A multi-mode autonomous person following control method, device and medium

Abstract

The application discloses a kind of multi-mode autonomous personnel follow control method, device and medium, the method includes the following steps: configuration independent control follow mode, unrestricted follow mode and accompany mode;Detect follow environment condition, and confirm adaptive follow mode in independent control follow mode, unrestricted follow mode and accompany mode according to follow environment condition;According to adaptive follow mode, unmanned vehicle is followed to autonomous personnel;The absolute position and trajectory of the guide officer can be inferred and predicted by the application, and the cooperation of the three different tracking modes is adopted, which realizes the use of different tracking logic to respond under different environmental conditions, not only can realize the side-by-side accompanying guide officer, but also can adapt to the precise following when the environmental condition is complex, and when the environmental condition is poor, the absolute guiding control of the guide officer to the unmanned vehicle is realized, which enriches the following function of the unmanned vehicle, widens the application range of the unmanned vehicle, and has very high application value.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, specifically to the field of intelligent following driving, and particularly to a multi-mode autonomous human following control method, device and medium. Background Technology

[0002] Currently, in the use of military unmanned vehicles, there are scenarios where unmanned vehicles are required to autonomously follow a guide. In this scenario, the guide moves freely in front of the unmanned vehicle, while the unmanned vehicle is responsible for carrying supplies or equipment and closely following the guide. Since the guide's position is variable and the guide moves freely, the guide may run or traverse complex terrain when facing different terrain conditions, and may require the unmanned vehicle to accompany the guide from the side to provide protection.

[0003] In existing technologies, the tracking method for autonomous vehicles to guides often treats the guide as a point mass and then performs point-to-point tracking. This method cannot cope with complex terrain conditions, such as dense forest scenes. Furthermore, when there are obstacles between the guide and the autonomous vehicle, this method cannot achieve more intelligent and safer obstacle avoidance and following. Moreover, point-to-point tracking cannot meet the guide's side-accompaniment needs. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in the prior art by providing a multi-mode autonomous personnel following control method, device, and medium. This solves the problems that existing point-to-point tracking methods cannot cope with complex terrain conditions, and that when there are obstacles between the guide and the unmanned vehicle, this method cannot achieve more intelligent and safer obstacle avoidance following, nor can it meet the guide's side-accompaniment needs.

[0005] To solve the above-mentioned technical problems, the specific technical solution of the present invention is as follows:

[0006] On the one hand, the present invention provides a multi-mode autonomous personnel following control method, comprising the following steps:

[0007] Configure independent control follow mode, unlimited follow mode, and accompanying mode;

[0008] The system detects the following environment and, based on the following environment, confirms an adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode;

[0009] The adaptive following mode controls the unmanned vehicle to follow the autonomous personnel.

[0010] As an improved solution, the step of determining an adaptive following mode based on the following environment conditions in the independent control following mode, the unrestricted following mode, and the accompanying mode includes:

[0011] Identify the following environmental conditions;

[0012] When the following environment is a complex environment, the independent control following mode is selected as the adaptive following mode;

[0013] When the following environment is a single environmental condition, the unrestricted following mode is selected as the adaptive following mode;

[0014] When the following environment is such that the guide needs to accompany the user, the accompanying mode is selected as the adaptive following mode.

[0015] As an improved solution, controlling the autonomous vehicle to follow the autonomous personnel according to the adaptive following mode includes:

[0016] When the adaptive following mode is the independent control following mode, a close distance and a speed limit are set, the pre-aiming coordinates of the autonomous personnel are confirmed, and the unmanned vehicle is controlled to pre-aiming and follow the autonomous personnel based on the close distance, the speed limit, and the pre-aiming coordinates.

[0017] When the adaptive following mode is the unlimited following mode, the speed limit of the unmanned vehicle is removed, a safe guidance distance is set, and the unmanned vehicle is controlled to follow the trajectory of the autonomous person based on the safe guidance distance;

[0018] When the adaptive following mode is the accompanying mode, an accompanying parameter is set, and the unmanned vehicle is controlled to follow the autonomous person from the side based on the accompanying parameter.

