the sensor connected to the MCU may be an acceleration sensor, and the sensor connected to the APA may include an environmental perception sensor, where the environmental perception sensor may specifically be a visual sensor and/or a radar sensor. For the convenience of description, the following text uses the environmental perception sensor including a visual sensor and a radar sensor as an example for schematic illustration. The first environmental data collected by the acceleration sensor is a vibration signal, and the first environmental data collected by the environmental perception sensor is perception data. For example, the video image data collected by the visual sensor and the radar signal collected by the radar sensor can be understood as perception data. The MCU can determine whether the vehicle has abnormal vibrations based on the vibration signal, and the APA can determine whether there are moving objects around the vehicle based on the radar signal or the video image data. Specifically, the APA can process the radar signal or the video image data according to the motion detection algorithm to determine whether there are moving objects around the vehicle.

S302: When the detection unit detects a first trigger event, the detection unit sends a first wake-up signal and second environment data to the computing unit. Correspondingly, the computing unit receives the first wake-up signal and second environment data from the detection unit.

In some feasible implementations, the detection unit can determine whether a first trigger event exists by performing environmental detection on the first environmental data. Generally speaking, when it is determined that the vehicle generates abnormal vibrations and/or there are moving objects around the vehicle, it can be determined that the first trigger event has been detected. Therefore, the detection unit wakes up the computing unit and sends the second environmental data to the computing unit, and the second environmental data includes the first environmental data and/or the data processing result obtained based on the first environmental data. It should be understood that the first wake-up signal and the second environmental data can be sent to the computing unit together, or they can be sent to the computing unit separately, which is not limited in this application. Accordingly, for the computing unit, the first wake-up signal and the second environmental data can be received at one time, or they can be received separately, which is not limited in this application. In addition, for the computing device, the computing device usually needs to be woken up first and then receive the second environmental data.

Exemplarily, the first environmental data included in the second environmental data may refer to perception data (such as video image data, or one or more of radar signals, etc.) and vibration signals, etc., and the data processing result includes the suspected area where the moving object is located. The suspected area where the moving object is located can be determined based on the perception data. For example, the detection unit can process the video image data based on the motion frame detection algorithm to determine the suspected area where the moving object is located; for another example, the detection unit can process the radar signal based on the radar detection algorithm to determine the suspected area where the moving object is located. For another example, the detection unit can also determine the union area of the suspected area determined based on the video image data and the suspected area determined based on the radar signal as the suspected area where the moving object is located, which is not limited in this application.

In one possible implementation (1), if the system architecture shown in Figure 1 is used, the computing unit may be the SOC. That is, when the MCU detects abnormal vibration of the vehicle or the presence of a moving object around the vehicle, the MCU may wake up the SOC and send second environmental data to the SOC. For example, the second environmental data may include a vibration signal.

In one possible implementation (two), if the system architecture shown in Figure 2 is used, the computing unit may be a CDC. That is, when the MCU detects abnormal vibration of the vehicle or the APA detects the presence of a moving object around the vehicle, the MCU or APA may wake up the CDC and send second environmental data to the CDC. For example, the second environmental data may include video image data, vibration signals, and the suspected location of the moving object.

S303: The calculation unit determines whether to generate alarm information based on the second environment data.

As described above, the second environmental data includes the first environmental data and the data processing results obtained based on the first environmental data, wherein the first environmental data includes perception data (such as video image data, radar signals) and vibration signals, and the data processing results include the suspected area where the moving object is located. In some feasible embodiments, the computing unit can process the video image data based on the AI detection algorithm to determine whether there is an object of interest. In the case that the computing unit does not detect any object of interest, the computing unit can re-enter the sleep state; in the case that the computing unit detects at least one object of interest, the computing unit can further determine the target moving object based on the area where the at least one object of interest is located and the suspected area where the moving object is located. Specifically, when the degree of overlap between the area where a certain object of interest is located and the suspected area where the moving object is located is greater than or equal to a preset overlap threshold, the object of interest can be considered to be the target moving object. The object of interest can refer to a person, a motor vehicle, a non-motor vehicle, etc., and this application does not impose any restrictions on this.

For example, please refer to Figure 4, which is a schematic diagram of the target moving object provided in an embodiment of the present application. As shown in Figure 4, based on the AI detection algorithm, the video image data is processed to detect four objects of interest, namely object of interest 1, object of interest 2, object of interest 3, and object of interest 4. Among them, since the overlap between the areas where objects of interest 1, 2, and 3 are located and the suspected area where the moving object is located is less than the preset overlap threshold, and the overlap between the area where object of interest 4 is located and the suspected area where the moving object is located is greater than the preset overlap threshold, object of interest 4 is the target moving object.

It is understandable that the computing unit can generate an alarm message when the distance between the target mobile object and the vehicle is less than or equal to a certain distance threshold (hereinafter referred to as the second distance threshold for ease of distinction) and/or when the vibration intensity of the vehicle indicated by the vibration signal is greater than or equal to the second vibration threshold. If the distance between the target mobile object and the vehicle is greater than the second distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the computing unit re-enters the dormant state. Generally speaking, the first distance threshold is greater than the second distance threshold, and the first vibration threshold is less than the second vibration threshold.

