CN111290386A - Path planning method and device and carrying tool - Google Patents
Path planning method and device and carrying tool Download PDFInfo
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- 238000012549 training Methods 0.000 claims description 4
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The invention discloses a path planning method and device and a delivery vehicle. Wherein, the method comprises the following steps: acquiring a first image of a target object in front of a first vehicle, wherein the first image is a radar image; extracting feature information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises the following steps: obstacles and liquids located on the ground in front; it is determined whether to alter the planned route of the first vehicle depending on the type. The invention solves the technical problem that whether the liquid on the ground is an obstacle or not cannot be distinguished in the related technology, and the path planning is influenced.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to a path planning method and device and a delivery vehicle.
Background
In the related art, during the travel of the unmanned vehicle, it is necessary to identify whether an object in front of the vehicle is an obstacle or a non-obstacle for safety. In the case of recognizing an obstacle, a radar signal mounted on the unmanned vehicle may be used for recognition, but since a radar image obtained based on the radar signal is determined based on a radar echo signal, it is difficult to recognize whether an object in front is water distributed on the ground or an obstacle, and a determination error is easily caused. In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a path planning method, a path planning device and a vehicle, which at least solve the technical problem that whether liquid on the ground is an obstacle cannot be distinguished in the related art, so that path planning is influenced.
According to an aspect of an embodiment of the present invention, there is provided a path planning method, including: acquiring a first image of a target object in front of a first vehicle, wherein the first image is a radar image; extracting feature information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises the following steps: obstacles and liquids located on the ground in front; it is determined whether to alter the planned route of the first vehicle depending on the type.
Optionally, acquiring a first image of a target object located in front of the first vehicle comprises: scanning a target object through radar equipment installed in a first vehicle to obtain a first image; extracting feature information of a target object from a first image, comprising: the shape of the target object is extracted from the first image.
Optionally, identifying the type of the target object according to the feature information includes: the type of the target object is determined based on the shape of the target object in the first image.
Optionally, determining the type of the target object based on the shape of the target object in the first image comprises: when the shape of the target object is a regular shape, determining that the target object is an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be a liquid.
Optionally, determining that the target object is an obstacle comprises: determining whether the target object is from a second vehicle in front of the first vehicle; and determining that the target object is an obstacle when the judgment result indicates that the target object is not from the second vehicle and the shape of the target object is a regular shape.
Optionally, determining whether the target object is from a second vehicle in front of the first vehicle comprises: acquiring a second image of a second vehicle, wherein the second image is an RGB image; inputting the second image into the machine learning model for analysis, and obtaining a working state of the second vehicle, wherein the working state comprises: spraying operation is being carried out and spraying operation is not carried out; the machine learning model is obtained through training of a plurality of groups of data, and each group of data in the plurality of groups of data comprises: an image of the second vehicle and a label for marking the image of the second vehicle as a work state; when the operation state is that spraying operation is being carried out, determining the type of a spraying object corresponding to the spraying operation; when the type and the type of the target object are consistent, determining that the target object is from the second vehicle.
Optionally, before determining whether to alter the planned route of the first vehicle in dependence on the type, the method further comprises: acquiring attitude information of a second vehicle and information of a road where the second vehicle is located; predicting a direction of travel of the second vehicle based on the attitude information; and when the driving direction of the second vehicle is changed and a road adjacent to the road where the second vehicle is located exists in the changed driving direction, controlling the first vehicle to continue driving according to the planned route.
Optionally, when the driving direction of the second vehicle is not changed, the first vehicle is controlled to change the planned route to avoid the obstacle.
Optionally, before controlling the first vehicle to change the planned route, the method further includes: acquiring the relative speed of a first vehicle and a second vehicle; when the relative speed is greater than 0, controlling the first vehicle to change the planned route; and when the relative speed is less than 0 or equal to 0, controlling the first vehicle to continue to drive according to the planned route.
Optionally, the posture information includes: the head of the second vehicle faces.
Optionally, the method further comprises: and after the direction of the head of the second vehicle is changed and the second vehicle runs for a preset time according to the changed direction of the head after the direction of the head is changed, determining that the running direction of the second vehicle is changed.