[0019] As an improved solution, controlling the unmanned vehicle to pre-aim and follow the autonomous personnel based on the proximity distance, the speed limit, and the pre-aiming coordinates includes:

[0020] In the longitudinal motion control of the unmanned vehicle, the vehicle speed is kept no higher than the speed limit, and the distance between the unmanned vehicle and the autonomous personnel is kept at the close proximity distance.

[0021] In the lateral movement control of the unmanned vehicle, the vehicle's front orientation is kept aligned with the pre-aiming coordinate point;

[0022] The autonomous obstacle avoidance function of the unmanned vehicle is disabled.

[0023] As an improved solution, controlling the unmanned vehicle to follow the autonomous personnel's trajectory based on the safe guidance distance includes:

[0024] Based on the historical movement location data of the autonomous personnel, analyze the movement trajectory of the autonomous personnel; control the unmanned vehicle to move along the movement trajectory, and maintain the distance between the unmanned vehicle and the autonomous personnel not less than the safe guidance distance.

[0025] As an improved approach, the accompanying parameters include: accompanying side position and side interval distance;

[0026] The step of controlling the unmanned vehicle to follow the autonomous person sideways based on the accompanying parameters includes:

[0027] Based on the historical movement location data of the autonomous personnel, analyze the movement trajectory of the autonomous personnel;

[0028] The relative movement position of the unmanned vehicle to the autonomous personnel is determined based on the movement trajectory, the accompanying side position, and the side interval distance.

[0029] The relative head-on orientation of the unmanned vehicle to the autonomous person is calculated based on the movement trajectory, the accompanying side position, and the side interval distance.

[0030] Based on the current position and relative movement position of the unmanned vehicle, a companion trajectory is generated;

[0031] According to the relative vehicle orientation, the unmanned vehicle is controlled to follow the autonomous personnel along the accompanying trajectory.

[0032] As an improved solution, when the adaptive following mode is the unrestricted following mode or the accompanying mode, the autonomous obstacle avoidance function of the unmanned vehicle is activated.

[0033] As an improved solution, the calculation of the relative head-on orientation of the unmanned vehicle to the autonomous person based on the movement trajectory, the accompanying side position, and the side interval distance includes:

[0034] The accompanying points of the unmanned vehicle with respect to the movement trajectory are determined based on the accompanying side position and the side interval distance;

[0035] The tangent direction between the moving position trajectory and the accompanying point is defined as the relative vehicle heading.

[0036] On the other hand, the present invention also provides a multi-mode autonomous personnel following control device, comprising:

[0037] The mode setting unit is used to configure independent control follow mode, unlimited follow mode and accompanying mode;

[0038] The pattern matching unit is used to detect the following environment and, based on the following environment, confirm an adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode;

[0039] The follow control unit is used to control the unmanned vehicle to follow the autonomous personnel according to the adaptive follow mode.

[0040] On the other hand, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the multi-mode autonomous personnel following control method.

[0041] The beneficial effects of the technical solution of this invention are:

[0042] 1. The multi-mode autonomous personnel following control method described in this invention can predict the absolute position and trajectory of the guide, and adopts three different tracking modes in combination to deal with different tracking logics in different environmental conditions. It can not only accompany the guide from the side, but also accurately follow the guide in complex terrain. In poor terrain, it can achieve absolute guidance and control of the unmanned vehicle by the guide. This enriches the following function of the unmanned vehicle, broadens the application scope of the unmanned vehicle, makes up for the shortcomings of the existing technology, and has extremely high application value.

[0043] 2. The multi-mode autonomous personnel following control device described in this invention can predict the absolute position and trajectory of the guide through the cooperation of the mode setting unit, the mode matching unit, and the following control unit. It also adopts three different tracking modes to cope with different tracking logics in different environmental conditions. It can not only accompany the guide from the side, but also accurately follow in complex terrain. In poor terrain, it can achieve absolute guidance and control of the unmanned vehicle by the guide. This enriches the following function of the unmanned vehicle, broadens the application scope of the unmanned vehicle, makes up for the shortcomings of the existing technology, and has extremely high application value.

[0044] 3. The computer-readable storage medium of the present invention enables the guidance mode setting unit, mode matching unit and follow control unit to cooperate, thereby realizing the multi-mode autonomous personnel following control method of the present invention. The computer-readable storage medium of the present invention effectively improves the operability of the multi-mode autonomous personnel following control method. Attached Figure Description

[0045] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating the multi-mode autonomous personnel following control method described in Embodiment 1 of the present invention;

[0047] Figure 2 This is a detailed flowchart of the multi-mode autonomous personnel following control method described in Embodiment 1 of the present invention.

