Device for enabling vehicle to automatically follow person to run, control method, vehicle and storage medium

Abstract

The invention relates to the technical field of automatic driving, in particular to a device for a vehicle to automatically follow a person to run, a control method, the vehicle and a storage medium, and the device comprises a visual perception module which is used for collecting image data of the surrounding environment of the vehicle and a target person; the human body modeling and tracking module is used for constructing a human body model of the target person according to the image data and tracking the human body model in real time to obtain motion information of the target person; the sensor fusion and navigation module is used for monitoring surrounding information, calculating the relative position of the vehicle and the target person according to the surrounding information and planning a vehicle driving route according to the relative position; and the control module is used for calculating the running speed of the vehicle according to the motion information and controlling the vehicle to move or stop according to the vehicle running route and the running speed. Therefore, the travel requirement pursued by people at present is met, automatic following of the automobile can be achieved, the automobile adapts to movement of people, the driving burden is relieved, and the travel efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a device, a control method, a vehicle and a storage medium for automatically following a person. Background Art

[0002] With the rapid development of intelligent transportation and autonomous driving technologies, people's expectations for travel have far exceeded the traditional driving experience, and they are pursuing more intelligent, convenient, safe and personalized travel methods. These demands are particularly evident in some specific scenarios, such as airports, shopping malls, tourist attractions, etc.

[0003] At the airport, travelers often face tight schedules and heavy luggage loads. If cars can automatically follow and adapt to people's movements, travelers can more easily check in, shop or rest without having to worry about parking and retrieving the vehicle.

[0004] Shopping malls are also places that require efficient travel. When customers are shopping, entertaining or dining in the mall, if the car can automatically wait in the parking lot and follow the customer to the next destination, customers will be able to save a lot of time and energy.

[0005] Tourist attractions are another place that urgently needs smart travel. In a scenic area, tourists often need to shuttle back and forth between different attractions, and inconvenient transportation often becomes an obstacle for tourists to visit. If the car can automatically follow and adapt to the movement of tourists, then tourists will be able to explore the beauty of the scenic area more freely and enjoy a more pleasant travel experience.

[0006] Therefore, there is an urgent need for an automatic car following device that can automatically follow the walking track of a specific person to travel, so as to reduce the driving burden and improve travel efficiency. Summary of the invention

[0007] The present application provides a device, a control method, a vehicle and a storage medium for a vehicle to automatically follow a person, so as to solve the existing people's demand for intelligent, convenient, safe and personalized travel.

[0008] The first aspect of the present application provides a device for a vehicle to automatically follow a person, including: a visual perception module, used to collect image data of the vehicle's surrounding environment and a target person; a human body modeling and tracking module, used to construct a human body model of the target person according to the image data, and track the human body model in real time to obtain motion information of the target person; a sensor fusion and navigation module, used to monitor surrounding information, calculate the relative position of the vehicle and the target person according to the surrounding information, and plan the vehicle's driving route according to the relative position; a motion control module, used to calculate the vehicle's travel speed according to the motion information, and control the vehicle to move or stop according to the vehicle's driving route and the travel speed.

[0009] Optionally, the visual perception module includes:

[0010] The recognition unit is used to detect whether the person around the vehicle matches the preset person features. If so, it will be marked as the target person. Otherwise, an alarm will be sounded;

[0011] The acquisition unit is used to acquire image data of the target person and his / her surroundings.

[0012] Optionally, the human body modeling and tracking module includes:

[0013] A modeling unit, used for performing point cloud processing on the image data to obtain a human body position, and constructing the human body model according to the human body position;

[0014] The tracking unit is used to track the operation information of the human body model when the human body model moves.

[0015] Optionally, the sensor fusion and navigation module includes:

[0016] A monitoring unit, used to monitor multi-angle environmental information of the vehicle on the driving route, and fuse the multi-angle environmental information to obtain the surrounding information;

[0017] The navigation unit is used to calculate the relative position of the vehicle and the target person according to the surrounding information, and plan the vehicle's driving route according to the relative position.

[0018] The second aspect of the present application provides a method for controlling a device for automatically following a person in a vehicle, comprising the following steps: collecting image data of the vehicle's surroundings and a target person; constructing a human body model of the target person based on the image data, and tracking the human body model in real time to obtain motion information of the target person; monitoring surrounding information to calculate the relative position of the vehicle and the target person based on the surrounding information, and planning the vehicle's route based on the relative position; calculating the vehicle's travel speed based on the motion information, and controlling the vehicle to move or stop based on the vehicle's route and the travel speed.

