A method and device for determining the relative position of a vehicle and a person following an intelligent vehicle

Abstract

The application discloses a method and device for determining the relative position between a vehicle and a person. The method comprises the following steps: determining the included angle between the vehicle and the person according to the distance between the front base station and the person, the distance between the rear base station and the person, and the distance between the front base station and the rear base station; determining the corresponding included angle limit angle between the vehicle and the person under different distances by looking up the table according to the distance between the front base station and the person; and determining whether the position between the vehicle and the person is in the working area according to the comparison result of the included angle between the vehicle and the person and the corresponding included angle limit angle, and the distance between the front base station and the person, the distance between the rear base station and the person, and the distance between the front base station and the rear base station. The application can determine the relative position between the vehicle and the person according to the signals of the front base station and the rear base station, and the following of the vehicle is stopped when the person is out of the working area, so that the safety of the following is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent following vehicle technology, and in particular to a method and apparatus for determining the relative position of a person and a vehicle in an intelligent following vehicle. Background Technology

[0002] With the continuous advancement of technology and the ongoing exploration of smart living, people have an increasing demand for the automatic following function of intelligent devices. The use of intelligent following vehicles can reduce manpower input and improve work efficiency.

[0003] When intelligent following vehicles track targets, situations often arise where operations are not standardized or where the vehicle needs to leave the work area. Therefore, determining the position of both the person and the vehicle is crucial in the following process. Furthermore, the division of the work area varies depending on the distance between the person and the vehicle. Currently, there are no relevant technical means for this, hence this invention. Summary of the Invention

[0004] This invention provides a method and device for determining the relative position of a person and a vehicle in an intelligent following vehicle. During the movement of the intelligent following vehicle, the relative position of the person and the vehicle can be determined based on the signals from the front and rear base stations. When the person goes out of the working area, the vehicle stops following, thereby improving the safety of following.

[0005] In a first aspect, the present invention provides a method for determining the relative position of a person and a vehicle in an intelligent following vehicle. When the motor operating mode of the intelligent following vehicle is in following mode, the method includes:

[0006] S1. Determine the angle between the person and the vehicle based on the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations;

[0007] S2. Determine the limiting angle between the person and the vehicle for different distances by looking up a table based on the distance from the front base station;

[0008] S3. Based on the comparison results of the angle between the person and the vehicle and the corresponding limit angle between the person and the vehicle, as well as the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations, determine whether the person and vehicle are in the working area.

[0009] Optionally, after step S3, the following may also be included:

[0010] When the location of a person or vehicle changes from the work area to the non-work area or from the non-work area to the work area, initialize and count the duration of continuous time that the person or vehicle is in the work area or the person is in the non-work area.

[0011] When the statistical duration of a person's / vehicle's position continuously within the work area exceeds the calibration value corresponding to the work area, or when the statistical duration of a person's / vehicle's position continuously within the non-work area exceeds the calibration value corresponding to the non-work area, it is determined that the person's / vehicle's position has changed within the work area. Optionally, the formula for calculating the person-vehicle angle is:

[0012] ManPosDet_AngelVal_MP=(Com_cmUWB1Dst ^2 +ManPosDet_cmDifUWB1To2_C ^2 -Com

[0013] _cmUWB2Dst ^2 ) / 2 / Com_cmUWB1Dst / ManPosDet_cmDifUWB1To2_C;

[0014] Wherein, ManPosDet_AngelVal_MP is the angle between the person and the vehicle, Com_cmUWB1Dst is the distance from the front base station to the person, ManPosDet_cmDifUWB1To2_C is the distance between the front and rear base stations, and Com_cmUWB2Dst is the distance from the rear base station to the person.

[0015] Optionally, S2 includes:

[0016] Compare the distance from the front base station to the person with the calibrated distance to determine the restriction level corresponding to the angle between the person and the vehicle;

[0017] By consulting the table, the pedestrian-vehicle angle limit corresponding to the current restriction level is determined.

[0018] Optionally, S3 includes:

[0019] When the angle between the person and the vehicle is less than the corresponding limit angle between the person and the vehicle, and ManPosDet_DifOffBasStatDisData_C>ManPosDet_bManPosCal_MP>ManPosDet_DifOnBasStatDisData_C, then it is determined that the person and vehicle are in the working area.