Optionally, the warning information may include a target warning level, which is one of a plurality of warning levels, and the plurality of warning levels are used to indicate the severity of the warning information. For example, the plurality of warning levels include a first warning level and a second warning level, wherein the first warning level is lower than the second warning level. Specifically, when the distance between the target moving object and the vehicle is less than or equal to the second distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the second distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level; when the vibration intensity of the vehicle is greater than or equal to the vibration threshold, or when the distance between the target moving object and the vehicle is less than or equal to the second distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level.

In one possible implementation (I), if the system architecture shown in Figure 1 is used, the computing unit may be a system-on-chip (SOC). That is, when the MCU detects abnormal vehicle vibration and/or the presence of moving objects around the vehicle, the MCU may wake up the SOC. After waking up, the SOC may generate an alarm based on the second environmental data. Optionally, the SOC may also wake up a control unit (e.g., a CDC) and send an alarm to the CDC. For example, the SOC may wake up the CDC by sending a third wake-up signal to the CDC. After receiving the alarm, the CDC may issue an alarm based on the alarm. For example, if the target alarm level is a first alarm level, the CDC may display the first alarm on an onboard display device, such as by highlighting the alarm on the onboard screen. If the target alarm level is a second alarm level, the CDC may send a second alarm to a user terminal. Optionally, the CDC may also push corresponding video image data to the user terminal so that the user can promptly check the vehicle's status. Furthermore, the CDC may save the video image data associated with the alarm (or write the video image data associated with the alarm to disk). The video image data associated with the alarm information here can be understood as all video image data that triggers the generation of the alarm information. Optionally, after the CDC saves the video image data associated with the alarm information, the CDC can enter a dormant state. Optionally, if the SOC does not receive new second environmental data within a first period of time after the alarm information is generated, the SOC enters a dormant state.

For example, the implementation process of implementation (1) above can refer to the process shown in Figure 5, where: S1. When the vehicle is parked, a vibration signal is acquired for vibration detection, and a radar signal is acquired for radar detection. S2. Upon detecting a first trigger event, the MCU sends a first wake-up signal and second environmental data to the SOC. S3. The SOC determines whether to generate an alarm based on the second environmental data. This includes the following three branches: Branch 1: If the distance between the target mobile object and the vehicle is less than or equal to a second distance threshold, but the vibration intensity is less than the second vibration threshold, an alarm message containing a first alarm level is generated. Branch 2: If the distance between the target mobile object and the vehicle is less than or equal to the second distance threshold, and the vibration intensity is greater than or equal to the second vibration threshold, an alarm message containing a second alarm level is generated. Branch 3: If the distance between the target mobile object and the vehicle is greater than the second distance threshold, and the vibration intensity is less than the second vibration threshold, the SOC enters a dormant state. S4. If an alarm message is generated, the SOC sends the alarm message to the CDC. S5. The CDC issues a corresponding warning based on the alarm level and stores the video image data on disk. S6. The SOC enters a dormant state. Generally speaking, if the SOC does not receive new second environmental data within a first period of time after generating the alarm message, the SOC enters a dormant state. S7. The CDC enters a dormant state. Generally speaking, after the CDC saves the video image data associated with the alarm message, it can enter a dormant state.

In one possible implementation (two), if the system architecture shown in Figure 2 is used, the computing unit may be a CDC. That is, when the MCU detects abnormal vibrations in the vehicle or the APA detects the presence of moving objects around the vehicle, either the MCU or the APA can wake up the CDC. After waking up, the CDC can generate an alert based on the second environmental data and issue an alert based on the alert. For example, when the target alert level is the first alert level, the CDC can display the first alert via an onboard display device, such as by highlighting the alert on the onboard screen. When the target alert level is the second alert level, the CDC can send the second alert to the user terminal. Optionally, the CDC can also push corresponding video image data to the user terminal so that the user can promptly check the vehicle's status. Furthermore, the CDC can also save the video image data associated with the alert. Optionally, after saving the video image data associated with the alert, the CDC can enter a dormant state again. Alternatively, if the CDC does not receive new second environmental data within a first period after generating the alert, the CDC can enter a dormant state.

Exemplarily, the implementation process of the above-mentioned implementation (ii) can refer to the process shown in Figure 6, wherein: S1, when the vehicle is in a parked state, the MCU obtains a vibration signal for vibration detection. (Or, S1', when the vehicle is in a parked state, the APA obtains a radar signal for radar detection, or the APA obtains video image data for image detection. S2, when the MCU detects abnormal vibration, the MCU sends a first wake-up signal and second environmental data to the CDC. (Or, S2', when the APA detects the presence of a moving object around the vehicle, the APA sends a first wake-up signal and second environmental data to the CDC) S3, the CDC determines whether to generate an alarm message based on the second environmental data. It includes the following three branches: Branch one: When the distance between the target moving object and the vehicle is less than or equal to the second distance threshold, but the vibration intensity is less than the second vibration threshold, an alarm message containing a first alarm level is generated. Branch two : When the distance between the target moving object and the vehicle is less than or equal to the second distance threshold, and the vibration intensity is greater than or equal to the second vibration threshold, an alarm message containing a second alarm level is generated. Branch three: When the distance between the target moving object and the vehicle is greater than the second distance threshold, and the vibration intensity is less than the second vibration threshold, the CDC enters a dormant state. S4. The CDC makes corresponding warnings according to the alarm level and writes the video image data to the disk. S5. The CDC enters a dormant state. Generally speaking, after the CDC saves the video image data associated with the alarm information, the CDC can enter a dormant state again, or if the CDC does not receive new second environmental data within the first period of time after the alarm information is generated, the CDC enters a dormant state.