[0048] Figure 3 This is a schematic diagram of the architecture of the multi-mode autonomous personnel following control device described in Embodiment 2 of the present invention;

[0049] The markings in the attached diagram are explained as follows:

[0050] 1001, Mode setting unit; 2001, Mode matching unit; 3001, Follow control unit. Detailed Implementation

[0051] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0052] In the description of this invention, it should be noted that the embodiments described in this invention are only some embodiments of this invention, not all embodiments; based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0053] The terms "first," "second," etc., used in this specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. Example 1

[0054] This embodiment provides a multi-mode autonomous personnel following control method, such as... Figure 1 and Figure 2 As shown, it includes the following steps:

[0055] S100, configured with independent control follow mode, unlimited follow mode and accompanying mode;

[0056] S200: Detect the following environment and, based on the following environment, confirm the adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode;

[0057] S300: Control the unmanned vehicle to follow the autonomous personnel according to the adaptive following mode.

[0058] As one embodiment of the present invention, the aforementioned independent control follow mode, unrestricted follow mode and accompanying mode are follow modes set for different situations for unmanned vehicles.

[0059] As one embodiment of the present invention, the step of confirming an adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode based on the following environmental conditions includes:

[0060] The system identifies the following environment conditions. When the following environment is a complex environment, the independent control following mode is selected as the adaptive following mode. In this embodiment, complex environment conditions include, but are not limited to, dense forest conditions and other scenarios with poor road conditions, uneven road surfaces, or irregular obstacles. When the following environment is a single environment, the unrestricted following mode is selected as the adaptive following mode. In this embodiment, single environment conditions include, but are not limited to, scenarios with no obstacles or few obstacles on the road, good road conditions, and wide road conditions. When the following environment requires the guide to accompany the driver, the accompanying mode is selected as the adaptive following mode. In this embodiment, the guide's need for accompaniment includes, but is not limited to, situations where the guide needs the autonomous vehicle to accompany the guide on the left or right side, rather than behind, to achieve various side protection functions.

[0061] As one embodiment of the present invention, controlling the unmanned vehicle to follow autonomous personnel according to the adaptive following mode includes:

[0062] When the adaptive following mode is the independent control following mode, a close distance and a speed limit are set, and the pre-aiming coordinates of the autonomous personnel are confirmed. Based on the close distance, the speed limit, and the pre-aiming coordinates, the unmanned vehicle is controlled to pre-aiming and follow the autonomous personnel. The purpose of this adaptive following mode is to adapt to complex terrain environments. Through the relevant parameters and control logic in the mode, the guide has absolute control over the unmanned vehicle, enabling the unmanned vehicle to sensitively and accurately follow any movement characteristics of the guide.

[0063] When the adaptive following mode is the unlimited following mode, the speed limit of the unmanned vehicle is removed, a safe guidance distance is set, and the unmanned vehicle is controlled to follow the autonomous person's trajectory based on the safe guidance distance. This unlimited following mode is mainly to ensure the best following efficiency of the unmanned vehicle when adapting to better road conditions, and to achieve trajectory following without speed limit.

[0064] When the adaptive following mode is the accompanying mode, accompanying parameters are set, and the unmanned vehicle is controlled to follow the autonomous person sideways based on the accompanying parameters. Unmanned vehicles in the prior art cannot achieve precise side-following, thus making it impossible for unmanned vehicles to cope with some special functional requirements. In the accompanying mode of this embodiment, by calculating the accompanying parameters and related following parameters, the unmanned vehicle can achieve side-following of the guide and achieve real-time precise accompanying control. In actual operation, it can shield the guide from some flying objects or debris from the side to ensure the safety of the guide and meet other needs.