[0020] Otherwise, it is determined that the person or vehicle is not in the work area;

[0021] in:

[0022] ManPosDet_bManPosCal_MP=Com_cmUWB2Dst ^2 -Com_cmUWB1Dst ^2 -ManPosDet_cm

[0023] DifUWB1To2_C ^2 ;

[0024] Com_cmUWB1Dst is the distance from the front base station to the person, ManPosDet_cmDifUWB1To2_C is the distance between the front and rear base stations, Com_cmUWB2Dst is the distance from the rear base station to the person, and ManPosDet_DifOnBasStatDisData_C and ManPosDet_DifOffBasStatDisData_C are calibration values.

[0025] Secondly, the present invention provides a device for determining the relative position of a person and a vehicle in an intelligent following vehicle, comprising:

[0026] The pedestrian-vehicle angle calculation module is used to determine the pedestrian-vehicle angle based on the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations.

[0027] The limiting angle determination module is used to determine the limiting angle between the person and the vehicle under different distance conditions by looking up a table based on the distance from the front base station to the person.

[0028] The working area determination module is used to determine whether the position of the person and vehicle is within the working area based on the comparison result of the angle between the person and the vehicle and the corresponding angle limit angle between the person and the vehicle, as well as the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations.

[0029] This invention determines the vehicle-person angle based on the distances from the front base station to the person, the rear base station to the person, and the distance between the front and rear base stations. Then, it determines the vehicle-person angle limit angle corresponding to different distances from the front base station to the person by looking up a table. Based on the comparison between the vehicle-person angle and the corresponding vehicle-person angle limit angle, as well as the distances from the front base station to the person, the rear base station to the person, and the distance between the front and rear base stations, it determines whether the vehicle-person position is within the working area. When a person is detected to be outside the working area, the vehicle stops following, thereby improving the safety of vehicle following. Attached Figure Description

[0030] Figure 1 A flowchart illustrating a method for determining the relative position of a person and a vehicle in an intelligent following vehicle, provided in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram illustrating the operation of an intelligent following vehicle provided in an embodiment of the present invention. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0033] Example

[0034] Figure 1 A flowchart of a method for determining the relative position of a person and a vehicle in an intelligent following vehicle, provided by an embodiment of the present invention, specifically includes the following steps:

[0035] S1. Determine the angle between the person and the vehicle based on the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations.

[0036] See Figure 1 The front and rear base stations communicate using UWB modules. People communicate with the base stations by carrying UWB tags. The angle between the person and the vehicle is the angle between the line connecting the front base station and the tag location and the longitudinal axis of the vehicle.

[0037] The angle between the person and the vehicle can be calculated based on the distance from the front base station to the person (Com_cmUWB1Dst), the distance from the rear base station to the person (Com_cmUWB2Dst), and the distance between the front and rear base stations (ManPosDet_cmDifUWB1To2_C).

[0038] Specifically, the formula for calculating the angle between the person and the vehicle is:

[0039] ManPosDet_AngelVal_MP=(Com_cmUWB1Dst ^2 +ManPosDet_cmDifUWB1To2_C ^2 -Com

[0040] _cmUWB2Dst ^2 ) / 2 / Com_cmUWB1Dst / ManPosDet_cmDifUWB1To2_C.

[0041] S2. Based on the distance from the front base station to the person, determine the corresponding human-vehicle angle limit for different distances by looking up a table.

[0042] In this embodiment, different limiting angles for different distances between people and vehicles can be determined by looking up a table based on the distance Com_cmUWB1Dst from different front base stations. Specifically, the distance from the front base station to the person is first compared with the calibrated distance to determine the angle limitation level, and then different limiting angles are determined based on the current limitation level using map data.

[0043] Among them, the distance between people and vehicles refers to the relative positions of people and vehicles, which is the distance between the tag location and the front base station.

[0044] S3. Based on the comparison results of the angle between the person and the vehicle and the corresponding limit angle between the person and the vehicle, as well as the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations, determine whether the person and vehicle are in the working area.

[0045] The working area is the area within the human-vehicle distance limit angle corresponding to the current human-vehicle distance, while the non-working area is the area outside the human-vehicle distance limit angle corresponding to the current human-vehicle distance.

[0046] First, the calculated angle between the person and the vehicle, ManPosDet_AngelVal_MP, is compared with the limiting angle determined by the map measurement to initially determine whether the person and vehicle position is within the working area. Then, based on the three distances Com_cmUWB1Dst, ManPosDet_cmDifUWB1To2_C, and Com_cmUWB2Dst, ManPosDet_bManPosCal_MP is calculated to further determine whether the person and vehicle position is within the working range. Specifically, S3 includes:

[0047] When the angle between the person and the vehicle is less than the corresponding limit angle between the person and the vehicle, and ManPosDet_DifOffBasStatDisData_C>ManPosDet_bManPosCal_MP>ManPosDet_DifOnBasStatDisData_C, then it is determined that the person and vehicle are in the working area.