Optionally, determining whether to alter the driving route of the first vehicle according to the type includes: when the type is the obstacle, modifying the planned route of the first vehicle, wherein the target object is avoided in the modified planned route; and when the type is liquid, controlling the vehicle to continue to run according to the current planned route.
According to another aspect of the embodiments of the present application, there is provided a path planning apparatus, including: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a first image of a target object positioned in front of a first vehicle, and the first image is a radar image; the extraction module is used for extracting the characteristic information of the target object from the first image; the identification module is used for identifying the type of the target object according to the characteristic information, wherein the type comprises the following steps: obstacles and liquids located on the ground in front; a determination module to determine whether to alter the planned route of the first vehicle based on the type.
Optionally, the acquisition module is configured to scan a target object through a radar device installed in a first vehicle to obtain a first image; and the extraction module is used for extracting the shape of the target object from the first image.
Optionally, the identification module is configured to determine a type of the target object based on a shape of the target object in the first image.
Optionally, the identification module is configured to determine that the target object is an obstacle when the shape of the target object is a regular shape; when the shape of the target object is an irregular shape, the target object is determined to be a liquid.
According to another aspect of the embodiments of the present application, there is provided a non-volatile storage medium, where the storage medium includes a stored program, and when the program runs, the apparatus where the storage medium is located is controlled to execute the above path planning method.
According to another aspect of embodiments of the present application, there is provided a vehicle including: an electronic device, the electronic device comprising: a memory for storing program instructions; a processor for calling program instructions stored in the memory to perform the following functions: acquiring a first image of a target object in front of a first vehicle, wherein the first image is a radar image; extracting feature information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises the following steps: obstacles and liquids located on the ground in front; it is determined whether to alter the planned route of the first vehicle depending on the type.
In the embodiment of the invention, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the barrier or the liquid can be realized according to the final identification result, the misjudgment is avoided, and the technical problem that whether the liquid on the ground is the barrier or not cannot be distinguished in the related technology, and the path planning is influenced is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic flow chart of a path planning method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided a method embodiment of a path planning method, it should be noted that the steps illustrated in the flowchart of the accompanying drawings may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a path planning method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, collecting a first image of a target object in front of a first vehicle, wherein the first image is a radar image;
in some embodiments of the present application, acquiring a first image of a target object located in front of a first vehicle includes: in order to ensure the accuracy of a detection result, the radar equipment for acquiring the images can be a plurality of pieces of equipment for installing different positions of the vehicle, for example, one radar equipment is respectively arranged at the left end and the right end of the top position of the vehicle, and also can be used by combining a plurality of types of radar equipment, for example, a millimeter wave radar and an ultrasonic radar; it should be noted that the target object may be a vehicle, a branch on both sides of a road, a pedestrian, other objects, and the like; feature information of the target object, which may be a shape, a motion state, a volume size, and the like of the target object, is extracted from the above-described first image.
Step S104, extracting characteristic information of the target object from the first image;
it should be noted that the characteristic information includes, but is not limited to, a shape, a motion state, a volume size, and the like of the target object.
Step S106, identifying the type of the target object according to the characteristic information, dividing the type into two cases when determining the type of the target object based on the shape of the target object in the first image, and determining the target object as an obstacle when the shape of the target object is a regular shape; when the shape of the target object is an irregular shape, the target object is determined to be a liquid. The regular shape is a shape with smooth boundary, the irregular shape is a shape with uneven boundary, when the target object is the irregular shape, the radar reflection points are irregular, and when the target object is the regular shape, the target object is determined to be an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be a liquid.
In another alternative embodiment, identifying the type of the target object according to the feature information includes: determining the type of the target object based on the shape of the target object in the first image, for example, when the target object is a car parked on the roadside and the radar device scans the car, determining that the car is a car based on a deep learning vision algorithm; likewise, when the target object is a bicycle parked at the roadside, it may be determined that it is a bicycle based on the deep learning vision algorithm.
