CN110320911A - Unmanned vehicle control method, device, unmanned vehicle and storage medium - Google Patents
Unmanned vehicle control method, device, unmanned vehicle and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
The present invention provides a kind of unmanned vehicle control method, device, unmanned vehicle and storage medium, this method, comprising: acquisition includes the pedestrian image of pedestrian's limb action；Gesture recognition is carried out to pedestrian's limb action in the pedestrian image, obtains pedestrian's posture information；Judge whether the movement posture that pedestrian's posture information is characterized is preset targeted attitude；If the movement posture that pedestrian's posture information is characterized is preset targeted attitude, the location information of target pedestrian is obtained；Driving path is determined according to the location information of the target pedestrian, and is travelled according to the driving path.To realize unmanned vehicle automatic identification pedestrian's limb action, respond pedestrian calling, generate driving path simultaneously to the position of pedestrian travel, allow pedestrian is convenient, timely obtain unmanned vehicle offer service, the service quality and efficiency of unmanned vehicle are promoted, user satisfaction is improved.
Description
Technical field
The present invention relates to unmanned vehicle technology field more particularly to a kind of unmanned vehicle control method, device, unmanned vehicle and storages
Medium.
Background technique
Automatic driving vehicle is also referred to as unmanned vehicle, and automatic driving vehicle is the newest scientific and technological achievement such as electronic computer and shows
For the product that auto industry combines, usually there is automatic Pilot, fluid drive, the function of automatic identification road.Unmanned vehicle can
To be applied to multiple fields, especially in logistics field, manual operation can be reduced, reduces human cost, improves logistics transportation
Automation.
Now, outdoors or in the biggish interior space, user needs oneself to look for sell when buying article
The place of goods.How to allow user timely to buy article is a problem to be solved.
Summary of the invention
The present invention provides a kind of unmanned vehicle control method, device, unmanned vehicle and storage medium, and it is automatic that unmanned vehicle may be implemented
It identifies pedestrian's limb action, responds the calling of pedestrian, generate driving path and simultaneously travelled to the position of pedestrian, so that pedestrian can be so as to
Service that is prompt, timely obtaining unmanned vehicle offer, promotes the service quality and efficiency of unmanned vehicle, improves user satisfaction.
In a first aspect, the embodiment of the present invention provides a kind of unmanned vehicle control method, comprising:
Acquisition includes the pedestrian image of pedestrian's limb action；
Gesture recognition is carried out to pedestrian's limb action in the pedestrian image, obtains pedestrian's posture information；
Judge whether the movement posture that pedestrian's posture information is characterized is preset targeted attitude；
If the movement posture that pedestrian's posture information is characterized is preset targeted attitude, the position of target pedestrian is obtained
Confidence breath；
Driving path is determined according to the location information of the target pedestrian, and is travelled according to the driving path.
In a kind of possible design, the acquisition includes the pedestrian image of pedestrian's limb action, comprising:
According to the preset time interval, the ambient image around unmanned vehicle is acquired by image acquisition equipment；
Pedestrian's identifying processing is carried out to the ambient image, filters out the candidate image for containing at least one pedestrian；
Screenshot and enhanced processing are carried out to the pedestrian area in the candidate image, obtain the row comprising pedestrian's limb action
People's image.
In a kind of possible design, gesture recognition is carried out to pedestrian's limb action in the pedestrian image, is gone
People's posture information, comprising:
Bone gesture recognition is carried out to the pedestrian in the pedestrian image, obtains the corresponding pedestrian's posture of the pedestrian image
Information, pedestrian's posture information include: shoulder position coordinates, arm joint position coordinates, wrist joint position coordinates, palm
Position coordinates.
In a kind of possible design, judge whether the movement posture that pedestrian's posture information is characterized is preset mesh
Mark posture, comprising:
According to pedestrian's posture information, the movement posture of pedestrian is constructed；
The movement posture and preset targeted attitude are compared one by one, if it exists at least one preset target appearance
The similarity of state and the movement posture is greater than preset threshold, it is determined that the movement posture that pedestrian's posture information is characterized is
Preset targeted attitude.