[0065] As one embodiment of the present invention, controlling the unmanned vehicle to pre-aim and follow the autonomous personnel based on the proximity distance, the speed limit, and the pre-aiming coordinates includes:

[0066] In this mode, the guide is considered a point mass, and the unmanned vehicle (UAV) is controlled to pre-aime at this point mass. During the longitudinal movement control of the UAV, its speed is always kept below the speed limit, and the distance between the UAV and the autonomous guide is maintained at the close proximity distance, ensuring the UAV always stays close to the guide. In this embodiment, the speed limit is 5 km / h, and the close proximity distance is 4 meters, which can be adjusted according to specific circumstances. During the lateral movement control of the UAV, the UAV's front direction is always matched with the pre-aimed coordinate point, meaning the UAV always faces the guide. Simultaneously, the UAV's autonomous obstacle avoidance function is disabled, so the UAV will not perform autonomous obstacle avoidance. The UAV's following performance is entirely determined by the relative position between the guide and the UAV. In actual operation, the UAV will move exactly in the direction the guide moves. In this embodiment, the aforementioned point mass is typically set as the center point coordinates of the guide in a top-down view.

[0067] As one embodiment of the present invention, controlling the unmanned vehicle to follow the trajectory of the autonomous person based on the safe guidance distance includes:

[0068] In this mode, there is no limit to the maximum speed of the autonomous vehicle. The vehicle's position is confirmed based on its onboard positioning system. The system analyzes the historical and current positions of the autonomous personnel based on their historical movement data to infer their movement trajectory. Subsequently, based on the vehicle's position, the system controls the vehicle to move along this trajectory while maintaining a distance between the vehicle and the autonomous personnel that is not less than the safe guidance distance. In this embodiment, the safe guidance distance is set to 7 meters, but can be adjusted according to specific requirements.

[0069] As one embodiment of the present invention, the accompanying parameters include: accompanying side position and side spacing distance; the accompanying side position is the left or right side of the autonomous vehicle accompanying the autonomous person; the side spacing distance is the distance between the autonomous vehicle and the autonomous person when the autonomous vehicle accompanies the left side of the autonomous person or the distance between the autonomous vehicle and the autonomous person when the autonomous vehicle accompanies the right side of the autonomous person; the accompanying parameters can be set according to specific accompanying requirements.

[0070] As one embodiment of the present invention, controlling the unmanned vehicle to follow the autonomous person sideways based on the accompanying parameters includes:

[0071] Based on the historical movement data of the autonomous personnel, namely their historical and current positions, the movement trajectory of the autonomous personnel is analyzed and calculated. First, the relative movement position of the unmanned vehicle (UAV) to the autonomous personnel is determined based on the movement trajectory, the accompanying lateral position, and the lateral interval distance. This relative movement position confirms the UAV's position beside the autonomous personnel, thus ensuring that the UAV's movement trajectory matches that of the autonomous personnel. However, because the autonomous personnel may move at curves and generate an arc-shaped trajectory when accompanied by lateral movement, the direction in which the UAV is facing is crucial and requires precise calculation. To ensure that the unmanned vehicle's front-end orientation is parallel to that of the autonomous person, achieving lateral following, the relative front-end orientation of the unmanned vehicle to the autonomous person is calculated based on the movement trajectory, the accompanying lateral position, and the lateral interval distance. Finally, a third-order Bézier curve is generated based on the unmanned vehicle's current position and the relative movement position, and this third-order Bézier curve is set as the accompanying trajectory. Then, the unmanned vehicle is controlled to follow the autonomous person laterally along the accompanying trajectory according to the relative front-end orientation. Correspondingly, in this embodiment, the third-order Bézier curve is only used as an optional implementation method in trajectory calculation.

[0072] As one embodiment of the present invention, the step of calculating the relative vehicle head orientation of the unmanned vehicle to the autonomous person based on the movement trajectory, the accompanying side position, and the side interval distance includes: confirming the accompanying point of the unmanned vehicle to the movement trajectory based on the accompanying side position and the side interval distance; setting the tangent direction between the movement trajectory and the accompanying point as the relative vehicle head orientation; this relative vehicle head orientation can ensure that when the unmanned vehicle is next to the autonomous person, the vehicle head is relatively parallel to the autonomous person, thereby achieving true real-time side following;

[0073] As one embodiment of the present invention, when the adaptive following mode is the unrestricted following mode or the accompanying mode, the purpose is not absolute control of the unmanned vehicle by the autonomous personnel. Therefore, it is necessary to activate the autonomous obstacle avoidance function of the unmanned vehicle to enable the unmanned vehicle to avoid obstacles on the trajectory. Example 2

[0074] This embodiment is based on the same inventive concept as the multi-mode autonomous personnel following control method described in Embodiment 1, and provides a multi-mode autonomous personnel following control device, such as... Figure 3 As shown, it includes:

[0075] The mode setting unit 1001 is used to configure independent control follow mode, unlimited follow mode and accompanying mode;

[0076] The pattern matching unit 2001 is used to detect the following environment and, based on the following environment, determine an adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode.