In an embodiment of the present application, lightweight vibration detection or visual detection, and radar detection algorithms are pre-positioned on a low-power detection unit (such as an MCU or APA), powered by a small battery. The computing unit (such as an SOC or CDC) is awakened to run the full detection algorithm only when necessary, which can save power consumption while ensuring accurate detection results.

Please refer to Figure 7, which is another flow chart of the environment detection method provided by an embodiment of the present application. As shown in Figure 7, the environment detection method includes the following steps S701 to S705. The method execution subject shown in Figure 7 can be a vehicle, or the method execution subject shown in Figure 7 can also be a chip or vehicle-mounted component in which the detection software is deployed in the vehicle. For example, the detection software can be deployed in the vehicle's CDC, MDC, APA, MCU and other vehicle-mounted components (or chips), and this application does not limit this. For the convenience of description, Figure 7 mainly uses the vehicle-mounted component in which the detection software is deployed in the vehicle as an example to illustrate the execution subject of the method. Specifically, the vehicle component can be a perception data processing module, a vibration signal processing module and a computing unit. It should be understood that if the system architecture shown in Figure 2 is adopted, then the vibration signal processing module can refer to the MCU, the perception data processing module can refer to the APA, and the computing unit can be the CDC. This embodiment is mainly illustrated by the architecture shown in Figure 2. It should be noted that FIG7 is a schematic flow chart of an embodiment of the method of the present application, showing detailed communication steps or operations of the method, but these steps or operations are merely examples, and the embodiment of the present application may also perform other operations or variations of the various operations in FIG7. In addition, the various steps in FIG7 may be performed in a different order than that presented in FIG7, and it is possible that not all operations in FIG7 need to be performed. Among them:

S701 : The MCU determines whether the vehicle generates abnormal vibration based on a vibration signal and a first vibration threshold.

In some feasible implementations, the sensor connected to the MCU may be an accelerometer. The first environmental data collected by the accelerometer is a vibration signal. The MCU can determine whether the vehicle is experiencing abnormal vibration based on the vibration signal from the accelerometer and a first vibration threshold. Specifically, if the vibration intensity indicated by the vibration signal is not less than the first vibration threshold, the MCU can determine that the vehicle is experiencing abnormal vibration; if the vibration intensity indicated by the vibration signal is less than the first vibration threshold, the MCU can determine that the vehicle is not experiencing abnormal vibration.

S702: When the MCU determines that the vehicle is vibrating abnormally, the MCU sends a second wake-up signal to the APA. In response, the APA receives the second wake-up signal from the MCU.

In some feasible embodiments, the sensors connected to the APA may include environmental perception sensors, which may specifically be vision sensors and/or radar sensors. For ease of description, the following description uses the example of an environmental perception sensor including a vision sensor and a radar sensor as an example. The first environmental data collected by the environmental perception sensor is perception data. For example, video image data collected by a vision sensor and radar signals collected by a radar sensor can both be understood as perception data.

It should be noted that when the MCU determines that the vehicle has abnormal vibration, the MCU can wake up the APA.

S703: When the APA determines, based on the perception data, that there is a moving object around the vehicle, it determines that a first triggering event is detected.

It should be understood that when the APA is awakened by the MCU, the APA can determine whether there is a moving object around the vehicle based on the radar signal or video image data. For example, when the distance between the moving object and the vehicle is less than or equal to a certain distance threshold (hereinafter referred to as the first distance threshold for ease of distinction) determined based on the radar signal, it can be determined that there is a moving object around the vehicle; when the distance between the moving object and the vehicle is greater than the first distance threshold, it can be determined that there is no moving object around the vehicle. Generally speaking, when there is a moving object around the vehicle, it can be considered that the first trigger event has been detected.

S704: When the APA detects the first trigger event, the APA sends a first wake-up signal and second environment data to the CDC. Correspondingly, the CDC receives the first wake-up signal and second environment data from the APA.

In some feasible implementations, when the APA detects the first trigger event, it may wake up the CDC and send the second environment data to the CDC.

S705: The CDC determines whether to generate alarm information based on the second environment data.

Regarding the implementation of the CDC determining whether to generate alarm information based on the second environment data, reference may be made to the relevant description in step S303 of the embodiment corresponding to FIG. 3 , which will not be elaborated here.

In an embodiment of the present application, after the MCU detects vibration, it wakes up the APA to detect vision and radar, and finally pulls up the CDC. This hierarchical wake-up method can reduce power consumption.

The above describes in detail the methods of the embodiments of the present application. The following provides an apparatus for implementing any method in the embodiments of the present application. For example, an apparatus is provided that includes units (or means) for implementing each step performed by the device in any of the above methods.

Please refer to Figure 8, which is a structural diagram of an environment detection device provided in an embodiment of the present application.

As shown in Figure 8, the environment detection device 80 may include a transceiver unit 801 and a processing unit 802. The transceiver unit 801 and the processing unit 802 may be software, hardware, or a combination of software and hardware.

The transceiver unit 801 can implement a sending function and/or a receiving function, and can also be described as a transceiver unit. The transceiver unit 801 can also be a unit that integrates an acquisition unit (or receiving unit) and a sending unit, wherein the acquisition unit is used to implement the receiving function and the sending unit is used to implement the sending function. Optionally, the transceiver unit 801 can be used to receive information sent by other devices, and can also be used to send information to other devices.