In a kind of possible design, the preset targeted attitude includes: wave posture, swing arm posture, posture of raising one's hand
Any one of or appoint it is a variety of.
In a kind of possible design, the location information for obtaining target pedestrian, comprising:
If getting the movement posture that two or more pedestrian's posture informations are characterized is mesh from the pedestrian image
Mark posture；The corresponding pedestrian of pedestrian's posture information is then labeled as candidate pedestrian；
Obtain all candidate the distance between pedestrians and unmanned vehicle；
Will with the unmanned vehicle apart from the smallest candidate pedestrian as target pedestrian, and obtain the position of the target pedestrian
Information.
In a kind of possible design, driving path is determined according to the location information of the target pedestrian, and according to described
Driving path traveling, comprising:
According to the location information of the target pedestrian, the destination of traveling is determined；
According to the current location information of unmanned vehicle and destination, driving path is generated；
It is travelled according to the driving path, until reaching the destination.
Second aspect, the embodiment of the present invention provide a kind of unmanned truck control device, comprising:
Acquisition module, for acquiring the pedestrian image comprising pedestrian's limb action；
Identification module obtains pedestrian's posture for carrying out gesture recognition to pedestrian's limb action in the pedestrian image
Information；
Judgment module, for judging whether the movement posture that pedestrian's posture information is characterized is preset target appearance
State；
Locating module obtains when the movement posture for being characterized in pedestrian's posture information is preset targeted attitude
Take the location information of target pedestrian；
Control module, for determining driving path according to the location information of the target pedestrian, and according to the traveling road
Diameter traveling.
In a kind of possible design, the acquisition module is specifically used for:
According to the preset time interval, the ambient image around unmanned vehicle is acquired by image acquisition equipment；
Pedestrian's identifying processing is carried out to the ambient image, filters out the candidate image for containing at least one pedestrian；
Screenshot and enhanced processing are carried out to the pedestrian area in the candidate image, obtain the row comprising pedestrian's limb action
People's image.
In a kind of possible design, the identification module is specifically used for:
Bone gesture recognition is carried out to the pedestrian in the pedestrian image, obtains the corresponding pedestrian's posture of the pedestrian image
Information, pedestrian's posture information include: shoulder position coordinates, arm joint position coordinates, wrist joint position coordinates, palm
Position coordinates.
In a kind of possible design, the judgment module is specifically used for:
According to pedestrian's posture information, the movement posture of pedestrian is constructed；
The movement posture and preset targeted attitude are compared one by one, if it exists at least one preset target appearance
The similarity of state and the movement posture is greater than preset threshold, it is determined that the movement posture that pedestrian's posture information is characterized is
Targeted attitude.
In a kind of possible design, the preset targeted attitude includes: wave posture, swing arm posture, posture of raising one's hand
Any one of or appoint it is a variety of.
In a kind of possible design, the locating module is specifically used for:
If getting the movement posture that two or more pedestrian's posture informations are characterized is mesh from the pedestrian image
Mark posture；The corresponding pedestrian of pedestrian's posture information is then labeled as candidate pedestrian；
Obtain all candidate the distance between pedestrians and unmanned vehicle；
Will with the unmanned vehicle apart from the smallest candidate pedestrian as target pedestrian, and obtain the position of the target pedestrian
Information.
In a kind of possible design, the control module is specifically used for:
According to the location information of the target pedestrian, the destination of traveling is determined；
According to the current location information of unmanned vehicle and destination, driving path is generated；
It is travelled according to the driving path, until reaching the destination.
The third aspect, the embodiment of the present invention provide a kind of unmanned vehicle, comprising: memory and processor store in memory
There is the executable instruction of the processor；Wherein, the processor is configured to execute the via the executable instruction is executed
Unmanned vehicle control method described in any one of one side.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
Unmanned vehicle control method described in any one of first aspect is realized when the program is executed by processor.