In one embodiment of the application, when the radar reflection points are not regularly arranged, it is considered that the liquid on the ground which is spilled is water, and secondly, it is also possible to determine that the liquid is other compounds in combination with the driving environment ahead of the first vehicle, for example, when the laser radar is combined with other signal acquisition devices, and it is recognized that the vehicle ahead of the first vehicle is a tank truck, it is considered that the type of the liquid is gasoline or diesel oil, etc.
Step S108, determining whether to change the planned route of the first vehicle according to the type.
In an alternative embodiment of the present application, when determining whether the target object is an obstacle: it may be determined whether the target object is from a second vehicle in front of the first vehicle; when the judgment result indicates that the target object is not from the second vehicle and the shape of the target object is a regular shape, the target object is determined to be an obstacle, that is, all objects which do not belong to the second vehicle and are recognized as regular shapes are considered as obstacles.
In an optional embodiment of the present application, in order to determine the accuracy of the result of whether the target object is from the second vehicle, when determining whether the target object is from the second vehicle in front of the first vehicle, a second image of the second vehicle may be obtained first, where the second image is an RGB image; the second image is then input to a machine learning model for analysis, resulting in a working state of the second vehicle and determining the working state of the second vehicle based on the machine learning model further determines whether the target object is from the second vehicle, wherein the working state includes but is not limited to the following cases: a first operating state in which a spraying operation is being performed; the second operation state is not used for spraying operation; the machine learning model is obtained by training a plurality of sets of data, wherein each set of data in the plurality of sets of data includes but is not limited to: an image of the second vehicle and a label for marking the image of the second vehicle as a work state; when the operation state is that spraying operation is being carried out, determining the type of a spraying object corresponding to the spraying operation; when the type and the type of the target object are consistent, determining that the target object is from the second vehicle.
In an optional embodiment of the present application, before determining whether to alter the planned route of the first vehicle based on the type, the method further comprises: acquiring attitude information of a second vehicle and information of a road where the second vehicle is located; predicting a direction of travel of the second vehicle based on the attitude information; and when the driving direction of the second vehicle is changed and a road adjacent to the road where the second vehicle is located exists in the changed driving direction, controlling the first vehicle to continue driving according to the planned route.
In an alternative embodiment of the present application, when the driving direction of the second vehicle is not changed, the first vehicle is controlled to change the planned route to avoid the obstacle.
In an optional embodiment of the present application, before controlling the first vehicle to change the planned route, the method further comprises: acquiring the relative speed of a first vehicle and a second vehicle; when the relative speed is greater than 0, controlling the first vehicle to change the planned route; and when the relative speed is less than 0 or equal to 0, controlling the first vehicle to continue to drive according to the planned route. Wherein the relative speed is a difference between the speeds of the first vehicle and the second vehicle; when the speed of the first vehicle is greater than that of the second vehicle, there is a possibility that the two vehicles collide, and therefore, the planned route before the collision must be changed; when the speed of the first vehicle is smaller than that of the second vehicle, the second vehicle is at a larger and larger relative distance with the first vehicle, so that collision does not occur, and the vehicle can continue to run according to the previous planned route.
It should be noted that the posture information includes, but is not limited to: the head of the second vehicle faces.
In an optional embodiment of the present application, the method further comprises: and after the direction of the head of the second vehicle is changed and the second vehicle runs for a preset time according to the changed direction of the head after the direction of the head is changed, determining that the running direction of the second vehicle is changed.
In another optional embodiment of the present application, it is determined whether to modify the driving route of the first vehicle according to a type of the target object, where the type includes an obstacle and a liquid, and when it is determined that the type of the target object is the obstacle, the planned route of the first vehicle is modified, where the modified planned route is used to avoid the target object; when the type of the target object is determined to be liquid, the vehicle is controlled to continue to run according to the current planned route, namely the liquid is considered not to belong to the obstacle, for example, when water sprayed by a sprinkler is sprayed on a first vehicle, the first vehicle is not considered to have an influence on the safe running of the first vehicle, and the first vehicle can run according to the route which is planned in advance as required without changing the running route.