In one possible design, the environment detection device 80 may correspond to the detection unit or chip in the detection unit in the method embodiment shown in Figure 3 or Figure 7 above. The environment detection device 80 may include a unit for executing the operations performed by the detection unit in the method embodiment shown in Figure 3 or Figure 7 above, and each unit in the environment detection device 80 is respectively for implementing the operations performed by the detection unit in the method embodiment shown in Figure 3 or Figure 7 above. The description of each unit is as follows:

The processing unit 802 is configured to obtain first environmental data and perform environmental detection based on the first environmental data when the vehicle is in a parking state;

The transceiver unit 801 is configured to send a first wake-up signal and second environment data to the computing unit when a first trigger event is detected, where the second environment data includes the first environment data and/or a data processing result obtained based on the first environment data;

Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state.

In a possible implementation, the power consumption of the detection unit is lower than the power consumption of the calculation unit when it is awakened and working.

In a possible implementation, the first environmental data includes a vibration signal from an acceleration sensor;

When performing environmental detection according to the first environmental data, the processing unit 802 is configured to:

In the case that it is detected that the vibration signal exceeds a first vibration threshold, it is determined that a first triggering event is detected.

In a possible implementation, the first environmental data includes perception data from an environmental perception sensor;

When performing environmental detection according to the first environmental data, the processing unit 802 is configured to:

determining whether there is a moving object around the vehicle based on the perception data;

In a case where it is determined that there is a moving object around the vehicle, it is determined that a first triggering event is detected.

In a possible implementation, the processing unit 802 includes a perception data processing module and a vibration signal processing module; the first environmental data includes a vibration signal from an acceleration sensor and perception data from an environmental perception sensor;

When performing environmental detection according to the first environmental data:

The vibration signal processing module is configured to send a second wake-up signal to the perception data processing module when detecting that the vibration signal exceeds a first vibration threshold;

The perception data processing module is used to determine whether there is a moving object around the vehicle based on the perception data;

The perception data processing module is configured to determine that a first trigger event is detected when it is determined that there is a moving object around the vehicle;

Before receiving the second wake-up signal, the perception data processing module is in a dormant state.

Regarding the technical effects brought about by this design and any possible implementation, please refer to the introduction of the technical effects corresponding to Figure 3 or Figure 7 and the corresponding implementation.

In another possible design of the environment detection device 80 shown in FIG8 , the environment detection device 80 may correspond to the computing unit in the method embodiment shown in FIG3 or FIG7 , for example, the environment detection device 80 may be a computing unit or a chip in the computing unit. The environment detection device 80 may include a unit for executing the operations performed by the computing unit in the method embodiment shown in FIG3 or FIG7 , and each unit in the environment detection device 80 is respectively for implementing the operations performed by the computing unit in the method embodiment shown in FIG3 or FIG7 . The description of each unit is as follows:

The transceiver unit 801 is configured to receive a first wake-up signal and second environment data from a detection unit, where the second environment data includes the first environment data and/or a data processing result obtained based on the first environment data;

The processing unit 802 is configured to determine whether to generate an alarm message based on the second environment data;

Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state.

In a possible implementation, the power consumption of the detection unit is lower than the power consumption of the calculation unit when it is awakened and working.

In one possible implementation, the second environmental data includes the first environmental data and a data processing result obtained based on the first environmental data, the first environmental data includes perception data and a vibration signal, the data processing result includes a suspected area where the mobile object is located, and the suspected area where the mobile object is located is determined based on the perception data;

When determining whether to generate alarm information based on the second environment data, the processing unit 802 is configured to:

determining a target mobile object based on the sensing data and the suspected area where the mobile object is located;

generating an alarm message when the distance between the target mobile object and the vehicle is less than or equal to a distance threshold, and/or when the vibration intensity of the vehicle is greater than or equal to a second vibration threshold;

re-entering the dormant state when the distance between the target mobile object and the vehicle is greater than a distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold;

Wherein, the vibration intensity of the vehicle is determined based on the vibration signal.

In a possible implementation, when determining the target moving object based on the perception data and the suspected area where the moving object is located, the processing unit 802 is configured to:

determining, based on the sensing data, an area where at least one object of interest is located;

determining the target moving object according to the area where the at least one object of interest is located and the suspected area where the moving object is located;

The at least one object of interest includes the target moving object, and the degree of overlap between the area where the target moving object is located and the area where the moving object is suspected to be located is greater than or equal to a preset overlap threshold.

In a possible implementation, the alarm information includes a target alarm level, where the target alarm level is one of multiple alarm levels, and the multiple alarm levels are used to indicate the severity of the alarm information;

When the distance between the target moving object and the vehicle is less than or equal to a distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level;

When the vibration intensity of the vehicle is greater than or equal to a vibration threshold, or when the distance between the target mobile object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level.

In a possible implementation, the transceiver unit 801 is configured to:

A third wake-up signal and the alarm information are sent to a control unit, where the alarm information includes a target alarm level.

In a possible implementation, the processing unit 802 is configured to:

When the target alarm level is the first alarm level, displaying the first alarm prompt information through the display device;

When the target alarm level is the second alarm level, second alarm prompt information is sent to the user terminal.