5th aspect, the embodiment of the present invention provide a kind of program product, and described program product includes: computer program, institute
It states computer program to be stored in readable storage medium storing program for executing, at least one processor of server can be from the readable storage medium storing program for executing
The computer program is read, at least one described processor executes the computer program and server is made to execute first aspect
In any unmanned vehicle control method.
The present invention provides a kind of unmanned vehicle control method, device, unmanned vehicle and storage medium, includes pedestrian's limb by acquisition
The pedestrian image of body movement；Gesture recognition is carried out to pedestrian's limb action in the pedestrian image, obtains pedestrian's posture information；
Judge whether the movement posture that pedestrian's posture information is characterized is preset targeted attitude；If pedestrian's posture information institute
The movement posture of characterization is preset targeted attitude, then obtains the location information of target pedestrian；According to the position of the target pedestrian
Confidence, which ceases, determines driving path, and travels according to the driving path.To realize unmanned vehicle automatic identification pedestrian's limb action,
The calling of pedestrian is responded, driving path is generated and is simultaneously travelled to the position of pedestrian, such that pedestrian is convenient, timely obtains nobody
The service that vehicle provides promotes the service quality and efficiency of unmanned vehicle, improves user satisfaction.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the schematic illustration of an application scenarios of the invention；
Fig. 2 is the flow chart for the unmanned vehicle control method that the embodiment of the present invention one provides；
Fig. 3 is the flow chart of unmanned vehicle control method provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram for the unmanned truck control device that the embodiment of the present invention three provides；
Fig. 5 is the structural schematic diagram for the unmanned truck control device that the embodiment of the present invention four provides；
Fig. 6 is the structural schematic diagram for the unmanned vehicle that the embodiment of the present invention five provides.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Automatic driving vehicle is also referred to as unmanned vehicle, and automatic driving vehicle is the newest scientific and technological achievement such as electronic computer and shows
For the product that auto industry combines, usually there is automatic Pilot, fluid drive, the function of automatic identification road.Unmanned vehicle can
To be applied to multiple fields, especially in logistics field, manual operation can be reduced, reduces human cost, improves logistics transportation
Automation.For example, tax services provide the transportation service of point-to-point for passenger.Currently, generally being judged by taxi driver
Whether roadside has potential passenger.When there is pedestrian to wave, taxi driver is driven in face of vehicle to pedestrian, is provided and is taken for pedestrian
Service.For another example, current Vending Machine can provide kinds of goods sale service, such as beverage for client.But it is general this
Vending Machine be all it is fixed, need user to go to Vending Machine, then select cargo bought.The present invention provides one
Kind of unmanned vehicle control method can respond the calling of pedestrian with automatic identification pedestrian's limb action, generate driving path and to pedestrian
Position traveling, allow pedestrian is convenient, timely obtain unmanned vehicle offer service.For example, the present invention can be provided
Method be applied to unmanned taxi on, to realize that unmanned vehicle provides the transportation service of point-to-point for pedestrian.It can also be by this
The method that invention provides is applied on unmanned logistic car, to realize that unmanned vehicle provides mobile sale service for pedestrian.
During concrete implementation, Fig. 1 is the schematic illustration of an application scenarios of the invention, as shown in Figure 1, at nobody
There may be one or more pedestrian 10 around vehicle 20.The acquisition module of unmanned vehicle 20, according to the preset time interval, acquisition
Pedestrian image comprising pedestrian's limb action.Then, the identification module of unmanned vehicle 20, for pedestrian's limbs in pedestrian image
Movement carries out gesture recognition, obtains pedestrian's posture information.The judgment module of unmanned vehicle 20, for judging pedestrian's posture information institute table
Whether the movement posture of sign is preset targeted attitude.The locating module of unmanned vehicle 20, for being characterized in pedestrian's posture information
Movement posture when being preset targeted attitude, obtain the location information of target pedestrian 10.The control module of unmanned vehicle 20, is used for
Driving path is determined according to the location information of target pedestrian 10, and is travelled according to driving path.Finally, the arrival of unmanned vehicle 20 is made
In face of the pedestrian 10 of required movement, service is provided for pedestrian 10.