[0077] The follow control unit 3001 is used to control the unmanned vehicle to follow the autonomous personnel according to the adaptive follow mode.

[0078] As one embodiment of the present invention, the pattern matching unit 2001 includes: an environment recognition module and a pattern selection module;

[0079] As one embodiment of the present invention, the pattern matching unit 2001 determines an adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode based on the following environment conditions, including:

[0080] The environment recognition module is used to identify the following environment.

[0081] The mode selection module is used to select the independent control following mode as the adaptive following mode when the following environment is a complex environment; the mode selection module is used to select the unrestricted following mode as the adaptive following mode when the following environment is a single environment; the mode selection module is used to select the accompanying mode as the adaptive following mode when the following environment requires the guide to accompany the guide.

[0082] As one embodiment of the present invention, the follow control unit 3001 includes: a pre-aiming follow control module, an unrestricted follow control module, and an accompanying control module;

[0083] In one embodiment of the present invention, the following control unit 3001 controls the unmanned vehicle to follow autonomous personnel according to the adaptive following mode, including:

[0084] The pre-aiming and following control module is used to set a close distance and a speed limit when the adaptive following mode is the independent control following mode, and to confirm the pre-aiming coordinates of the autonomous personnel. The pre-aiming and following control module controls the unmanned vehicle to pre-aim and follow the autonomous personnel based on the close distance, the speed limit and the pre-aiming coordinates.

[0085] The unrestricted follow control module is used to remove the speed limit of the unmanned vehicle and set a safe guidance distance when the adaptive follow mode is the unrestricted follow mode. The unrestricted follow control module controls the unmanned vehicle to follow the trajectory of the autonomous person based on the safe guidance distance.

[0086] The accompanying control module is used to set accompanying parameters when the adaptive following mode is the accompanying mode, and the accompanying control module controls the unmanned vehicle to follow the autonomous person sideways based on the accompanying parameters.

[0087] In one embodiment of the present invention, the pre-aiming and following control module controls the unmanned vehicle to pre-aim and follow the autonomous personnel based on the proximity distance, the speed limit, and the pre-aiming coordinates, including:

[0088] In the longitudinal motion control of the unmanned vehicle, the pre-aiming and following control module maintains the vehicle speed at no higher than the speed limit and keeps the distance between the unmanned vehicle and the autonomous personnel at the close distance; in the lateral motion control of the unmanned vehicle, the pre-aiming and following control module maintains the vehicle's front orientation matching the pre-aiming coordinate point; the pre-aiming and following control module disables the autonomous obstacle avoidance function of the unmanned vehicle.

[0089] As one embodiment of the present invention, the unrestricted following control module controls the unmanned vehicle to follow the autonomous personnel's trajectory based on the safe guidance distance, including:

[0090] The unrestricted follow control module analyzes the movement trajectory of the autonomous personnel based on their historical movement location data; the unrestricted follow control module controls the unmanned vehicle to move along the movement trajectory, while maintaining the distance between the unmanned vehicle and the autonomous personnel at no less than the safe guidance distance.

[0091] In one embodiment of the present invention, the accompanying parameters include: accompanying side position and side interval distance;

[0092] The accompanying control module controls the unmanned vehicle to follow the autonomous person sideways based on the accompanying parameters, including: the accompanying control module analyzes the movement trajectory of the autonomous person based on the historical movement position data of the autonomous person; the accompanying control module determines the relative movement position of the unmanned vehicle to the autonomous person based on the movement trajectory, the accompanying side position, and the side interval distance; the accompanying control module calculates the relative vehicle heading to the autonomous person based on the movement trajectory, the accompanying side position, and the side interval distance; the accompanying control module generates an accompanying trajectory based on the current position of the unmanned vehicle and the relative movement position; and the accompanying control module controls the unmanned vehicle to follow the autonomous person sideways along the accompanying trajectory according to the relative vehicle heading.