[0048] Otherwise, it is determined that the person or vehicle is not in the work area;

[0049] in:

[0050] ManPosDet_bManPosCal_MP=Com_cmUWB2Dst ^2 -Com_cmUWB1Dst ^2 -ManPosDet_cm

[0051] DifUWB1To2_C ^2 ;

[0052] ManPosDet_DifOnBasStatDisData_C and ManPosDet_DifOffBasStatDisData_C are calibrated values.

[0053] S4. Filter out the effects of transient signal errors.

[0054] Specifically, the duration of continuous changes in the calculation results of whether the position of a person or vehicle is in the work area is accumulated. When the result changes from 1 to 0 or from 0 to 1, the system is initialized and counted. Then, the duration of the time when the person is in the work area or outside the work area is accumulated and statistically analyzed.

[0055] The accumulated results, both within and outside the working area, are compared with the calibrated time intervals ManPosDet_tiCntTimerForOn10_C and ManPosDet_tiCntTimerForOn01_C, respectively. Only when the duration of consecutive judgment signals exceeds the calibrated time interval is a determination made regarding whether the person / vehicle position has changed within the working area. This filters out the influence of transient signal errors, improving the accuracy of the judgment.

[0056] The present invention also provides a device for determining the relative position of a person and a vehicle in an intelligent following vehicle, comprising:

[0057] The pedestrian-vehicle angle calculation module is used to determine the pedestrian-vehicle angle based on the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations.

[0058] The limiting angle determination module is used to determine the limiting angle between the person and the vehicle under different distance conditions by looking up a table based on the distance from the front base station to the person.

[0059] The working area determination module is used to determine whether the position of the person and vehicle is within the working area based on the comparison result of the angle between the person and the vehicle and the corresponding angle limit angle between the person and the vehicle, as well as the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations.

[0060] Furthermore, the device also includes a filtration module, specifically used for:

[0061] When the location of a person or vehicle changes from the work area to the non-work area or from the non-work area to the work area, initialize and count the duration of continuous time that the person or vehicle is in the work area or the person is in the non-work area.

[0062] If the statistical duration of a person or vehicle's position continuously within the work area exceeds the calibration value corresponding to the work area, or if the statistical duration of a person or vehicle's position continuously within the non-work area exceeds the calibration value corresponding to the non-work area, then it is determined that the person or vehicle's position has changed within the work area.

[0063] The formula for calculating the included angle between the person and the vehicle is as follows:

[0064] ManPosDet_AngelVal_MP=(Com_cmUWB1Dst ^2 +ManPosDet_cmDifUWB1To2_C ^2 -Com

[0065] _cmUWB2Dst ^2 ) / 2 / Com_cmUWB1Dst / ManPosDet_cmDifUWB1To2_C;

[0066] Wherein, ManPosDet_AngelVal_MP is the angle between the person and the vehicle, Com_cmUWB1Dst is the distance from the front base station to the person, ManPosDet_cmDifUWB1To2_C is the distance between the front and rear base stations, and Com_cmUWB2Dst is the distance from the rear base station to the person.

[0067] The limiting angle determination module is specifically used for:

[0068] Compare the distance from the front base station to the person with the calibrated distance to determine the restriction level corresponding to the angle between the person and the vehicle;

[0069] By consulting the table, the pedestrian-vehicle angle limit corresponding to the current restriction level is determined.

[0070] The working area determination module is specifically used for:

[0071] If the angle between the person and the vehicle is less than the corresponding limit angle between the person and the vehicle, then calculate:

[0072] When the angle between the person and the vehicle is less than the corresponding limit angle between the person and the vehicle, and ManPosDet_DifOffBasStatDisData_C>ManPosDet_bManPosCal_MP>ManPosDet_DifOnBasStatDisData_C, then it is determined that the person and vehicle are in the working area.

[0073] Otherwise, it is determined that the person or vehicle is not in the work area;

[0074] in:

[0075] ManPosDet_bManPosCal_MP=Com_cmUWB2Dst ^2 -Com_cmUWB1Dst ^2 -ManPosDet_cm

[0076] DifUWB1To2_C ^2 ;

[0077] Com_cmUWB1Dst is the distance from the front base station to the person, ManPosDet_cmDifUWB1To2_C is the distance between the front and rear base stations, Com_cmUWB2Dst is the distance from the rear base station to the person, and ManPosDet_DifOnBasStatDisData_C and ManPosDet_DifOffBasStatDisData_C are calibration values.