[0019] Optionally, collecting image data of the surrounding environment of the vehicle and the target person includes:

[0020] Detect whether the person around the vehicle matches the preset person features. If they match, they will be marked as the target person. Otherwise, an alarm will be sounded;

[0021] Image data of the target person and his / her surroundings are collected.

[0022] Optionally, constructing a human body model of the target person according to the image data, and tracking the human body model in real time to obtain motion information of the target person includes:

[0023] Performing point cloud processing on the image data to obtain a human body position, and constructing the human body model according to the human body position;

[0024] When the human body model moves, the operation information of the human body model is tracked.

[0025] Optionally, monitoring surrounding information to calculate the relative position of the vehicle and the target person according to the surrounding information, and planning the vehicle driving route according to the relative position includes:

[0026] Monitoring multi-angle environmental information of the vehicle on the driving route, and fusing the multi-angle environmental information to obtain the surrounding information;

[0027] The relative position of the vehicle and the target person is calculated according to the surrounding information, and the vehicle driving route is planned according to the relative position.

[0028] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a method for controlling a device for automatically following a person in driving of a vehicle as described in the above embodiment.

[0029] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned method for controlling a device for automatically following a person by a vehicle.

[0030] The device, control method, vehicle and storage medium for automatically following a person proposed in the embodiments of the present application have the advantages of high intelligence, fast response speed, stable and reliable following, etc., and realize automatic following of specific people, improve the intelligence and convenience of travel, can significantly reduce the driving burden, improve travel efficiency, and provide users with a more convenient and safe travel experience.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0033] Figure 1 A schematic block diagram of a device for automatically following a person by a vehicle provided in an embodiment of the present application;

[0034] Figure 2 A top view of a usage scenario provided by an embodiment of the present application;

[0035] Figure 3 A top view of another usage scenario provided by an embodiment of the present application;

[0036] Figure 4 A flow chart of a method for controlling a device for automatically following a person in a vehicle provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0038] Description of reference numerals:

[0039] 10-device for automatically following a person in a vehicle, 101-visual perception module, 102-human modeling and tracking module, 103-sensor fusion and navigation module, 104-motion control module, 105-algorithm optimization and machine learning module and 106-target person. DETAILED DESCRIPTION

[0040] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0041] The following describes, with reference to the accompanying drawings, a device for automatically following a person by a vehicle, a control method, a vehicle, and a storage medium in an embodiment of the present application.

[0042] Figure 1 A block diagram of a device for automatically following a person by a vehicle provided in an embodiment of the present application.

[0043] like Figure 1 As shown, the device 10 for automatically following a person by a vehicle comprises: a visual perception module 101 , a human body modeling and tracking module 102 , a sensor fusion and navigation module 103 and a motion control module 104 .

[0044] Among them, the visual perception module 101 is set at the intersection of the windshield and the roof of the vehicle, and is used to collect image data of the surrounding environment of the vehicle and the target person 106. The human body modeling and tracking module 102 is set in front of the main driver of the vehicle, and is used to build a human body model of the target person 106 according to the image data, and track the human body model in real time to obtain the motion information of the target person 106. The sensor fusion and navigation module 103 is set on the engine hood of the vehicle, and is used to monitor the surrounding information, calculate the relative position of the vehicle and the target person 106 according to the surrounding information, and plan the vehicle's driving route according to the relative position. The motion control module 104 is set at the intersection of the engine hood and the windshield, and is used to calculate the vehicle's travel speed according to the motion information, and control the vehicle to move or stop according to the vehicle's driving route and travel speed.

[0045] In some embodiments, the visual perception module 101 includes:

[0046] The recognition unit is used to detect whether the person around the vehicle matches the preset person features. If so, the person is marked as the target person 106. Otherwise, an alarm is sounded;

[0047] The acquisition unit is used to acquire image data of the target person 106 and his / her surroundings.

[0048] Specifically, Figure 2As shown, a high-definition camera or a depth sensor equipped with a computer vision algorithm is used to collect people around the vehicle in real time, and the face recognition and body recognition of the surrounding people are performed through the computer vision algorithm. When it is detected that the surrounding people match the preset person features, the person is marked as the target person 106, and the image of the target person 106 and the surrounding environment of the target person 106 is collected to obtain image data, wherein the image data includes the human body image and the surrounding environment image. If the preset person is not matched, the visual perception module 101 is exited, and an alarm is sounded to remind the target person 106 that the vehicle has not recognized the target person 106.