In a possible implementation, the device further includes a storage unit 803 (not shown in the figure):

The storage unit 803 is used to store the video image data associated with the alarm information, and the video image data is collected by a visual sensor; or

The storage unit 803 is used to store the video image data associated with the alarm information;

The processing unit 802 is configured to re-enter the dormant state after the storage unit 803 saves the video image data associated with the alarm information.

In a possible implementation, the processing unit 802 is configured to:

If no second environmental data is received from the detection unit within a first period of time after the alarm information is generated, the system re-enters the dormant state.

Regarding the technical effects brought about by this design and any possible implementation, please refer to the introduction of the technical effects corresponding to Figure 3 or Figure 7 and the corresponding implementation.

In another possible design of the environment detection device 80 shown in FIG8 , the environment detection device 80 may correspond to the control unit in the method embodiment shown in FIG3 or FIG7 above, for example, the environment detection device 80 may be a control unit or a chip in the control unit. The environment detection device 80 may include a unit for executing the operations performed by the control unit in the method embodiment shown in FIG3 or FIG7 above, and each unit in the environment detection device 80 is respectively for implementing the operations performed by the control unit in the method embodiment shown in FIG3 or FIG7 above. The description of each unit is as follows:

The transceiver unit 801 is configured to receive a third wake-up signal and alarm information from the computing unit, wherein the alarm information includes a target alarm level;

The processing unit 802 is configured to issue an alarm prompt based on the alarm information.

In a possible implementation, when the control unit issues an alarm prompt according to the alarm information, the processing unit 802 is configured to:

When the target alarm level is the first alarm level, displaying the first alarm prompt information through the display device;

When the target alarm level is the second alarm level, second alarm prompt information is sent to the user terminal.

In a possible implementation, the device further includes a storage unit 803 (not shown in the figure):

The storage unit 803 is used to store the video image data associated with the alarm information, and the video image data is collected by a visual sensor; or

The storage unit 803 is used to store the video image data associated with the alarm information;

The processing unit 802 is configured to re-enter the dormant state after saving the video image data associated with the alarm information.

Regarding the technical effects brought about by this design and any possible implementation, please refer to the introduction of the technical effects corresponding to Figure 3 or Figure 7 and the corresponding implementation.

Optionally, in any possible design of the environment detection device 80 shown in FIG8 :

In one implementation, the environment detection device is a detection unit, a computing unit, or a control unit. When the environment detection device is a detection unit, a computing unit, or a control unit, the transceiver unit may be a transceiver or an input/output interface; and the processing unit may be at least one processor. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input/output interface may be an input/output circuit.

In another implementation, the environment detection device is a chip (system) or circuit used in a detection unit, a computing unit, or a control unit. When the environment detection device is a chip (system) or circuit used in a detection unit, a computing unit, or a control unit, the transceiver unit may be a communication interface (input/output interface), an interface circuit, an output circuit, an input circuit, a pin, or related circuits on the chip (system) or circuit; and the processing unit may be at least one processor, a processing circuit, or a logic circuit.

According to an embodiment of the present application, the various units in the device shown in Figure 8 can be separately or all merged into one or several other units to constitute, or a certain (some) unit therein can also be split into multiple smaller units to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of a unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, other units can also be included based on electronic equipment. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by collaboration of multiple units.

It should be noted that the implementation of each unit may also refer to the corresponding description of the method embodiment shown in FIG. 3 or FIG. 7 .

In the environmental detection device 80 described in Figure 8, lightweight vibration detection or visual detection, and radar detection algorithms are pre-placed on a low-power detection unit (such as an MCU or APA), powered by a small battery. The computing unit (such as an SOC or CDC) is awakened to run the full detection algorithm only when necessary, which can save power consumption while ensuring accurate detection results.

Please refer to Figure 9, which is a structural diagram of an environment detection device provided in an embodiment of the present application.

It should be understood that the environmental detection device 90 shown in Figure 9 is only an example. The environmental detection device of the embodiment of the present application may also include other components, or include components with similar functions to the various components in Figure 9, or not include all the components in Figure 9.

The environment detection device 90 includes a communication interface 901 and at least one processor 902 .

The environment detection device 90 can correspond to any device in a detection unit, computing unit, or control unit that deploys detection software. A communication interface 901 is used to transmit and receive signals, and at least one processor 902 executes program instructions, enabling the environment detection device 90 to implement the corresponding process of the method executed by the corresponding device in the method embodiment of Figures 3 or 7 above.

In the environmental detection device 90 described in Figure 9, lightweight vibration detection or visual detection, and radar detection algorithms are pre-placed on a low-power detection unit (such as an MCU or APA), powered by a small battery. The computing unit (such as an SOC or CDC) is awakened to run the full detection algorithm only when necessary, which can save power consumption while ensuring accurate detection results.

In the case where the environment detection device can be a chip or a chip system, reference can be made to the schematic structural diagram of the chip shown in FIG10 .

As shown in Figure 10, chip 100 includes a processor 1001 and an interface 1002. There may be one or more processors 1001, and there may be multiple interfaces 1002. It should be noted that the functions of processor 1001 and interface 1002 can be implemented through hardware design, software design, or a combination of hardware and software, without limitation.

Optionally, the chip 100 may further include a memory 1003 , which is used to store necessary program instructions and data.

In this application, processor 1001 may be configured to call from memory 1003 an implementation program for the environmental detection method provided in one or more embodiments of this application in one or more devices within a detection unit, computing unit, or control unit where detection software is deployed, and execute the instructions contained in the program. Interface 1002 may be configured to output the execution results of processor 1001. In this application, interface 1002 may be specifically configured to output various messages or information from processor 1001.