Unmanned vehicle automatic identification pedestrian's limb action may be implemented using the above method, respond the calling of pedestrian, generate row
Sail path and to the position of pedestrian travel, allow pedestrian is convenient, timely obtain unmanned vehicle offer service, promote nobody
The service quality and efficiency of vehicle improve user satisfaction.
How to be solved with technical solution of the specifically embodiment to technical solution of the present invention and the application below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 2 is the flow chart for the unmanned vehicle control method that the embodiment of the present invention one provides, as shown in Fig. 2, in the present embodiment
Method may include:
S101, acquisition include the pedestrian image of pedestrian's limb action.
In the present embodiment, unmanned vehicle according to the preset time interval, is acquired around unmanned vehicle by image acquisition equipment
Ambient image；Pedestrian's identifying processing is carried out to ambient image, filters out the candidate image for containing at least one pedestrian；Candidate is schemed
Pedestrian area as in carries out screenshot and enhanced processing, obtains the pedestrian image comprising pedestrian's limb action.
Specifically, unmanned vehicle is the product that the newest scientific and technological achievement such as electronic computer is combined with modern automobile industry, is led to
Often with having automatic Pilot, fluid drive, the function of automatic identification road.It is generally provided with many sensors on unmanned vehicle, such as takes the photograph
As first-class image acquisition equipment, GPS (Global Positioning System, global positioning system) positioning device, ultrasonic wave
Radar etc..The present invention acquires unmanned vehicle week according to certain time interval such as 10S using the image acquisition equipment on unmanned vehicle
The ambient image enclosed.Then, using image processing algorithm, semantic segmentation etc. is carried out to ambient image and carries out pedestrian's identifying processing,
Filter out the image for containing at least one pedestrian.For directly filtering not comprising the image of pedestrian, without subsequent processing,
Promote the speed of processing.For the candidate image comprising pedestrian, screenshot and enhanced processing are carried out to pedestrian area, obtained more clear
The clear pedestrian image comprising pedestrian's limb action.
S102, gesture recognition is carried out to pedestrian's limb action in pedestrian image, obtains pedestrian's posture information.
In the present embodiment, bone gesture recognition is carried out to the pedestrian in pedestrian image, obtains the corresponding pedestrian of pedestrian image
Posture information, pedestrian's posture information include: shoulder position coordinates, arm joint position coordinates, wrist joint position coordinates, palm
Position coordinates.
S103, judge whether the movement posture that pedestrian's posture information is characterized is preset targeted attitude.
In the present embodiment, according to pedestrian's posture information, the movement posture of pedestrian is constructed；By movement posture and preset target
Posture is compared one by one, and the similarity of at least one preset targeted attitude and movement posture is greater than preset threshold if it exists,
The movement posture for then determining that pedestrian's posture information is characterized is preset targeted attitude.Wherein, preset targeted attitude includes: to recruit
Hand posture, swing arm posture, any one of posture of raising one's hand are appointed a variety of.
Specifically, the shoulder position coordinates, arm joint position coordinates, wrist joint position that pedestrian is obtained in S102 are sat
After mark, palm position coordinates, according to these coordinate positions, the movement posture of pedestrian is constructed.Then, by the posture of building and in advance
The targeted attitude of storage is compared one by one.If similarity is more than certain value, it may be considered that the posture of pedestrian is target appearance
State.For example, pedestrian's movement posture is constructed, if being more than with posture similarity of waving according to the coordinate points extracted in pedestrian image
80%, then it is believed that pedestrian has done movement of waving, calling unmanned vehicle is intended that close to pedestrian, provides service for pedestrian.
If the movement posture that S104, pedestrian's posture information are characterized is preset targeted attitude, obtain target pedestrian's
Location information.
In the present embodiment, if from pedestrian image, get two or more pedestrian's posture informations characterized it is dynamic
Gesturing is targeted attitude；The corresponding pedestrian of pedestrian's posture information is then labeled as candidate pedestrian；Obtain all candidate pedestrians with
The distance between unmanned vehicle；Will with unmanned vehicle apart from the smallest candidate pedestrian as target pedestrian, and obtain the position of target pedestrian
Confidence breath.