[0093] As one embodiment of the present invention, when the adaptive following mode is the unrestricted following mode or the accompanying mode, the unrestricted following control module or the accompanying control module activates the autonomous obstacle avoidance function of the unmanned vehicle.

[0094] In one embodiment of the present invention, the accompanying control module calculates the relative head-on orientation of the unmanned vehicle to the autonomous person based on the movement trajectory, the accompanying side position, and the side interval distance, including: the accompanying control module confirms the accompanying point of the unmanned vehicle to the movement trajectory based on the accompanying side position and the side interval distance; the accompanying control module sets the tangent direction between the movement trajectory and the accompanying point as the relative head-on orientation. Example 3

[0095] This embodiment provides a computer-readable storage medium, including:

[0096] The storage medium is used to store computer software instructions used to implement the multi-mode autonomous personnel following control method described in Embodiment 1 above. It includes a program for executing the program set for the multi-mode autonomous personnel following control method. Specifically, the executable program can be built into the multi-mode autonomous personnel following control device described in Embodiment 2. In this way, the multi-mode autonomous personnel following control device can implement the multi-mode autonomous personnel following control method described in Embodiment 1 by executing the built-in executable program.

[0097] Furthermore, the computer-readable storage medium in this embodiment can be any combination of one or more readable storage media, wherein the readable storage medium includes an electrical, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof.

[0098] Unlike existing technologies, this application presents a multi-mode autonomous personnel following control method, device, and medium that can predict the absolute position and trajectory of the guide. Furthermore, by employing three different tracking modes in coordination, it enables different tracking logics to be used to address various environmental conditions. This not only allows for side-by-side companionship of the guide but also enables precise following in complex terrain. In poor terrain, it provides absolute guidance and control of the unmanned vehicle by the guide, enriching the following capabilities of the unmanned vehicle, expanding its application scope, and overcoming the shortcomings of existing technologies, thus possessing extremely high application value.

[0099] It should be understood that in the various embodiments of this document, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0100] It should also be understood that, in the embodiments herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following associated objects have an "or" relationship.

[0101] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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 document.

[0102] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0103] In the embodiments provided herein, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, or they may be electrical, mechanical, or other forms of connection.

[0104] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of the embodiments described herein, depending on actual needs.

[0105] Furthermore, the functional units in the various embodiments of this document can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0106] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this paper, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this paper. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0107] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A multi-mode autonomous personnel following control method, characterized in that, Includes the following steps: Configure independent control follow mode, unlimited follow mode, and accompanying mode; The system detects the following environment and, based on the following environment, confirms an adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode; The adaptive following mode controls the unmanned vehicle to follow the autonomous personnel. The step of determining an adaptive following mode based on the following environment conditions in the independent control following mode, the unrestricted following mode, and the accompanying mode includes: Identify the following environmental conditions; When the following environment is a complex environment, the independent control following mode is selected as the adaptive following mode; When the following environment is a single environmental condition, the unrestricted following mode is selected as the adaptive following mode; When the following environment requires the guide to accompany the individual, the accompanying mode is selected as the adaptive following mode. The step of controlling the unmanned vehicle to follow the autonomous personnel according to the adaptive following mode includes: When the adaptive following mode is the independent control following mode, a close distance and a speed limit are set, the pre-aiming coordinates of the autonomous personnel are confirmed, and the unmanned vehicle is controlled to pre-aiming and follow the autonomous personnel based on the close distance, the speed limit, and the pre-aiming coordinates. When the adaptive following mode is the unlimited following mode, the speed limit of the unmanned vehicle is removed, a safe guidance distance is set, and the unmanned vehicle is controlled to follow the trajectory of the autonomous person based on the safe guidance distance; When the adaptive following mode is the accompanying mode, an accompanying parameter is set, and the unmanned vehicle is controlled to follow the autonomous person from the side based on the accompanying parameter.

