CN113696908B - Vehicle automatic following system, method, apparatus and computer readable medium - Google Patents
Vehicle automatic following system, method, apparatus and computer readable medium Download PDFInfo
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- CN113696908B CN113696908B CN202110987514.0A CN202110987514A CN113696908B CN 113696908 B CN113696908 B CN 113696908B CN 202110987514 A CN202110987514 A CN 202110987514A CN 113696908 B CN113696908 B CN 113696908B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000000605 extraction Methods 0.000 claims abstract description 7
- 238000004590 computer program Methods 0.000 claims description 5
- 230000037237 body shape Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 4
- 230000008447 perception Effects 0.000 description 3
- 230000000644 propagated effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
Abstract
The present invention provides a vehicle automatic following system, method, apparatus and computer readable medium, the vehicle automatic following system comprising: an image acquisition module for acquiring an image of a surrounding area of the vehicle at a set frequency; an image processing and feature extraction module configured to: processing the image to acquire a following target object image and a following target object image characteristic; arranging the following target object image features according to the priorities to form the following target object image features with different priorities; and the following control module is used for controlling the vehicle to follow the following target object based on the following target object image characteristics with different priorities. The invention can realize the effective and timely following of the following target object by the vehicle.
Description
Technical Field
The present invention relates generally to the field of vehicle autopilot, and more particularly to a vehicle autopilot system, method, apparatus, and computer readable medium.
Background
With the improvement and development of the automatic driving capability of the vehicle, the future travel scene is partially completed by the vehicle.
When a plurality of vehicle users drive out with a company, the vehicles are easy to be lost, and the communication is inconvenient in the way. When the bicycle is driven and the like to be equipped for outing, the user needs to return to searching for the vehicle after riding. When the driver runs at a certain place, the driver returns to search for the vehicle after running. Automobiles with autopilot capability do not play much in these scenarios.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an automatic vehicle following system, an automatic vehicle following method, an automatic vehicle following device and a computer readable medium, so that the automatic vehicle can automatically follow specific objects or people, the advantages of the automatic vehicle are brought into play, and the use experience of a user is optimized.
In order to solve the above technical problems, the present invention provides an automatic following system for a vehicle, including:
an image acquisition module for acquiring an image of a surrounding area of the vehicle at a set frequency; an image processing and feature extraction module configured to: processing the image to acquire a following target object image and a following target object image characteristic; arranging the following target object image features according to the priorities to form the following target object image features with different priorities; and the following control module is used for controlling the vehicle to follow the following target object based on the following target object image characteristics with different priorities.
In an embodiment of the present invention, controlling the vehicle to follow the target object based on the image features of the following target objects of the different priorities includes: when the image features of the following targets with a certain priority cannot be acquired, the image features of the following targets are switched to the image features of the following targets with the next priority.
In an embodiment of the present invention, the image feature of the following target object includes: license plate number, vehicle color, emblem, vehicle shape and size, person's head characteristics, person's body shape characteristics, and person's clothing characteristics.
In an embodiment of the invention, the image features of each priority level comprise a combination of a plurality of image features.
In an embodiment of the invention, the image is acquired by an imaging device and a distance measuring device.
The invention also provides an automatic following method of the vehicle, which comprises the following steps:
acquiring an image of a surrounding area of the vehicle at a set frequency; processing the image to acquire a following target object image and a following target object image characteristic; arranging the following target object image features according to the priorities to form the following target object image features with different priorities; and controlling the vehicle to follow the following target object based on the following target object image characteristics with different priorities.
The invention also provides an automatic following device of a vehicle, comprising: a memory for storing instructions executable by the processor; and a processor executing the instructions to implement the method of any preceding claim.
The invention also provides a computer readable medium storing computer program code which, when executed by a processor, implements a method as claimed in any preceding claim.
Compared with the prior art, the invention has the following advantages: and through the perception of the vehicle to the surrounding environment, determining the image characteristics of different priorities of the following target objects, and based on the image characteristics, realizing the following of the following target objects by the vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the invention. In the accompanying drawings:
fig. 1 is a schematic composition diagram of a vehicle following system according to an embodiment of the present application.
Fig. 2 is a flowchart of a vehicle following method according to an embodiment of the present application.