It specifically, may include multiple pedestrian images in the image of shooting.If after identification, discovery has multiple pedestrians
Preset movement is made to unmanned vehicle, issues calling instruction, then multiple pedestrians is judged at a distance from unmanned vehicle, it is preferential to ring
Service should be provided for the pedestrian apart from the calling of the nearlyr pedestrian of unmanned vehicle.If finding only one pedestrian to nobody after identification
Vehicle makes preset movement, issues calling instruction, then directly in response to the calling of the pedestrian, provides service for the pedestrian.
S105, driving path is determined according to the location information of target pedestrian, and is travelled according to driving path.
In the present embodiment, according to the location information of target pedestrian, the destination of traveling is determined；According to the present bit of unmanned vehicle
Confidence breath and destination, generate driving path；It is travelled according to driving path, until arriving at the destination.
Specifically, it after unmanned vehicle determines target pedestrian, according to the position of target pedestrian, is generated in high-precision map from working as
Front position to the traveling road between target pedestrian.Then, according to driving path, automatic running to target pedestrian position is target
Pedestrian provides service.
In a kind of possible application scenarios, unmanned vehicle is passenger car, such as taxi, is responsible for outdoors or interior mentions
For pickup and delivery service.For example, the unmanned vehicle of ferry-boat service is provided in airport, Kechuang garden, campus, it can side through the invention
Method realizes automatic identification pedestrian limb action, responds the calling of pedestrian, generates driving path and travels to the position of pedestrian.Row
After people gets on the bus, it is possible to specify the stroke end of oneself, unmanned vehicle provide bearer service for pedestrian.For example, in campus, Hang Rentong
It crosses and waves, call unmanned vehicle, allow it that pedestrian is sent to specified teaching building from dormitory area.
In a kind of possible application scenarios, unmanned vehicle is unmanned logistic car, is provided with many kinds of goods on vehicle.When pedestrian exists
On unmanned vehicle, it is seen that when oneself interested kinds of goods, can call unmanned vehicle by equal required movements of waving, it is made to generate row
It sails path and is travelled to the position of pedestrian.After unmanned vehicle arrival, user can go through the kinds of goods of unmanned vehicle, and can purchase
It buys.
The present embodiment, by acquiring the pedestrian image comprising pedestrian's limb action；It is dynamic to pedestrian's limbs in pedestrian image
Make carry out gesture recognition, obtains pedestrian's posture information；Judge whether the movement posture that pedestrian's posture information is characterized is preset
Targeted attitude；If the movement posture that pedestrian's posture information is characterized is preset targeted attitude, the position of target pedestrian is obtained
Information；Driving path is determined according to the location information of target pedestrian, and is travelled according to driving path.To realize that unmanned vehicle is automatic
It identifies pedestrian's limb action, responds the calling of pedestrian, generate driving path and simultaneously travelled to the position of pedestrian, so that pedestrian can be so as to
Service that is prompt, timely obtaining unmanned vehicle offer, promotes the service quality and efficiency of unmanned vehicle, improves user satisfaction.
Fig. 3 is the flow chart of unmanned vehicle control method provided by Embodiment 2 of the present invention, as shown in figure 3, in the present embodiment
Method may include:
S201, acquisition include the pedestrian image of pedestrian's limb action；
S202, gesture recognition is carried out to pedestrian's limb action in pedestrian image, obtains pedestrian's posture information；
S203, judge whether the movement posture that pedestrian's posture information is characterized is preset targeted attitude；
If the movement posture that S204, pedestrian's posture information are characterized is preset targeted attitude, obtain target pedestrian's
Location information；
S205 determines driving path according to the location information of target pedestrian, and travels according to driving path.
Step in the present embodiment in step S201~step S205 implementing principle and technical effect method shown in Figure 2
The related content of rapid S101~step S105, details are not described herein again.