2. The multi-mode autonomous personnel following control method according to claim 1, characterized in that: The method of controlling the unmanned vehicle to pre-aim and follow the autonomous personnel based on the proximity distance, the speed limit, and the pre-aiming coordinates includes: In the longitudinal motion control of the unmanned vehicle, the vehicle speed is kept no higher than the speed limit, and the distance between the unmanned vehicle and the autonomous personnel is kept at the close proximity distance. In the lateral movement control of the unmanned vehicle, the vehicle's front orientation is kept aligned with the pre-aiming coordinate point; The autonomous obstacle avoidance function of the unmanned vehicle is disabled.

3. The multi-mode autonomous personnel following control method according to claim 1, characterized in that: The step of controlling the unmanned vehicle to follow the autonomous personnel's trajectory based on the safe guidance distance includes: Based on the historical movement location data of the autonomous personnel, analyze the movement trajectory of the autonomous personnel; control the unmanned vehicle to move along the movement trajectory, and maintain the distance between the unmanned vehicle and the autonomous personnel not less than the safe guidance distance.

4. The multi-mode autonomous personnel following control method according to claim 1, characterized in that: The accompanying parameters include: accompanying lateral position and lateral interval distance; The step of controlling the unmanned vehicle to follow the autonomous person sideways based on the accompanying parameters includes: Based on the historical movement location data of the autonomous personnel, analyze the movement trajectory of the autonomous personnel; The relative movement position of the unmanned vehicle to the autonomous personnel is determined based on the movement trajectory, the accompanying side position, and the side interval distance. The relative head-on orientation of the unmanned vehicle to the autonomous person is calculated based on the movement trajectory, the accompanying side position, and the side interval distance. Based on the current position and relative movement position of the unmanned vehicle, a companion trajectory is generated; According to the relative vehicle orientation, the unmanned vehicle is controlled to follow the autonomous personnel along the accompanying trajectory.

5. The multi-mode autonomous personnel following control method according to claim 1, characterized in that: When the adaptive following mode is the unrestricted following mode or the accompanying mode, the autonomous obstacle avoidance function of the unmanned vehicle is activated.

6. The multi-mode autonomous personnel following control method according to claim 4, characterized in that: The step of calculating the relative head-on orientation of the unmanned vehicle to the autonomous person based on the movement trajectory, the accompanying side position, and the side interval distance includes: The accompanying points of the unmanned vehicle with respect to the movement trajectory are determined based on the accompanying side position and the side interval distance; The tangent direction between the moving position trajectory and the accompanying point is defined as the relative vehicle heading.

7. A multi-mode autonomous personnel following control device, characterized in that, include: The mode setting unit is used to configure independent control follow mode, unlimited follow mode, and accompanying mode; The pattern matching unit is used to detect the following environment and, based on the following environment, confirm an adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode; The follow control unit is used to control the unmanned vehicle to follow the autonomous personnel according to the adaptive follow mode; The pattern matching unit includes an environment recognition module and a mode selection module; the pattern matching unit determines an adaptive following mode among the independent control following mode, the unrestricted following mode, and the accompanying mode based on the following environment conditions, including: The environment recognition module is used to identify the following environment; the mode selection module is used to select the independent control following mode as the adaptive following mode when the following environment is a complex environment; the mode selection module is used to select the unrestricted following mode as the adaptive following mode when the following environment is a single environment; the mode selection module is used to select the accompanying mode as the adaptive following mode when the following environment requires the guide to accompany the guide. The follow control unit includes: a pre-aiming follow control module, an unrestricted follow control module, and an accompanying control module; the follow control unit controls the unmanned vehicle to follow the autonomous personnel according to the adaptive follow mode, including: The pre-aiming and following control module is used to set a close distance and a speed limit when the adaptive following mode is the independent control following mode, and to confirm the pre-aiming coordinates of the autonomous personnel. The pre-aiming and following control module controls the unmanned vehicle to pre-aim and follow the autonomous personnel based on the close distance, the speed limit and the pre-aiming coordinates. The unrestricted follow control module is used to remove the speed limit of the unmanned vehicle and set a safe guidance distance when the adaptive follow mode is the unrestricted follow mode. The unrestricted follow control module controls the unmanned vehicle to follow the trajectory of the autonomous person based on the safe guidance distance. The accompanying control module is used to set accompanying parameters when the adaptive following mode is the accompanying mode, and the accompanying control module controls the unmanned vehicle to follow the autonomous person sideways based on the accompanying parameters.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the multi-mode autonomous personnel following control method according to any one of claims 1 to 6.

Images