Regarding the environmental detection method provided by one or more embodiments of the present application, reference may be made to the various embodiments shown in FIG. 3 or FIG. 7 , which will not be described in detail here.

The processor in the embodiments of the present application may be a central processing unit (CPU), but may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

The memory in the embodiments of the present application is used to provide storage space, which can store data such as an operating system and computer programs. Memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on one or more processors, the method shown in Figure 3 or Figure 7 can be implemented.

According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program runs on a processor, it can implement the method shown in Figure 3 or Figure 7 above.

An embodiment of the present application also provides a system, which includes at least one environment detection device 80 or environment detection device 90 or chip 100 as described above, and is used to execute the steps executed by the corresponding device in any of the embodiments of Figures 3 or 7 above.

An embodiment of the present application also provides a system, which includes a detection unit or a computing unit or a control unit deployed with detection software, and the detection unit or the computing unit or the control unit is used to execute the steps performed by the corresponding devices in the embodiments shown in Figures 3 or 7 above.

An embodiment of the present application further provides a processing device, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

It should be understood that the above-mentioned processing device can be a chip. For example, the processing device can be a field programmable gate array (FPGA), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, a system on chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chip. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (DVD)), or a semiconductor medium (e.g., a solid state disc (SSD)), etc.

The units in the above-mentioned various apparatus embodiments completely correspond to the electronic devices in the method embodiments, and the corresponding modules or units perform the corresponding steps. For example, the transceiver unit (transceiver) performs the receiving or sending steps in the method embodiments, and other steps except sending and receiving can be performed by the processing unit (processor). The functions of the specific units can be referred to the corresponding method embodiments. Among them, there can be one or more processors.

It is understood that in the embodiments of the present application, the electronic device can perform some or all of the steps in the embodiments of the present application. These steps or operations are merely examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, the various steps can be performed in a different order than those presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application need to be performed.

Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims (39)