[0078] The intelligent vehicle-person relative position discrimination device provided in this embodiment of the invention can execute the intelligent vehicle-person relative position discrimination method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0079] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for determining the relative position of a person and a vehicle in an intelligent following vehicle, characterized in that, When the motor operating mode of the intelligent following vehicle is in following mode, the method includes: S1. Determine the angle between the person and the vehicle based on the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations; S2. Determine the limiting angle between the person and the vehicle for different distances by looking up a table based on the distance from the front base station; S3. Based on the comparison results of the angle between the person and the vehicle and the corresponding limit angle between the person and the vehicle, as well as the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations, determine whether the person and the vehicle are in the working area. When the angle between the person and the vehicle is less than the corresponding limit angle between the person and the vehicle, and ManPosDet_DifOffBasStatDisData_C>ManPosDet_bManPosCal_MP>ManPosDet_DifOnBasStatDisData_C, then it is determined that the person and vehicle are in the working area. Otherwise, it is determined that the person or vehicle is not in the work area; in: ManPosDet_bManPosCal_MP=Com_cmUWB2Dst ^2 -Com_cmUWB1Dst ^2 -ManPosDet_cmDifUWB1To2_C ^2 ; Com_cmUWB1Dst is the distance from the front base station to the person, ManPosDet_cmDifUWB1To2_C is the distance between the front and rear base stations, Com_cmUWB2Dst is the distance from the rear base station to the person, and ManPosDet_DifOnBasStatDisData_C and ManPosDet_DifOffBasStatDisData_C are calibration values.

2. The method according to claim 1, characterized in that, The process after step S3 also includes: When the location of a person or vehicle changes from the work area to the non-work area or from the non-work area to the work area, initialize and count the duration of continuous time that the person or vehicle is in the work area or the person is in the non-work area. If the statistical duration of a person or vehicle's position continuously within the work area exceeds the calibration value corresponding to the work area, or if the statistical duration of a person or vehicle's position continuously within the non-work area exceeds the calibration value corresponding to the non-work area, then it is determined that the person or vehicle's position has changed within the work area.

3. The method according to claim 1, characterized in that, The formula for calculating the angle between the person and the vehicle is: ManPosDet_AngelVal_MP=(Com_cmUWB1Dst ^2 +ManPosDet_cmDifUWB1To2_C ^2 -Com_cmUWB2Dst ^2 ) / 2 / Com_cmUWB1Dst / ManPosDet_cmDifUWB1To2_C; Wherein, ManPosDet_AngelVal_MP is the angle between the person and the vehicle, Com_cmUWB1Dst is the distance from the front base station to the person, ManPosDet_cmDifUWB1To2_C is the distance between the front and rear base stations, and Com_cmUWB2Dst is the distance from the rear base station to the person.

4. The method according to claim 1, characterized in that, S2 includes: Compare the distance from the front base station to the person with the calibrated distance to determine the restriction level corresponding to the angle between the person and the vehicle; By consulting the table, the pedestrian-vehicle angle limit corresponding to the current restriction level is determined.

5. A device for determining the relative position of a person and a vehicle in an intelligent following vehicle, characterized in that, include: The pedestrian-vehicle angle calculation module is used to determine the pedestrian-vehicle angle based on the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations. The limiting angle determination module is used to determine the limiting angle between the person and the vehicle under different distance conditions by looking up a table based on the distance from the front base station to the person. The work area determination module is used to determine whether the position of the person and vehicle is within the work area based on the comparison result of the angle between the person and the vehicle and the corresponding limit angle between the person and the vehicle, as well as the distance from the front base station to the person, the distance from the rear base station to the person, and the distance between the front and rear base stations. When the angle between the person and the vehicle is less than the corresponding limit angle between the person and the vehicle, and ManPosDet_DifOffBasStatDisData_C>ManPosDet_bManPosCal_MP>ManPosDet_DifOnBasStatDisData_C, then it is determined that the person and vehicle are in the working area. Otherwise, it is determined that the person or vehicle is not in the work area; in: ManPosDet_bManPosCal_MP=Com_cmUWB2Dst ^2 -Com_cmUWB1Dst ^2 -ManPosDet_cmDifUWB1To2_C ^2 ; Com_cmUWB1Dst is the distance from the front base station to the person, ManPosDet_cmDifUWB1To2_C is the distance between the front and rear base stations, Com_cmUWB2Dst is the distance from the rear base station to the person, and ManPosDet_DifOnBasStatDisData_C and ManPosDet_DifOffBasStatDisData_C are calibration values.

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