[0049] In some embodiments, the human body modeling and tracking module 102 includes:

[0050] A modeling unit, used for performing point cloud processing on the image data to obtain the position of the human body and constructing a human body model according to the position of the human body;

[0051] The tracking unit is used to track the operation information of the human body model when the human body model moves.

[0052] Specifically, the image data acquired by the visual perception module 101 is subjected to point cloud processing and analysis to obtain point cloud data, the human body position of the target person 106 is obtained according to the point cloud data, and a human body model is constructed; when the human body model moves, a joint model or a key point model is used to describe the human body, and the key points of the human body are tracked to accurately reflect the motion state of the human body, thereby obtaining the operation information of the target person 106. The operation information includes the current human body position, current orientation, and current action information.

[0053] Furthermore, when the human body modeling and tracking module 102 obtains the difference in relative position and direction between the person and the car, the current human body position, current orientation and motion information of the target person 106 after the difference is generated will be synchronized to the sensor fusion and navigation module 103 in real time.

[0054] In some embodiments, the sensor fusion and navigation module 103 includes:

[0055] A monitoring unit is used to monitor the multi-angle environmental information of the vehicle on the driving route and fuse the multi-angle environmental information to obtain surrounding information;

[0056] The navigation unit is used to calculate the relative position of the vehicle and the target person 106 according to the surrounding information, and plan the vehicle's driving route according to the relative position.

[0057] Specifically, each sensor in the sensor fusion and navigation module 103 continuously detects environmental information on the vehicle's driving route, and fuses multiple environmental information to obtain surrounding information; automatically calculates the relative distance between the vehicle and the target person 106 based on the surrounding information, and plans the vehicle's driving route based on the relative position, current human position, current orientation, and current action information. It should be noted that the embodiment of the present invention integrates data from multiple sensors (such as inertial navigation sensors, ultrasonic sensors, etc.) to achieve accurate position perception and navigation, and improve the positioning accuracy and following stability of the car.

[0058] Furthermore, when the sensor fusion and navigation module 103 detects an obstacle on the vehicle's driving route, a detour route is replanned.

[0059] In some embodiments, the motion control module 104104 includes:

[0060] A calculation unit, used for calculating the travel speed of the vehicle according to the motion information;

[0061] The execution unit is used to control the movement of the vehicle according to the vehicle's driving route and speed, and control the vehicle to stop moving after the human modeling and tracking module 102 and the sensor fusion and navigation module 103 detect that the vehicle and the target person 106 have reached a preset distance. When the sensor fusion and navigation module 103 detects that there is an obstacle on the vehicle's driving route, the vehicle is controlled to stop moving and wait for the sensor fusion and navigation module 103 to send a detour route.

[0062] Specifically, Figure 3 As shown, according to the human position and motion information provided by the human modeling and tracking module 102, the moving path and speed of the car are calculated and controlled. And by calculating the relative position and direction difference between the person and the vehicle, a control command is generated so that the car can move automatically and maintain a certain distance from the human body. At the same time, considering the obstacle avoidance algorithm, when the sensor fusion and navigation module 103 detects an obstacle on the vehicle's driving route, the vehicle is controlled to stop moving and wait for the sensor fusion and navigation module 103 to send a detour route.

[0063] Furthermore, if the sensor fusion and navigation module 103 sends a signal that the detour is impossible, the vehicle is controlled to stop moving, and the double flashes are turned on to sound a warning to remind the target person 106, so as to ensure that the vehicle does not collide with other objects during the following process.

[0064] In some embodiments, it also includes:

[0065] The algorithm optimization and machine learning module 105 is arranged in front of the co-pilot of the vehicle and is used to optimize and train the execution process of the device using machine learning methods to improve the accuracy of target detection and human tracking. Through a large number of data samples and network optimization, the vehicle can learn more effective motion control strategies to adapt to the following requirements in different scenarios.

[0066] The working process of the device for automatically following a person by a vehicle proposed in the embodiment of the present application is as follows:

[0067] Step 1: Start the device and initialize each module.