Fig. 3 is a schematic view of a vehicle automatic following device according to an embodiment of the present application.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than as described herein, and therefore the present invention is not limited to the specific embodiments disclosed below.
As used herein, the terms "a," "an," "the," and/or "the" are not specific to the singular, but may include the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely for convenience of description of the present application and simplification of the description, and without contrary description, these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be configured and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application.
Furthermore, although terms used in the present application are selected from publicly known and commonly used terms, some terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Furthermore, it is required that the present application be understood, not simply by the actual terms used but by the meaning of each term lying within.
It will be understood that when an element is referred to as being "on," "connected to," "coupled to," or "contacting" another element, it can be directly on, connected or coupled to, or contacting the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly on," "directly connected to," "directly coupled to," or "directly contacting" another element, there are no intervening elements present. Likewise, when a first element is referred to as being "electrically contacted" or "electrically coupled" to a second element, there are electrical paths between the first element and the second element that allow current to flow. The electrical path may include a capacitor, a coupled inductor, and/or other components that allow current to flow even without direct contact between conductive components.
Flowcharts are used in this application to describe the operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in order precisely. Rather, the various steps may be processed in reverse order or simultaneously. At the same time, other operations are added to or removed from these processes.
Embodiments of the present application describe a vehicle automatic following system, method, apparatus, and computer readable medium.
Fig. 1 is a schematic composition diagram of a vehicle following system according to an embodiment of the present application.
Fig. 2 is a flowchart of a vehicle following method according to an embodiment of the present application.
Referring to FIG. 1, in some embodiments, a vehicle following system 100 includes an image acquisition module 102, an image processing and feature extraction module 104, and a following control module 106.
Referring to fig. 2, in some embodiments, a vehicle automatic following method includes, step 202, acquiring an image of an area surrounding a vehicle at a set frequency. And 204, processing the image to acquire a following target object image and a following target object image characteristic. And step 206, arranging the following target object image features according to the priorities to form the following target object image features with different priorities. And step 208, controlling the vehicle to follow the following target object based on the following target object image characteristics with different priorities.
Specifically, in step 202, an image of the area around the vehicle is acquired at a set frequency.
In some embodiments, the image is acquired by a camera device and a distance measurement device. For example, an image of a surrounding area of the vehicle and a stereoscopic environmental feature corresponding thereto are acquired by a vision camera, a depth camera, a laser radar, a millimeter wave radar, or the like. The frequency of image acquisition may be set continuously according to actual needs, for example, 15 times/second, 20 times/second, 25 times/second, etc. The imaging device and the distance measuring device are mounted, for example, at the front, side, rear, etc. positions of the vehicle, covering a 360-degree view of the vehicle body.
In step 204, the image is processed to obtain a following target image and a following target image feature. The processing of the image is for example achieved by means of a number of image processing algorithms. The following target image is acquired from an image of the area surrounding the vehicle, in some embodiments, for example, by image capture. In the step, a signal of a circled area of the vehicle user on the image interaction interface can also be received, and a following target object image of a corresponding area can be obtained. And then, further processing the image of the following target object to obtain the image characteristics of the following target object.
In step 206, the following target image features are arranged according to priorities, so as to form following target image features with different priorities.
Regarding the image features of the following target, in some embodiments, the image features of the following target include: license plate number, vehicle color, logo, vehicle shape and size, human head features, human figure features, human clothing features, etc.
In some embodiments, the image features of each priority comprise a combination of multiple image features. For example, when the following target is a vehicle, the image features of the first priority may include a vehicle number; the second priority image features may include, vehicle color plus logo; the third priority image features may include vehicle color and shape and size of the vehicle.
When the following target object is a specific person, the image features of the following target object may be selected from image features such as head features of the person, body shape features of the person, clothing features of the person, and the like.
Next, in step 208, the vehicle is controlled to follow the following target object based on the following target object image features of the different priorities.
In some embodiments, controlling the vehicle to follow the target object based on the image features of the following target objects of different priorities includes:
when the image features of the following targets with a certain priority cannot be acquired, the image features of the following targets are switched to the image features of the following targets with the next priority.