S206, the complaint message in traveling path process, in front of detection unmanned vehicle.
In the present embodiment, during unmanned vehicle is travelled to the position of target pedestrian, barrier can be potentially encountered, such as go
People in walking, or other mobile unmanned vehicles etc..Temporarily go out so that unmanned vehicle encounters in original driving path
Existing barrier.In the present embodiment, complaint message can be detected by being mounted on the ultrasonic equipment in front of unmanned vehicle.
S207, according to the complaint message, halt, or change driving path.
In the present embodiment, when unmanned vehicle detects that there are when barrier in preset range, it can according to preset
Program executes corresponding driver behavior.
In a kind of optional embodiment, unmanned vehicle detects in front of driving path barrier occur, if barrier is
Mobile object, then unmanned vehicle halts, until the mobile object leaves the driving path of unmanned vehicle.
In another optional embodiment, unmanned vehicle detects in front of driving path barrier occur, if barrier
It is fixed object (such as object state does not change within a preset period of time), then unmanned vehicle changes driving path, to bypass
The fixed object.
Specifically, in practical application scene, unmanned vehicle can be unmanned logistic car, and many goods are mounted on unmanned vehicle
Product.When pedestrian is on mobile unmanned vehicle, it is seen that when oneself interested kinds of goods, equal required movements of waving, calling can be passed through
Unmanned vehicle makes it generate driving path and travel to the position of pedestrian.When unmanned vehicle is travelled to the position of determining target pedestrian
When, it may be intercepted by other pedestrians on the way.At this point, the arm of pedestrian can make interception movement, interception movement can be by nothing
The ultrasonic equipment loaded on people's vehicle is detected, and therefore, unmanned vehicle can slow down and halt when near arm.At this time
Pedestrian can complete exchange of commodity on unmanned vehicle.
It should be noted that it is not limited to ultrasonic equipment for detecting the detection device of front obstacle on unmanned vehicle,
It can also be existing other detection of obstacles sensors, such as infrared sensor etc..
The present embodiment, by acquiring the pedestrian image comprising pedestrian's limb action；It is dynamic to pedestrian's limbs in pedestrian image
Make carry out gesture recognition, obtains pedestrian's posture information；Judge whether the movement posture that pedestrian's posture information is characterized is preset
Targeted attitude；If the movement posture that pedestrian's posture information is characterized is preset targeted attitude, the position of target pedestrian is obtained
Information；Driving path is determined according to the location information of target pedestrian, and is travelled according to driving path.To realize that unmanned vehicle is automatic
It identifies pedestrian's limb action, responds the calling of pedestrian, generate driving path and simultaneously travelled to the position of pedestrian, so that pedestrian can be so as to
Service that is prompt, timely obtaining unmanned vehicle offer, promotes the service quality and efficiency of unmanned vehicle, improves user satisfaction.
In addition, unmanned vehicle can also realize detection of obstacles in the driving process of unmanned vehicle, according to the obstacle detected
Object is different, executes different Driving controls.To promote the working efficiency of unmanned vehicle as much as possible, user experience is promoted, is met
More person-times of exchange of commodity demand on unmanned vehicle driving path.
Fig. 4 is the structural schematic diagram for the unmanned truck control device that the embodiment of the present invention three provides, as shown in figure 4, this implementation
Example unmanned truck control device may include:
Acquisition module 31, for acquiring the pedestrian image comprising pedestrian's limb action；
Identification module 32 obtains pedestrian's posture letter for carrying out gesture recognition to pedestrian's limb action in pedestrian image
Breath；
Judgment module 33, for judging whether the movement posture that pedestrian's posture information is characterized is preset targeted attitude；
Locating module 34 when the movement posture for being characterized in pedestrian's posture information is preset targeted attitude, obtains
The location information of target pedestrian；
Control module 35 for determining driving path according to the location information of target pedestrian, and is travelled according to driving path.
