CN115309192A - Vehicle following method and system based on automatic driving and vehicle thereof - Google Patents
Vehicle following method and system based on automatic driving and vehicle thereof Download PDFInfo
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- CN115309192A CN115309192A CN202210714747.8A CN202210714747A CN115309192A CN 115309192 A CN115309192 A CN 115309192A CN 202210714747 A CN202210714747 A CN 202210714747A CN 115309192 A CN115309192 A CN 115309192A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract
The invention discloses a vehicle following method, a system and a vehicle based on automatic driving, wherein a man-machine interaction mode is utilized to activate a vehicle following function, a UWB positioning function is started, based on a UWB positioning principle, the position information and the gesture recognition information of a UWB key are detected, the automatic driving following of the vehicle is controlled according to the position information and the gesture recognition information of the UWB key, the UWB key information and/or the gesture information of a vehicle owner are detected in real time, and the vehicle following function is interrupted or recovered; the invention considers that the vehicle moves along with the vehicle owner in the using process of the vehicle, for example, the vehicle drives to a place with good outlook, the vehicle owner gets off and walks, if the vehicle can automatically follow the vehicle owner, the process that the vehicle owner walks and returns to the vehicle can be reduced.
Description
Technical Field
The invention relates to a vehicle following method and system based on automatic driving and a vehicle thereof, and belongs to the technical field of automatic driving of vehicles.
Background
The following mode of the automatic driving vehicle mainly has two key technologies: firstly, judging the position relation between the vehicle and the followed object, and secondly, the vehicle can automatically drive; the existing technology and control method mainly aim at scenes that vehicles run along with a front vehicle, the relationship between the vehicles and people mainly comprises avoiding pedestrians, calling the vehicles (in a parking lot, the vehicles are called to automatically drive to the side of the human body) and the like, the function of the vehicles for automatically following the walking of people is less involved, for example, the vehicles run to places with good outlook, the owners get off and walk, if the vehicles can automatically follow the owners, the process that the owners walk to return to the vehicles can be reduced, in the existing technology that the vehicles follow the people to walk, the vehicles track the pedestrians through computer vision and differential GPS technology, the vehicles need to be followed by pedestrian wearing equipment or riding installation equipment, so that extra cost is increased by adding external equipment to realize that the vehicles follow the owners, and inconvenience is caused.
Disclosure of Invention
The invention aims to provide a vehicle following method and system based on automatic driving and a vehicle thereof.
The invention provides the following scheme:
a vehicle following method based on automatic driving specifically comprises the following steps:
activating a vehicle following function by using a man-machine interaction mode, and starting a UWB positioning function;
based on a UWB positioning principle, detecting position information and gesture recognition information of a UWB key;
controlling the vehicle to automatically drive and follow according to the position information and the gesture recognition information of the UWB key;
and detecting UWB key information and/or vehicle owner gesture information in real time, and interrupting or recovering the vehicle following function.
Furthermore, a vehicle following function is activated, whether an automatic driving condition is met or not is judged, and whether a UWB positioning function is started or not is determined.
Further, if the automatic driving condition is satisfied, the vehicle following function is activated.
Further, if the automatic driving condition is not met, the follow-up mode function is refused to be executed through a prompt interface.
Further, according to the gesture definition preset by the vehicle owner, executing the corresponding gesture definition function, or: if the vehicle owner does not preset gesture definition, the position information of the UWB key is detected, and the automatic driving function is utilized to follow the vehicle owner.
Further, the position information of the UWB key specifically includes: a distance between the UWB key and the vehicle, an orientation of the UWB key relative to the vehicle;
the gesture recognition information includes: circle drawing gesture, hand waving gesture.
An automatic driving-based vehicle following system specifically comprises:
the vehicle following function starting module activates a vehicle following function by utilizing a man-machine interaction mode and starts a UWB positioning function;
the UWB key position information detection module is used for detecting position information and gesture identification information of the UWB key based on a UWB positioning principle;
controlling the automatic driving following of the vehicle according to the position information and the gesture recognition information of the UWB key;
and detecting UWB key information and/or vehicle owner gesture information in real time, and interrupting or recovering the vehicle following function.
An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory has stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the method.
A computer-readable storage medium storing a computer program executable by an electronic device, the computer program, when run on the electronic device, causing the electronic device to perform the steps of the method.
The utility model provides a vehicle that possesses owner and follow function based on autopilot specifically includes:
an electronic device for implementing an automatic driving-based vehicle following method;
a processor that executes a program, data output from the electronic device when the program is executed performing the steps of the automatic driving-based vehicle following method;
a storage medium for storing a program which, when executed, performs the steps of the automatic driving-based vehicle following method for data output from an electronic device.
Compared with the prior art, the invention has the following advantages:
the invention considers that the vehicle moves along with the vehicle owner in the using process of the vehicle, does not need additional wearing equipment, and only utilizes the UWB key of the original vehicle to enable the vehicle to identify the position and intention of the vehicle owner, thereby invoking the automatic driving capability of the vehicle and realizing the function that the vehicle follows the vehicle owner.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart of a method of example 1 of the present invention.