In the embodiment of the application, a mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the barrier or the liquid can be realized according to the final identification result, the misjudgment is avoided, and the technical problem that whether the liquid on the ground is the barrier or not and the path planning is influenced in the related technology is solved.
An embodiment of the present application further provides a path planning apparatus, as shown in fig. 2, the apparatus includes: an acquisition module 20, configured to acquire a first image of a target object located in front of a first vehicle, where the first image is a radar image; an extraction module 22, configured to extract feature information of the target object from the first image; the identifying module 24 is configured to identify a type of the target object according to the feature information, where the type includes: obstacles and liquids located on the ground in front; a determination module 26 for determining whether to alter the planned route of the first vehicle, depending on the type; in the embodiment of the invention, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the barrier or the liquid can be realized according to the final identification result, the misjudgment is avoided, and the technical problem that whether the liquid on the ground is the barrier or not and the path planning is influenced in the related technology is solved
In some embodiments of the present application, the acquisition module 20 is configured to scan a target object through a radar device installed in a first vehicle to obtain a first image; an extracting module 22 is configured to extract a shape of the target object from the first image.
Specifically, in order to ensure the accuracy of the detection result, in an alternative embodiment of the present application, the radar devices for acquiring the images may be a plurality of devices installed at different positions of the vehicle, for example, one radar device is respectively disposed at the left and right ends of the top of the vehicle, and in another alternative embodiment of the present application, a plurality of types of radar devices may be used in combination, for example, a millimeter wave radar and an ultrasonic radar are used in combination.
In an alternative embodiment of the present application, the recognition module 24 is configured to determine the type of the target object based on the shape of the target object in the first image. Optionally, the identification module is configured to determine that the target object is an obstacle when the shape of the target object is a regular shape; when the shape of the target object is an irregular shape, the target object is determined to be a liquid.
Specifically, when the type of the target object is determined based on the shape of the target object in the first image, there are two cases, and when the shape of the target object is a regular shape, the target object is determined to be an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be a liquid. The regular shape is a shape with smooth boundary, the irregular shape is a shape with uneven boundary, when the target object is the irregular shape, the radar reflection points are irregular, and when the target object is the regular shape, the target object is determined to be an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be a liquid. It should be noted that the regular shape is a shape with smooth boundary, the irregular shape is a shape with uneven boundary, and when the target object is an irregular shape, the points reflected by the radar are irregular.
In some embodiments of the present application, the determination module 26 is configured to determine whether to alter the planned route of the first vehicle based on the type.
Specifically, in an optional embodiment of the present application, when determining whether the target object is an obstacle: it may be determined whether the target object is from a second vehicle in front of the first vehicle; and when the judgment result indicates that the target object is not from the second vehicle and the shape of the target object is a regular shape, determining that the target object is an obstacle, namely, all the target objects which do not belong to the second vehicle and are identified as regular shapes are all identified as obstacles.
In an optional embodiment of the present application, in order to determine the accuracy of the result of whether the target object is from the second vehicle, in determining whether the target object is from a second vehicle in front of the first vehicle, a second image of the second vehicle may be acquired, where the second image includes but is not limited to RGB images; then inputting the second image to a machine learning model for analysis, obtaining a working state of the second vehicle, and determining the working state of the second vehicle based on the machine learning model to further determine whether the target object is from the second vehicle, wherein the working state includes but is not limited to the following cases: a first operating state in which a spraying operation is being performed; the second operating state is not spraying. The machine learning model is obtained by training a plurality of sets of data, wherein each set of data in the plurality of sets of data includes but is not limited to: an image of the second vehicle and a label for marking the image of the second vehicle as a work state; when the operation state is that the spraying operation is carried out, determining whether the type of the spraying object corresponding to the spraying operation is from a second vehicle; when the type and the type of the target object are consistent, determining that the target object is from the second vehicle.
