The invention relates to the technical field of unmanned driving, in particular to a vision-based personnel following method and system for an unmanned vehicle and the unmanned vehicle. Considering that the unmanned vehicle is not guided by a global path in a personnel following process, a front wheel turning angle deltaf (t) is calculated based on a position relation, an actual distance Ld (t) and an expected distance Lr are used as errors e (t) to be input into a PID, an acceleration and deceleration signal acc (t) of the unmanned vehicle is output, acceleration and deceleration of the unmanned vehicle are controlled, and the unmanned vehicle is controlled to follow the personnel. Therefore, the transverse control and the longitudinal control of the unmanned vehicle are realized. In order to improve the personnel following performance of the unmanned vehicle, parameters of Ld (t) and PID are adjusted based on a DDPG model, and strategy network parameters are updated by utilizing self-iteration training of the unmanned vehicle in the personnel following process, so that the parameters of Ld (t) and PID are effectively adjusted, and tedious manual debugging work is avoided.

    本发明涉及无人驾驶技术领域,更具体的,涉及一种无人车基于视觉的人员跟随方法、系统、以及无人车。本发明考虑到无人车在人员跟随过程中没有全局路径的引导,基于位置关系计算出前轮转角δf(t),并以实际距离Ld(t)和期望距离Lr作为误差e(t)输入到PID中,输出无人车加减速信号acc(t),对无人车进行加减速进行控制,从而实现了对无人车的横向控制、纵向控制。并且本发明为了提高无人车的人员跟随性能,还基于DDPG模型对Ld(t)、以及PID的参数进行调整,利用无人车在跟随人员过程中的自我迭代训练,更新策略网络参数,从而有效对Ld(t)、以及PID的参数进行调整,避免了繁琐的人工调试工作。


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    Title :

    Vision-based personnel following method and system for unmanned vehicle, and unmanned vehicle


    Additional title:

    一种无人车基于视觉的人员跟随方法、系统、以及无人车


    Contributors:
    NING TAO (author) / WANG HONGBO (author) / WEI ZHENYA (author) / FENG LIZHAO (author) / ZHANG XIANFENG (author) / DING YUKANG (author) / CUI GUOLIANG (author)

    Publication date :

    2023-11-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V



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