In some embodiments, when the image features of the last priority following object can no longer be acquired, the current following process is ended. Then, the image of the area around the vehicle may be continuously acquired at the set frequency, and when the following target object image feature is found again, the next vehicle following process is started. In an embodiment of the present application, a vehicle has steering and driving capabilities for autonomous driving.
As previously described, in some embodiments, the vehicle following system 100 includes an image acquisition module 102, an image processing and feature extraction module 104, and a following control module 106.
In some embodiments, the image acquisition module 102 is configured to acquire images of the area surrounding the vehicle at a set frequency. An image processing and feature extraction module 104 configured to process the image first to obtain a following target object image and a following target object image feature; and arranging the following target object image features according to the priorities to form the following target object image features with different priorities. And the following control module 106 controls the vehicle to follow the following target object based on the following target object image characteristics with different priorities.
The image acquisition module 102, the image processing and feature extraction module 104, and the following control module 106 may be coupled to each other by way of electrical or network connections for data and instruction transmission.
According to the automatic vehicle following device and method, through the perception of the vehicle to the surrounding environment, the image features of different priorities of the following target object are determined, the following of the vehicle to the following target object is realized based on the image features, the image features of different priorities for following are updated according to the perception result of the surrounding environment, and the following effectiveness and timeliness of the vehicle to the following target object are realized.
The application also provides an automatic following device of a vehicle, comprising: a memory for storing instructions executable by the processor; and a processor for executing the instructions to implement the method as described above.
Fig. 3 shows a schematic view of a vehicle automatic follower device according to an embodiment of the present application. The vehicle automatic follower device 300 may include an internal communication bus 301, a Processor (Processor) 302, a Read Only Memory (ROM) 303, a Random Access Memory (RAM) 304, and a communication port 305. The vehicle automatic following device 300 is connected to a network through a communication port and is connectable to other devices. The internal communication bus 301 may enable data communication between components of the vehicle automatic follower 300. The processor 302 may make the determination and issue the prompt. In some embodiments, processor 302 may be comprised of one or more processors. Communication port 305 may enable sending and receiving information and data from a network. The vehicle automatic following device 300 may also comprise program storage units of different forms, as well as data storage units, such as Read Only Memory (ROM) 303 and Random Access Memory (RAM) 304, capable of storing various data files for computer processing and/or communication, and possible program instructions for execution by the processor 302. The processor executes these instructions to implement the main part of the method. The results processed by the processor may be communicated to the user device via the communication interface for display on the user interface.
The vehicle automatic following apparatus 300 described above may be implemented as a computer program, stored in a memory, and recorded in the processor 302 to be executed to implement the vehicle automatic following method of the present application.
The present application also provides a computer readable medium storing computer program code which, when executed by a processor, implements a vehicle auto-following method as described above.
Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.) or by a combination of hardware and software. The above hardware or software may be referred to as a "data block," module, "" engine, "" unit, "" component, "or" system. The processor may be one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital signal processing devices (DAPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or a combination thereof. Furthermore, aspects of the present application may take the form of a computer product, comprising computer-readable program code, embodied in one or more computer-readable media. For example, computer-readable media can include, but are not limited to, magnetic storage devices (e.g., hard disk, floppy disk, tape … …), optical disk (e.g., compact disk CD, digital versatile disk DVD … …), smart card, and flash memory devices (e.g., card, stick, key drive … …).
The computer readable medium may comprise a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take on a variety of forms, including electro-magnetic, optical, etc., or any suitable combination thereof. A computer readable medium can be any computer readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer readable medium may be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or the like, or a combination of any of the foregoing.
Likewise, it should be noted that in order to simplify the presentation disclosed herein and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the subject application. Indeed, less than all of the features of a single embodiment disclosed above.
While the present application has been described with reference to the present specific embodiments, those of ordinary skill in the art will recognize that the above embodiments are for illustrative purposes only, and that various equivalent changes or substitutions can be made without departing from the spirit of the present application, and therefore, all changes and modifications to the embodiments described above are intended to be within the scope of the claims of the present application.
Claims (10)
1. A vehicle automatic following system comprising:
an image acquisition module for acquiring an image of a surrounding area of the vehicle at a set frequency;
an image processing and feature extraction module configured to:
processing the image to acquire a following target object image and a following target object image characteristic;
arranging the following target object image features according to the priorities to form the following target object image features with different priorities;
the following control module sequentially controls the vehicle to follow the following target objects based on the following target object image characteristics of different priorities;
wherein, based on the image features of the following targets of different priorities in turn, controlling the vehicle to follow the targets includes:
when the image features of the following targets with a certain priority cannot be acquired, the image features of the following targets are switched to the image features of the following targets with the next priority.