In an optional embodiment of the present application, before determining whether to alter the planned route of the first vehicle based on the type, the method further comprises: acquiring attitude information of a second vehicle and information of a road where the second vehicle is located; predicting a direction of travel of the second vehicle based on the attitude information; and when the driving direction of the second vehicle is changed, controlling the first vehicle to continue driving according to the planned route. The pose information includes, but is not limited to: the direction of the vehicle head is that when the second vehicle and the first vehicle do not belong to the same route, the second vehicle is not considered to belong to the obstacle, and the first vehicle only needs to travel according to the planned route.
In an alternative embodiment of the present application, when the driving direction of the second vehicle is not changed, the first vehicle is controlled to change the planned route to avoid the obstacle, that is, when the second vehicle overlaps with the first vehicle route of the present application, the second vehicle is considered to belong to the obstacle, and at this time, the driving route of the first vehicle needs to be re-planned.
In another optional embodiment of the present application, it is determined whether to modify the driving route of the first vehicle according to a type of the target object, where the type includes an obstacle and a liquid, and when it is determined that the type of the target object is the obstacle, the planned route of the first vehicle is modified, where the modified planned route is used to avoid the target object; when the type of the target object is determined to be liquid, the vehicle is controlled to continue to run according to the current planned route, namely the liquid is considered not to belong to the obstacle, for example, when water sprayed by a sprinkler is sprayed on a first vehicle, the first vehicle is not considered to have an influence on the safe running of the first vehicle, and the first vehicle can run according to the route which is planned in advance as required without changing the running route.
In the embodiment of the application, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the barrier or the liquid can be realized according to the final identification result, the misjudgment is avoided, and the technical problem that whether the liquid on the ground is the barrier or not and the path planning is influenced in the related technology is solved
According to another aspect of the embodiments of the present application, there is provided a non-volatile storage medium, where the storage medium includes a stored program, and when the program runs, the apparatus where the storage medium is controlled to execute the above path planning method may execute the following program instructions, for example: acquiring a first image of a target object in front of a first vehicle, wherein the first image is a radar image; extracting feature information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises the following steps: obstacles and liquids located on the ground in front; it is determined whether to alter the planned route of the first vehicle depending on the type.
According to another aspect of embodiments of the present application, there is provided a vehicle, as shown in fig. 3, including: an electronic device 3, the electronic device comprising: a memory 30 for storing program instructions; a processor 32 for retrieving program instructions stored in the memory and performing the following functions: acquiring a first image of a target object in front of a first vehicle, wherein the first image is a radar image; extracting feature information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises the following steps: obstacles and liquids located on the ground in front; it is determined whether to alter the planned route of the first vehicle depending on the type.
Optionally, the memory is further configured to store a program that performs the following functions: scanning a target object through radar equipment installed in a first vehicle to obtain a first image; the shape of the target object is extracted from the first image.
Optionally, the memory is further configured to store a program that performs the following functions: the type of the target object is determined based on the shape of the target object in the first image. When the shape of the target object is a regular shape, determining that the target object is an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be a liquid.
In the embodiment of the invention, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the barrier or the liquid can be realized according to the final identification result, the misjudgment is avoided, and the technical problem that whether the liquid on the ground is the barrier or not cannot be distinguished in the related technology, and the path planning is influenced is solved.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (18)
1. A method of path planning, comprising:
acquiring a first image of a target object in front of a first vehicle, wherein the first image is a radar image;
extracting feature information of the target object from the first image;
identifying the type of the target object according to the characteristic information, wherein the type comprises: obstacles and liquids located on the ground in front;
determining whether to alter the planned route of the first vehicle in dependence on the type.
2. The method of claim 1,
acquiring a first image of a target object located in front of a first vehicle, comprising: scanning the target object through radar equipment installed in the first vehicle to obtain the first image;
extracting feature information of the target object from the first image, including: extracting a shape of the target object from the first image.
3. The method of claim 2, wherein identifying the type of the target object according to the feature information comprises:
determining a type of the target object based on a shape of the target object in the first image.
4. The method of claim 3, wherein determining the type of the target object based on the shape of the target object in the first image comprises:
when the shape of the target object is a regular shape, determining that the target object is an obstacle;
when the shape of the target object is an irregular shape, determining that the target object is liquid.