Fig. 2 is a system architecture diagram of the present invention.
Fig. 3 is an embodiment of the present invention.
FIG. 4 is a schematic diagram of a UWB key location system.
Fig. 5 is a system architecture diagram of the electronic device of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1, a vehicle following method based on automatic driving specifically includes:
activating a vehicle following function by using a man-machine interaction mode, and starting a UWB positioning function;
based on a UWB positioning principle, detecting position information and gesture recognition information of a UWB key;
controlling the vehicle to automatically drive and follow according to the position information and the gesture recognition information of the UWB key;
and detecting UWB key information and/or vehicle owner gesture information in real time, and interrupting or recovering the vehicle following function.
Preferably, the vehicle following function is activated, it is determined whether or not the automatic driving condition is satisfied, and it is determined whether or not the UWB positioning function is activated.
Preferably, the vehicle following function is activated if the automatic driving condition is satisfied.
Preferably, if the automatic driving condition is not satisfied, the execution of the follow mode function is rejected by prompting through a prompt interface.
Preferably, according to the gesture definition preset by the owner, the corresponding gesture defined function is executed, or: if the vehicle owner does not preset gesture definition, the position information of the UWB key is detected, and the automatic driving function is utilized to follow the vehicle owner.
Preferably, the position information of the UWB key specifically includes: a distance between the UWB key and the vehicle, an orientation of the UWB key relative to the vehicle;
preferably, the gesture recognition information includes: circle drawing gesture, hand waving gesture.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
As shown in fig. 2, the vehicle following system based on automatic driving specifically includes:
the vehicle following function starting module activates a vehicle following function by utilizing a man-machine interaction mode and starts a UWB positioning function;
the UWB key position information detection module is used for detecting position information and gesture identification information of the UWB key based on a UWB positioning principle;
controlling the vehicle to automatically drive and follow according to the position information and the gesture recognition information of the UWB key;
and detecting UWB key information and/or vehicle owner gesture information in real time, and interrupting or recovering the vehicle following function.
It should be noted that although only the vehicle following function opening module and the UWB key position information detection module are disclosed in the architecture diagram of the present system, the composition of the present system is not limited to the above basic function modules, but rather, the present invention is intended to mean: on the basis of the basic functional modules, a person skilled in the art can combine the prior art to add one or more functional modules arbitrarily to form an infinite number of embodiments or technical solutions, that is, the present system is open rather than closed, and the protection scope of the present invention claims should not be considered to be limited to the disclosed basic functional modules because the present embodiment discloses only individual basic functional modules. Meanwhile, for convenience of description, the above devices are described as being divided into various units and modules by functions, respectively. Of course, the functions of the units and modules may be implemented in one or more software and/or hardware when the present application is implemented.
One possible embodiment of the invention as shown in fig. 3:
the UWB key positioning module is responsible for detecting a UWB key, and calculating the distance and the direction of the UWB key to the vehicle and a gesture recognition result after positioning;
the man-machine interaction module provides interface display for a vehicle owner to open and close following modes and displays prompt information such as the execution state, the fault state and the like of functions to the vehicle owner;
the vehicle following function module determines whether to execute a vehicle following function according to gesture recognition information provided by the man-machine interaction module and the UWB key positioning module and informs the automatic driving module to control the vehicle to automatically drive;
the automatic driving module receives a calling instruction of the vehicle following function module, combines UWB key distance and direction information sent by the UWB key positioning module, and controls the vehicle to automatically drive and keep a certain distance with the UWB key for following driving according to self sensing, decision-making and execution capabilities.
According to the UWB key positioning principle shown in FIG. 4, UWB antennas are arranged at four corners of a vehicle of a UWB key positioning system, the antennas can be in wireless communication with a UWB key, communication contents are transmitted to a digital key controller through an in-vehicle bus, and the digital key controller is internally used for authenticating and positioning the key, so that the position, the distance and the gesture judgment of the UWB key relative to the vehicle can be obtained.
As shown in fig. 5, the present invention also discloses an electronic device and a storage medium corresponding to the vehicle following method and system based on automatic driving:
the present invention provides an electronic device, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory has stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of any of the methods described above.
The invention provides a computer-readable storage medium storing a computer program executable by an electronic device, the computer program causing the electronic device to perform the steps of any of the methods described above when run on the electronic device.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The electronic device includes a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system. The hardware layer includes hardware such as a Central Processing Unit (CPU), a Memory Management Unit (MMU), and a Memory. The operating system may be any one or more computer operating systems that implement control of the electronic device through a Process (Process), such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. In the embodiment of the present invention, the electronic device may be a handheld device such as a smart phone and a tablet computer, or may also be an electronic device such as a desktop computer and a portable computer, which is not particularly limited in the embodiment of the present invention.
The execution main body of the electronic device control in the embodiment of the present invention may be the electronic device, or a functional module capable of calling a program and executing the program in the electronic device. The electronic device may obtain the firmware corresponding to the storage medium, the firmware corresponding to the storage medium is provided by a vendor, and the firmware corresponding to different storage media may be the same or different, which is not limited herein. After the electronic device acquires the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium is burned into the storage medium. The process of burning the firmware into the storage medium can be realized by adopting the prior art, and details are not described in the embodiment of the present invention.