2. The automatic vehicle following system according to claim 1, wherein the image feature of the following target object includes: license plate number, vehicle color, emblem, vehicle shape and size, person's head characteristics, person's body shape characteristics, and person's clothing characteristics.
3. The vehicle auto-following system of claim 1, wherein the image features of each priority comprise a combination of a plurality of image features.
4. The automatic vehicle following system according to claim 1, wherein the image is acquired by a camera device and a distance measuring device.
5. A vehicle automatic following method comprising the steps of:
acquiring an image of a surrounding area of the vehicle at a set frequency;
processing the image to acquire a following target object image and a following target object image characteristic;
arranging the following target object image features according to the priorities to form the following target object image features with different priorities; and
sequentially controlling the vehicle to follow the following target object based on the following target object image characteristics of different priorities;
wherein, based on the image features of the following targets of different priorities in turn, controlling the vehicle to follow the targets includes:
when the image features of the following targets with a certain priority cannot be acquired, the image features of the following targets are switched to the image features of the following targets with the next priority.
6. The automatic following method of a vehicle according to claim 5, wherein the image feature of the following target object includes: license plate number, vehicle color, emblem, vehicle shape and size, person's head characteristics, person's body shape characteristics, and person's clothing characteristics.
7. The vehicle auto-following method of claim 5, wherein the image features of each priority level comprise a combination of a plurality of image features.
8. The automatic vehicle following method according to claim 5, wherein the image is acquired by an image pickup device and a distance measuring device.
9. An automatic vehicle following apparatus comprising:
a memory for storing instructions executable by the processor; and
a processor executing the instructions to implement the method of any of claims 5-8.
10. A computer readable medium storing computer program code which, when executed by a processor, implements the method of any of claims 5-8.
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| CN202110987514.0A CN113696908B (en) | 2021-08-26 | 2021-08-26 | Vehicle automatic following system, method, apparatus and computer readable medium |
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| CN202110987514.0A CN113696908B (en) | 2021-08-26 | 2021-08-26 | Vehicle automatic following system, method, apparatus and computer readable medium |
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| US5257022A (en) * | 1990-03-20 | 1993-10-26 | Mitsubishi Denki K.K. | Method and apparatus for following a vehicle |
| CN111273673A (en) * | 2020-03-09 | 2020-06-12 | 新石器慧通（北京）科技有限公司 | Automatic driving following method and system of unmanned vehicle and unmanned vehicle |
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| KR102286007B1 (en) * | 2016-12-01 | 2021-08-05 | 한화디펜스 주식회사 | following cruise control method and following cruise control device |
| US10430641B2 (en) * | 2017-03-08 | 2019-10-01 | GM Global Technology Operations LLC | Methods and systems for object tracking using bounding boxes |
| CN107390721B (en) * | 2017-07-26 | 2021-05-18 | 歌尔科技有限公司 | Robot following control method and device and robot |
| US11194350B2 (en) * | 2018-10-17 | 2021-12-07 | International Business Machines Corporation | Navigation of an autonomous vehicle for following individuals |
| CN112135038A (en) * | 2020-08-11 | 2020-12-25 | 浙江登凯建设有限公司 | Vehicle tracking method and system based on traffic monitoring and storage medium thereof |
| CN113157003A (en) * | 2021-01-19 | 2021-07-23 | 恒大新能源汽车投资控股集团有限公司 | Vehicle following method and device |
| CN112918463B (en) * | 2021-01-29 | 2022-08-09 | 北京瞰瞰智域科技有限公司 | Method and equipment for automatically following vehicle and vehicle |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5257022A (en) * | 1990-03-20 | 1993-10-26 | Mitsubishi Denki K.K. | Method and apparatus for following a vehicle |
| CN111273673A (en) * | 2020-03-09 | 2020-06-12 | 新石器慧通（北京）科技有限公司 | Automatic driving following method and system of unmanned vehicle and unmanned vehicle |
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