An environmental detection system, characterized in that the system comprises: a detection unit, configured to acquire first environmental data and perform environmental detection based on the first environmental data when the vehicle is in a parked state; The detection unit is configured to send a first wake-up signal and second environment data to the computing unit when a first trigger event is detected, where the second environment data includes the first environment data and/or a data processing result obtained based on the first environment data; The computing unit is configured to determine whether to generate warning information based on the second environmental data; Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state. The system according to claim 1, wherein the first environmental data comprises a vibration signal from an acceleration sensor; The detection unit is further configured to determine that the first trigger event is detected when the vibration signal exceeds a first vibration threshold. The system according to claim 1 or 2, wherein the first environmental data comprises perception data from an environmental perception sensor; The detection unit is further configured to determine whether there is a moving object around the vehicle based on the sensing data; The detection unit is further configured to determine that a first triggering event is detected when it is determined that there is a moving object around the vehicle. The system according to claim 1, wherein the detection unit comprises a perception data processing module and a vibration signal processing module; the first environmental data comprises a vibration signal from an acceleration sensor and perception data from an environmental perception sensor; The vibration signal processing module is configured to send a second wake-up signal to the perception data processing module when the vibration signal exceeds a first vibration threshold; The perception data processing module is used to determine whether there is a moving object around the vehicle based on the perception data; The perception data processing module is configured to determine that a first trigger event is detected when it is determined that there is a moving object around the vehicle; Before receiving the second wake-up signal, the perception data processing module is in a dormant state. The system according to any one of claims 1 to 4, characterized in that the second environmental data includes the first environmental data and a data processing result obtained based on the first environmental data, the first environmental data includes perception data and a vibration signal, the data processing result includes the suspected location of the mobile object, and the suspected location of the mobile object is determined based on the perception data; The computing unit is configured to determine a target moving object based on the sensing data and the suspected area where the moving object is located; The calculation unit is configured to generate an alarm message when the distance between the target mobile object and the vehicle is less than or equal to a distance threshold, and/or when the vibration intensity of the vehicle is greater than or equal to a second vibration threshold; the calculation unit is configured to re-enter the dormant state if the distance between the target mobile object and the vehicle is greater than a distance threshold and the vibration intensity of the vehicle is less than a second vibration threshold; Wherein, the vibration intensity of the vehicle is determined based on the vibration signal. The system according to claim 5, wherein the alarm information includes a target alarm level, the target alarm level being one of a plurality of alarm levels, the plurality of alarm levels being used to indicate the severity of the alarm information; When the distance between the target moving object and the vehicle is less than or equal to a distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level; When the vibration intensity of the vehicle is greater than or equal to a vibration threshold, or when the distance between the target mobile object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level. The system according to any one of claims 1 to 6, characterized in that When the target alarm level is the first alarm level, the calculation unit is further configured to display first alarm prompt information through a display device; When the target alarm level is the second alarm level, the calculation unit is further configured to send second alarm prompt information to the user terminal. The system according to claim 7, characterized in that The computing unit is further configured to store video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or The computing unit is further configured to save the video image data associated with the alarm information, and re-enter the dormant state after saving the video image data associated with the alarm information. The system according to any one of claims 1 to 8, characterized in that The calculation unit is further configured to re-enter the dormant state if the second environmental data from the detection unit is not received within a first period of time after the alarm information is generated. An environmental detection method, characterized in that the method comprises: The detection unit acquires first environmental data and performs environmental detection according to the first environmental data when the vehicle is in a parked state; When the detection unit detects the first trigger event, the detection unit sends a first wake-up signal and second environment data to the computing unit, where the second environment data includes the first environment data and/or a data processing result obtained based on the first environment data; The computing unit determines whether to generate warning information based on the second environmental data; Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state. The method according to claim 10, wherein the first environmental data comprises a vibration signal from an acceleration sensor; The method further comprises: The detection unit determines that the first trigger event is detected when the vibration signal exceeds a first vibration threshold. The method according to claim 10 or 11, wherein the first environmental data comprises perception data from an environmental perception sensor; The method further comprises: The detection unit determines whether there is a moving object around the vehicle based on the perception data; The detection unit determines that a first trigger event is detected when it is determined that a moving object exists around the vehicle. The method according to claim 10, characterized in that the detection unit includes a perception data processing module and a vibration signal processing module; the first environmental data includes a vibration signal from an acceleration sensor and perception data from an environmental perception sensor; The method further comprises: The vibration signal processing module sends a second wake-up signal to the perception data processing module when the vibration signal exceeds the first vibration threshold; The perception data processing module determines whether there is a moving object around the vehicle based on the perception data; The perception data processing module determines that a first trigger event is detected when it is determined that there is a moving object around the vehicle; Before receiving the second wake-up signal, the perception data processing module is in a dormant state. The method according to any one of claims 10 to 13, wherein the second environmental data includes the first environmental data and a data processing result obtained based on the first environmental data, the first environmental data includes perception data and a vibration signal, the data processing result includes a suspected area where the mobile object is located, and the suspected area where the mobile object is located is determined based on the perception data; The calculating unit determines whether to generate warning information based on the second environment data, including: The computing unit determines a target mobile object based on the sensing data and the suspected area where the mobile object is located; The calculation unit generates warning information when the distance between the target mobile object and the vehicle is less than or equal to a distance threshold, and/or when the vibration intensity of the vehicle is greater than or equal to a second vibration threshold; The computing unit re-enters a dormant state when the distance between the target mobile object and the vehicle is greater than a distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold; Wherein, the vibration intensity of the vehicle is determined based on the vibration signal. The method according to claim 14, wherein the alarm information includes a target alarm level, the target alarm level being one of a plurality of alarm levels, the plurality of alarm levels being used to indicate the severity of the alarm information; When the distance between the target moving object and the vehicle is less than or equal to a distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level; When the vibration intensity of the vehicle is greater than or equal to a vibration threshold, or when the distance between the target mobile object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level. The method according to any one of claims 10 to 15, further comprising: When the target alarm level is the first alarm level, the computing unit displays the first alarm prompt information through the display device; When the target alarm level is the second alarm level, the calculation unit sends second alarm prompt information to the user terminal. The method according to claim 16, further comprising: The computing unit stores the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or The computing unit saves the video image data associated with the alarm information, and re-enters the dormant state after saving the video image data associated with the alarm information. The method according to any one of claims 10 to 17, further comprising: The computing unit re-enters the dormant state if it does not receive the second environmental data from the detecting unit within a first period of time after generating the alarm information. An environment detection device, characterized in that the device is a computing unit, comprising: a transceiver unit, configured to receive a first wake-up signal and second environment data from a detection unit, where the second environment data includes the first environment data collected by the detection unit and/or a data processing result obtained based on the first environment data; a processing unit, configured to determine whether to generate alarm information according to the second environment data; Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state. The device according to claim 19, wherein the second environmental data includes the first environmental data and a data processing result obtained based on the first environmental