The electronic device may further acquire a reset command corresponding to the storage medium, where the reset command corresponding to the storage medium is provided by a vendor, and the reset commands corresponding to different storage media may be the same or different, and are not limited herein.
At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device may respond to the reset command corresponding to the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by the prior art, and is not described in detail in the embodiment of the present invention.
The invention also discloses a vehicle with an owner following function based on automatic driving, which specifically comprises the following steps:
an electronic device for implementing an automatic driving-based vehicle following method;
a processor executing a program, the program executing the steps of the automatic driving-based vehicle following method being performed from data output from the electronic device when the program is executed;
a storage medium for storing a program which, when executed, performs the steps of the automatic driving-based vehicle following method for data output from an electronic device.
The car that possesses car owner and follow function vehicle of this embodiment has the vehicle to follow the car owner and the scene of motion in the use, does not need extra wearing equipment, only utilizes former car UWB key, makes vehicle discernment car owner position and intention, and then calls its autopilot ability, realizes that the vehicle follows the function of car owner.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that certain terms are used throughout the description and following claims to refer to particular components. As one skilled in the art will appreciate, vehicle manufacturers may refer to a component by different names. The present specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The following description is of the preferred embodiment for carrying out the invention, but the description is made for the purpose of general principles of the specification and is not intended to limit the scope of the invention. The scope of the present invention is defined by the appended claims.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present application.
The above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment. One of ordinary skill in the art can understand and implement without inventive effort.
The application is operational with numerous general purpose or special purpose computing system environments or configurations, such as: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
In this patent, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle following method based on automatic driving is characterized by specifically comprising the following steps:
activating a vehicle following function by using a man-machine interaction mode, and starting a UWB positioning function;
based on a UWB positioning principle, detecting position information and gesture recognition information of a UWB key;
controlling the automatic driving following of the vehicle according to the position information and the gesture recognition information of the UWB key;
and detecting UWB key information and/or vehicle owner gesture information in real time, and interrupting or recovering the vehicle following function.
2. The automated driving-based vehicle following method according to claim 1, wherein a vehicle following function is activated, it is determined whether an automated driving condition is satisfied, and it is then determined whether a UWB positioning function is activated.
3. The autopilot-based vehicle following method according to claim 2, characterized in that the vehicle following function is activated if an autopilot condition is fulfilled.
4. The automated driving-based vehicle following method according to claim 3, wherein if the automated driving condition is not satisfied, prompting to refuse to execute the following mode function through a prompting interface.
5. The vehicle following method based on automatic driving according to claim 1, wherein according to the gesture definition preset by the vehicle owner, the corresponding gesture defined function is executed, or: if the vehicle owner does not preset gesture definition, the position information of the UWB key is detected, and the automatic driving function is utilized to follow the vehicle owner.
6. The autopilot-based vehicle following method according to claim 1, characterized in that the position information of the UWB key specifically comprises: a distance between the UWB key and the vehicle, an orientation of the UWB key relative to the vehicle;
the gesture recognition information includes: circle drawing gestures and hand waving gestures.
7. A vehicle following system based on automatic driving is characterized by specifically comprising:
the vehicle following function starting module activates a vehicle following function by utilizing a man-machine interaction mode and starts a UWB positioning function;
the UWB key position information detection module is used for detecting position information and gesture identification information of the UWB key based on a UWB positioning principle;
controlling the vehicle to automatically drive and follow according to the position information and the gesture recognition information of the UWB key;
and detecting UWB key information and/or vehicle owner gesture information in real time, and interrupting or recovering the vehicle following function.
8. An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; the memory has stored therein a computer program which, when executed by the processor, causes the processor to carry out the steps of the method of any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that it stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method of any one of claims 1 to 6.
10. The utility model provides a vehicle that possesses car owner and follow function based on autopilot, its characterized in that specifically includes:
an electronic device for implementing an automatic driving-based vehicle following method;
a processor running a program, data output from the electronic device when the program is running performing the steps of the autopilot-based vehicle following method of any of claims 1 to 6;
a storage medium storing a program that, when executed, performs the steps of the automated driving-based vehicle following method of any one of claims 1 through 6 on data output from an electronic device.
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| CN202210714747.8A CN115309192A (en) | 2022-06-22 | 2022-06-22 | Vehicle following method and system based on automatic driving and vehicle thereof |
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| CN116279491A (en) * | 2023-03-14 | 2023-06-23 | 上海知而行科技有限公司 | System and method for switching between automatic driving and automatic following |
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| CN114527735A (en) * | 2020-10-30 | 2022-05-24 | 奥迪股份公司 | Method and device for controlling an autonomous vehicle, vehicle and storage medium |
| CN113157003A (en) * | 2021-01-19 | 2021-07-23 | 恒大新能源汽车投资控股集团有限公司 | Vehicle following method and device |
| CN113421364A (en) * | 2021-07-23 | 2021-09-21 | 武汉路特斯汽车有限公司 | UWB technology-based vehicle function control method and system and vehicle |
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