[0068] Step 2, such as Figure 2 As shown, the visual perception module 101 is started to detect surrounding people through face recognition and body recognition. When the surrounding people are detected to match the pre-set character features, they are marked as target people 106. If the pre-set character is not matched, the module is exited and an alarm is sounded.

[0069] Step three, after completing the calibration of the target person 106, start the human body modeling and tracking module 102 to obtain the body position of the target person 106, activate the sensor fusion and navigation module 103, the sensor continuously detects the surrounding information, the navigation system automatically calculates the relative position of the vehicle and the target person 106, and plans the driving route at the same time.

[0070] Step 4: When the target person 106 moves, the human body modeling and tracking module 102 obtains the difference in relative position and direction between the person and the vehicle, and synchronizes the body position and motion information of the target person 106 to the sensor fusion and navigation module 103 in real time. The motion control module 104 controls the vehicle to automatically move according to the driving route planned by the sensor fusion and navigation module 103. After the human body modeling and tracking module 102 and the sensor fusion and navigation module 103 detect that the car and the target person 106 have reached a set distance, the motion control module 104 controls the car to stop moving.

[0071] Step 5: Figure 3 As shown, when the vehicle is moving, when the radar or visual sensor in the sensor fusion and navigation module 103 detects an obstacle on the driving route, the motion control module 104 immediately controls the vehicle to stop moving forward to avoid collision and automatically plans a detour route. If it is impossible to detour, the vehicle stops moving and turns on the double flash to sound a warning.

[0072] It should be noted that the embodiments of the present invention can be applied to a variety of scenarios. For example, at transportation hubs such as airports or train stations, small self-driving vehicles can be designed to directly follow the pace of passengers and provide luggage handling or short-distance pick-up services; in theme parks or amusement parks, tourists can rent or reserve a small car that can follow their pace to increase the fun and interactivity of the ride; in science and technology exhibitions or educational activities, by showing how a car follows a person's pace, the latest achievements in self-driving and robotics technology can be intuitively demonstrated, thereby enhancing the public's interest in and understanding of science and technology; in some cases, such as walking at night or crossing unsafe areas, a car that can follow a person's pace can provide additional safety protection.

[0073] In summary, the device for automatically following a person by a vehicle proposed in the embodiment of the present application has the advantages of high intelligence, fast response speed, stable and reliable following, etc. It realizes automatic following of specific persons, improves the intelligence and convenience of travel, can significantly reduce the driving burden, improve travel efficiency, and provide users with a more convenient and safe travel experience.

[0074] Next, a method for controlling a device for automatically following a person in a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0075] Figure 4 A flowchart of a method for controlling a device for automatically following a person in a vehicle provided in an embodiment of the present application.

[0076] like Figure 4 As shown, the control method of the device for automatically following a person by a vehicle comprises the following steps:

[0077] In step S401, image data of the surrounding environment of the vehicle and the target person are collected.

[0078] In some embodiments, collecting image data of the surrounding environment of the vehicle and the target person includes:

[0079] Detect whether the person around the vehicle matches the preset person features. If they match, they will be marked as the target person. Otherwise, an alarm will be sounded;

[0080] Collect image data of the target person and his / her surroundings.

[0081] In step S402, a human body model of the target person is constructed according to the image data, and the human body model is tracked in real time to obtain motion information of the target person.

[0082] In some embodiments, a human body model of the target person is constructed based on the image data, and the human body model is tracked in real time to obtain the motion information of the target person, including:

[0083] Perform point cloud processing on the image data to obtain the position of the human body and build a human body model based on the position of the human body;

[0084] When the human body model moves, the operation information of the human body model is tracked.

[0085] In step S403, the surrounding information is monitored to calculate the relative position of the vehicle and the target person according to the surrounding information, and the vehicle driving route is planned according to the relative position.

[0086] In some embodiments, monitoring surrounding information to calculate the relative position of the vehicle and the target person based on the surrounding information, and planning the vehicle's driving route based on the relative position, includes:

[0087] Monitor the multi-angle environmental information of the vehicle on the driving route, and integrate the multi-angle environmental information to obtain surrounding information;

[0088] The relative position of the vehicle and the target person is calculated based on the surrounding information, and the vehicle's driving route is planned based on the relative position.

[0089] In step S404, the vehicle's travel speed is calculated based on the motion information, and the vehicle is controlled to move or stop based on the vehicle's travel route and travel speed.