In a kind of possible design, acquisition module 31 is specifically used for:
According to the preset time interval, the ambient image around unmanned vehicle is acquired by image acquisition equipment；
Pedestrian's identifying processing is carried out to ambient image, filters out the candidate image for containing at least one pedestrian；
Screenshot and enhanced processing are carried out to the pedestrian area in candidate image, the pedestrian comprising pedestrian's limb action is obtained and schemes
Picture.
In a kind of possible design, identification module 32 is specifically used for:
Bone gesture recognition is carried out to the pedestrian in pedestrian image, obtains the corresponding pedestrian's posture information of pedestrian image, row
People's posture information includes: shoulder position coordinates, arm joint position coordinates, wrist joint position coordinates, palm position coordinates.
In a kind of possible design, judgment module 33 is specifically used for:
According to pedestrian's posture information, the movement posture of pedestrian is constructed；
Movement posture and preset targeted attitude are compared one by one, if it exists at least one preset targeted attitude with
The similarity of movement posture is greater than preset threshold, it is determined that the movement posture that pedestrian's posture information is characterized is targeted attitude.
In a kind of possible design, preset targeted attitude include: wave posture, swing arm posture, in posture of raising one's hand
It is any or appoint it is a variety of.
In a kind of possible design, locating module 34 is specifically used for:
If getting the movement posture that two or more pedestrian's posture informations are characterized is target appearance from pedestrian image
State；The corresponding pedestrian of pedestrian's posture information is then labeled as candidate pedestrian；
Obtain all candidate the distance between pedestrians and unmanned vehicle；
Will with unmanned vehicle apart from the smallest candidate pedestrian as target pedestrian, and obtain the location information of target pedestrian.
In a kind of possible design, control module 35 is specifically used for:
According to the location information of target pedestrian, the destination of traveling is determined；
According to the current location information of unmanned vehicle and destination, driving path is generated；
It is travelled according to driving path, until arriving at the destination.
The unmanned truck control device of the present embodiment, can execute the technical solution in method shown in Fig. 2, implement
Associated description in journey and technical principle method shown in Figure 2, details are not described herein again.
The present embodiment, by acquiring the pedestrian image comprising pedestrian's limb action；It is dynamic to pedestrian's limbs in pedestrian image
Make carry out gesture recognition, obtains pedestrian's posture information；Judge whether the movement posture that pedestrian's posture information is characterized is preset
Targeted attitude；If the movement posture that pedestrian's posture information is characterized is preset targeted attitude, the position of target pedestrian is obtained
Information；Driving path is determined according to the location information of target pedestrian, and is travelled according to driving path.To realize that unmanned vehicle is automatic
It identifies pedestrian's limb action, responds the calling of pedestrian, generate driving path and simultaneously travelled to the position of pedestrian, so that pedestrian can be so as to
Service that is prompt, timely obtaining unmanned vehicle offer, promotes the service quality and efficiency of unmanned vehicle, improves user satisfaction.
Fig. 5 is the structural schematic diagram for the unmanned truck control device that the embodiment of the present invention four provides, as shown in figure 5, this implementation
On the basis of the unmanned truck control device device shown in Fig. 4 of example, can also include:
Detection module 36, for detecting the complaint message in front of unmanned vehicle in traveling path process.
In the present embodiment, during unmanned vehicle is travelled to the position of target pedestrian, barrier can be potentially encountered, such as go
People in walking, or other mobile unmanned vehicles etc..Temporarily go out so that unmanned vehicle encounters in original driving path
Existing barrier.In the present embodiment, complaint message can be detected by being mounted on the ultrasonic equipment in front of unmanned vehicle.
Control module 35 is also used to be halted according to the complaint message, or change driving path.
In the present embodiment, when unmanned vehicle detects that there are when barrier in preset range, it can according to preset
Program executes corresponding driver behavior.
In a kind of optional embodiment, unmanned vehicle detects in front of driving path barrier occur, if barrier is
Mobile object, then unmanned vehicle halts, until the mobile object leaves the driving path of unmanned vehicle.