data, the first environmental data includes perception data and a vibration signal, the data processing result includes a suspected area where the mobile object is located, and the suspected area where the mobile object is located is determined based on the perception data; When determining whether to generate alarm information based on the second environment data, the processing unit is configured to: determining a target mobile object based on the sensing data and the suspected area where the mobile object is located; generating an alarm message when the distance between the target mobile object and the vehicle is less than or equal to a distance threshold, and/or when the vibration intensity of the vehicle is greater than or equal to a second vibration threshold; re-entering the dormant state when the distance between the target mobile object and the vehicle is greater than a distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold; Wherein, the vibration intensity of the vehicle is determined based on the vibration signal. The device according to claim 20, wherein the alarm information includes a target alarm level, the target alarm level being one of a plurality of alarm levels, the plurality of alarm levels being used to indicate the severity of the alarm information; When the distance between the target moving object and the vehicle is less than or equal to a distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level; When the vibration intensity of the vehicle is greater than or equal to a vibration threshold, or when the distance between the target mobile object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level. The device according to any one of claims 19 to 21, further comprising a storage unit: The storage unit is used to store the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or The storage unit is used to store the video image data associated with the alarm information; The processing unit is configured to re-enter a dormant state after the storage unit saves the video image data associated with the alarm information. The device according to any one of claims 19 to 22 is characterized in that, when the transceiver unit does not receive the second environmental data from the detection unit within a first time period after the alarm information is generated, the processing unit is further used to re-enter the sleep state. An environmental detection method, characterized in that the method comprises: The computing unit receives a first wake-up signal and second environmental data from the detecting unit, where the second environmental data includes the first environmental data collected by the detecting unit and/or a data processing result obtained based on the first environmental data; The computing unit determines whether to generate warning information according to the second environmental data; Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state. The method according to claim 24, wherein the second environmental data includes the first environmental data and a data processing result obtained based on the first environmental data, the first environmental data includes perception data and a vibration signal, the data processing result includes a suspected area where the mobile object is located, and the suspected area where the mobile object is located is determined based on the perception data; The calculating unit determines whether to generate warning information based on the second environment data, including: The computing unit determines a target mobile object based on the sensing data and the suspected area where the mobile object is located; The calculation unit generates warning information when the distance between the target mobile object and the vehicle is less than or equal to a distance threshold, and/or when the vibration intensity of the vehicle is greater than or equal to a second vibration threshold; The computing unit re-enters a dormant state when the distance between the target mobile object and the vehicle is greater than a distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold; Wherein, the vibration intensity of the vehicle is determined based on the vibration signal. The method according to claim 25, wherein the alarm information includes a target alarm level, the target alarm level being one of a plurality of alarm levels, the plurality of alarm levels being used to indicate the severity of the alarm information; When the distance between the target moving object and the vehicle is less than or equal to a distance threshold, or when the distance between the target moving object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is less than the second vibration threshold, the target warning level is the first warning level; When the vibration intensity of the vehicle is greater than or equal to a vibration threshold, or when the distance between the target mobile object and the vehicle is less than or equal to the distance threshold and the vibration intensity of the vehicle is greater than or equal to the second vibration threshold, the target warning level is the second warning level. The method according to any one of claims 24 to 26, further comprising: The computing unit stores the video image data associated with the alarm information, wherein the video image data is acquired by a visual sensor; or The computing unit saves the video image data associated with the alarm information, and re-enters the dormant state after saving the video image data associated with the alarm information. The method according to any one of claims 24 to 27, further comprising: The computing unit re-enters the dormant state if it does not receive the second environmental data from the detecting unit within a first period of time after generating the alarm information. An environmental detection device, characterized in that the device is a detection unit, comprising: a processing unit, configured to obtain first environmental data and perform environmental detection based on the first environmental data when the vehicle is in a parked state; a transceiver unit, configured to send a first wake-up signal and second environment data to the computing unit when a first trigger event is detected, where the second environment data includes the first environment data and/or a data processing result obtained based on the first environment data; Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state. The device according to claim 29, wherein the first environmental data comprises a vibration signal from an acceleration sensor; The processing unit is configured to determine that the first trigger event is detected when the vibration signal exceeds a first vibration threshold. The device according to claim 29 or 30, wherein the first environmental data comprises perception data from an environmental perception sensor; The processing unit is configured to determine whether there is a moving object around the vehicle based on the perception data; The processing unit is further configured to determine that the first trigger event is detected when it is determined that there is a moving object around the vehicle. The device according to claim 29, wherein the processing unit comprises a perception data processing module and a vibration signal processing module; the first environmental data comprises a vibration signal from an acceleration sensor and perception data from an environmental perception sensor; The vibration signal processing module is configured to send a second wake-up signal to the perception data processing module when the vibration signal exceeds a first vibration threshold; The perception data processing module is used to determine whether there is a moving object around the vehicle based on the perception data; The perception data processing module is configured to determine that a first trigger event is detected when it is determined that there is a moving object around the vehicle; Before receiving the second wake-up signal, the perception data processing module is in a dormant state. An environmental detection method, characterized in that the method comprises: The detection unit acquires first environmental data and performs environmental detection according to the first environmental data when the vehicle is in a parked state; When the detection unit detects the first trigger event, the detection unit sends a first wake-up signal and second environment data to the computing unit, where the second environment data includes the first environment data and/or a data processing result obtained according to the first environment data; Wherein, when the vehicle is in a parking state, the detection unit is in a powered state, and before receiving the first wake-up signal, the calculation unit is in a dormant state. The method according to claim 33, wherein the first environmental data comprises a vibration signal from an acceleration sensor; The method further comprises: The detection unit determines that the first trigger event is detected when the vibration signal exceeds a first vibration threshold. The method according to claim 33 or 34, wherein the first environmental data comprises perception data from an environmental perception sensor; The method further comprises: The detection unit determines whether there is a moving object around the vehicle based on the perception data; The detection unit determines that the first trigger event is detected when it is determined that there is a moving object around the vehicle. The method according to claim 33, characterized in that the detection unit includes a perception data processing module and a vibration signal processing module; the first environmental data includes a vibration signal from an acceleration sensor and perception data from an environmental perception sensor; The method further comprises: The vibration signal processing module sends a second wake-up signal to the perception data processing module when the vibration signal exceeds the first vibration threshold; The perception data processing module determines whether there is a moving object around the vehicle based on the perception data; The perception data processing module determines that a first trigger event is detected when it is determined that there is a moving object around the vehicle; Before receiving the second wake-up signal, the perception data processing module is in a dormant state. A computer-readable storage medium, comprising: The computer-readable storage medium is used to store instructions or computer programs; when the instructions or the computer program are executed, the method according to any one of claims 24 to 28 is implemented, or the method according to any one of claims 33 to 36 is implemented. A vehicle, characterized in that it comprises a computing unit for implementing the method described in claims 24-28, or a detection unit for implementing the method described in claims 33-36. A computer program product, characterized in that it comprises computer program code, which, when the computer program code is run on a computer, implements the method according to any one of claims 24 to 28, or implements the method according to any one of claims 33 to 36.