[0090] It should be noted that the above explanation of the embodiment of the device for automatically following a person by a vehicle is also applicable to the control method of the device for automatically following a person by a vehicle in this embodiment, and will not be repeated here.

[0091] The device control method for automatically following a person by a vehicle proposed in the embodiment of the present application has the advantages of high intelligence, fast response speed, stable and reliable following, etc. It realizes automatic following of specific people, improves the intelligence and convenience of travel, can significantly reduce the driving burden, improve travel efficiency, and provide users with a more convenient and safe travel experience.

[0092] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0093] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0094] When the processor 502 executes the program, the device control method for the vehicle to automatically follow the person provided in the above embodiment is implemented.

[0095] Furthermore, the vehicle also includes:

[0096] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0097] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0098] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0099] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0100] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0101] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0102] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for controlling a device for automatically following a person by a vehicle.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0104] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0105] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0106] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0107] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0108] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0109] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0110] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A device for a vehicle to automatically follow a person, characterized in that: include: Visual perception module, used to collect image data of the vehicle's surroundings and target persons; A human body modeling and tracking module, used to construct a human body model of the target person according to the image data, and to track the human body model in real time to obtain motion information of the target person; A sensor fusion and navigation module, used to monitor surrounding information, calculate the relative position of the vehicle and the target person according to the surrounding information, and plan the vehicle's driving route according to the relative position; The motion control module is used to calculate the vehicle's travel speed according to the motion information, and control the vehicle to move or stop according to the vehicle's driving route and the travel speed.

2. The device for automatically following a person by a vehicle according to claim 1, characterized in that: The visual perception module comprises: The recognition unit is used to detect whether the person around the vehicle matches the preset person features. If so, it will be marked as the target person. Otherwise, an alarm will be sounded; The acquisition unit is used to acquire image data of the target person and his / her surroundings.

3. The device for automatically following a person by a vehicle according to claim 1, characterized in that: The human body modeling and tracking module includes: A modeling unit, used for performing point cloud processing on the image data to obtain a human body position, and constructing the human body model according to the human body position; The tracking unit is used to track the operation information of the human body model when the human body model moves.

4. The device for automatically following a person by a vehicle according to claim 1, characterized in that: The sensor fusion and navigation module includes: A monitoring unit, used to monitor multi-angle environmental information of the vehicle on the driving route, and fuse the multi-angle environmental information to obtain the surrounding information; The navigation unit is used to calculate the relative position of the vehicle and the target person according to the surrounding information, and plan the vehicle's driving route according to the relative position.

5. A method for controlling a device for a vehicle to automatically follow a person, characterized in that: The device for automatically following a person by a vehicle according to any one of claims 1 to 4 comprises the following steps: Collect image data of the vehicle's surroundings and target person; constructing a human body model of the target person according to the image data, and tracking the human body model in real time to obtain motion information of the target person; Monitoring surrounding information to calculate the relative position of the vehicle and the target person according to the surrounding information, and planning the vehicle's driving route according to the relative position; The vehicle's travel speed is calculated according to the motion information, and the vehicle is controlled to move or stop according to the vehicle's driving route and the travel speed.

6. The method for controlling a vehicle automatically following a person according to claim 5, characterized in that: The collecting of image data of the surrounding environment of the vehicle and the target person includes: Detect whether the person around the vehicle matches the preset person features. If they match, they will be marked as the target person. Otherwise, an alarm will be sounded; Image data of the target person and his / her surroundings are collected.

7. The method for controlling a vehicle automatically following a person according to claim 5, characterized in that: The step of constructing a human body model of the target person according to the image data and tracking the human body model in real time to obtain motion information of the target person includes: Performing point cloud processing on the image data to obtain a human body position, and constructing the human body model according to the human body position; When the human body model moves, the operation information of the human body model is tracked.

8. The method for controlling a vehicle automatically following a person according to claim 5, characterized in that: The monitoring of surrounding information, calculating the relative position between the vehicle and the target person according to the surrounding information, and planning the vehicle driving route according to the relative position, includes: Monitoring multi-angle environmental information of the vehicle on the driving route, and fusing the multi-angle environmental information to obtain the surrounding information; The relative position of the vehicle and the target person is calculated according to the surrounding information, and the vehicle driving route is planned according to the relative position.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a method for controlling a device for automatically following a person in driving of a vehicle as described in any one of claims 5 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement a method for controlling a device for automatically following a person in a vehicle as described in any one of claims 5 to 8.

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