5. The method of claim 4, wherein determining that the target object is an obstacle comprises:
determining whether the target object is from a second vehicle in front of the first vehicle;
and when the judgment result indicates that the target object is not from the second vehicle and the shape of the target object is a regular shape, determining that the target object is an obstacle.
6. The method of claim 5, wherein determining whether the target object is from a second vehicle in front of the first vehicle comprises:
acquiring a second image of the second vehicle, wherein the second image is an RGB image;
inputting the second image into a machine learning model for analysis, and obtaining a working state of the second vehicle, wherein the working state comprises: spraying operation is being carried out and spraying operation is not carried out; the machine learning model is obtained by training a plurality of groups of data, and each group of data in the plurality of groups of data comprises: an image of a second vehicle and a label for marking the image of the second vehicle as a work state;
when the operation state is the spraying operation, determining the type of a spraying object corresponding to the spraying operation; and when the type is consistent with the type of the target object, determining that the target object is from the second vehicle.
7. The method of claim 5, wherein prior to determining whether to alter the planned route of the first vehicle as a function of the type, the method further comprises:
acquiring attitude information of the second vehicle and a road where the second vehicle is located;
predicting a traveling direction of the second vehicle based on the attitude information;
and when the driving direction of the second vehicle is changed and a road adjacent to the road where the second vehicle is located exists in the changed driving direction, controlling the first vehicle to continue driving according to the planned route.
8. The method of claim 7, wherein when the direction of travel of the second vehicle is not changed, then controlling the first vehicle to alter the planned route to avoid an obstacle.
9. The method of claim 8, wherein prior to controlling the first vehicle to alter the planned route, the method further comprises:
acquiring relative speeds of the first vehicle and the second vehicle;
when the relative speed is greater than 0, controlling the first vehicle to change the planned route; and when the relative speed is less than 0 or equal to 0, controlling the first vehicle to continue to run according to the planned route.
10. The method of claim 9, wherein the pose information comprises: the head of the second vehicle faces.
11. The method of claim 10, further comprising:
and determining that the running direction of the second vehicle changes after the direction of the head of the second vehicle changes and the second vehicle runs for a preset time according to the changed direction of the head after the direction of the head of the second vehicle changes.
12. The method of claim 1, wherein determining whether to alter the travel route of the first vehicle as a function of the type comprises:
when the type is the obstacle, modifying the planned route of the first vehicle, wherein the target object is avoided in the modified planned route;
and when the type is liquid, controlling the vehicle to continue to run according to the current planned route.
13. A path planning apparatus, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a first image of a target object positioned in front of a first vehicle, and the first image is a radar image;
the extraction module is used for extracting the characteristic information of the target object from the first image;
an identification module, configured to identify a type of the target object according to the feature information, where the type includes: obstacles and liquids located on the ground in front;
a determination module for determining whether to alter the planned route of the first vehicle in dependence on the type.
14. The apparatus of claim 13,
the acquisition module is used for scanning the target object through radar equipment installed in the first vehicle to obtain the first image;
the extracting module is used for extracting the shape of the target object from the first image.
15. The apparatus of claim 14, wherein the identification module is configured to determine the type of the target object based on a shape of the target object in the first image.
16. The apparatus of claim 15, wherein the identifying module is configured to determine that the target object is an obstacle when the target object has a regular shape; when the shape of the target object is an irregular shape, determining that the target object is liquid.
17. A non-volatile storage medium, characterized in that the storage medium comprises a stored program, wherein when the program runs, the storage medium is controlled by a device to execute the path planning method according to any one of claims 1 to 12.
18. A vehicle, comprising: an electronic device, the electronic device comprising:
a memory for storing program instructions;
a processor for retrieving program instructions stored in the memory and implementing the following functions when executing the program instructions:
acquiring a first image of a target object in front of a first vehicle, wherein the first image is a radar image;
extracting feature information of the target object from the first image;
identifying the type of the target object according to the characteristic information, wherein the type comprises: obstacles and liquids located on the ground in front;
determining whether to alter the planned route of the first vehicle in dependence on the type.
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