In another optional embodiment, unmanned vehicle detects in front of driving path barrier occur, if barrier
It is fixed object (such as object state does not change within a preset period of time), then unmanned vehicle changes driving path, to bypass
The fixed object.
Specifically, in practical application scene, unmanned vehicle can be unmanned logistic car, and many goods are mounted on unmanned vehicle
Product.When pedestrian is on mobile unmanned vehicle, it is seen that when oneself interested kinds of goods, equal required movements of waving, calling can be passed through
Unmanned vehicle makes it generate driving path and travel to the position of pedestrian.When unmanned vehicle is travelled to the position of determining target pedestrian
When, it may be intercepted by other pedestrians on the way.At this point, the arm of pedestrian can make interception movement, interception movement can be by nothing
The ultrasonic equipment loaded on people's vehicle is detected, and therefore, unmanned vehicle can slow down and halt when near arm.At this time
Pedestrian can complete exchange of commodity on unmanned vehicle.
It should be noted that it is not limited to ultrasonic equipment for detecting the detection device of front obstacle on unmanned vehicle,
It can also be existing other detection of obstacles sensors, such as infrared sensor etc..
The present embodiment, by acquiring the pedestrian image comprising pedestrian's limb action；It is dynamic to pedestrian's limbs in pedestrian image
Make carry out gesture recognition, obtains pedestrian's posture information；Judge whether the movement posture that pedestrian's posture information is characterized is preset
Targeted attitude；If the movement posture that pedestrian's posture information is characterized is preset targeted attitude, the position of target pedestrian is obtained
Information；Driving path is determined according to the location information of target pedestrian, and is travelled according to driving path.To realize that unmanned vehicle is automatic
It identifies pedestrian's limb action, responds the calling of pedestrian, generate driving path and simultaneously travelled to the position of pedestrian, so that pedestrian can be so as to
Service that is prompt, timely obtaining unmanned vehicle offer, promotes the service quality and efficiency of unmanned vehicle, improves user satisfaction.
In addition, unmanned vehicle can also realize detection of obstacles in the driving process of unmanned vehicle, according to the obstacle detected
Object is different, executes different Driving controls.To promote the working efficiency of unmanned vehicle as much as possible, user experience is promoted, is met
More person-times of exchange of commodity demand on unmanned vehicle driving path.
Fig. 6 is the structural schematic diagram of unmanned vehicle that the embodiment of the present invention five provides, as shown in fig. 6, the present embodiment nobody
Vehicle 40 may include: processor 41 and memory 42.
Memory 42, for storing program；Memory 42 may include volatile memory (English: volatile
Memory), for example, random access memory (English: random-access memory, abbreviation: RAM), such as static random-access
Memory (English: static random-access memory, abbreviation: SRAM), double data rate synchronous dynamic random-access
Memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviation:
DDR SDRAM) etc.；Memory also may include nonvolatile memory (English: non-volatile memory), such as fastly
Flash memory (English: flash memory).Memory 42 is used to store computer program (the application journey as realized the above method
Sequence, functional module etc.), computer instruction etc., above-mentioned computer program, computer instruction etc. can with partitioned storage at one or
In multiple memories 42.And above-mentioned computer program, computer instruction, data etc. can be called with device 41 processed.
Above-mentioned computer program, computer instruction etc. can be with partitioned storages in one or more memories 42.And
Above-mentioned computer program, computer instruction, data etc. can be called with device 41 processed.
Processor 41, for executing the computer program of the storage of memory 42, to realize method that above-described embodiment is related to
In each step.
It specifically may refer to the associated description in previous methods embodiment.
Processor 41 and memory 42 can be absolute construction, be also possible to the integrated morphology integrated.Work as processing
When device 41 and memory 42 are absolute construction, memory 42, processor 41 can be of coupled connections by bus 43.
The server of the present embodiment can execute the technical solution in method shown in Fig. 2, Fig. 3, specific implementation process and
Associated description of the technical principle referring to fig. 2, in method shown in Fig. 3, details are not described herein again.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, deposited in computer readable storage medium
Computer executed instructions are contained, when at least one processor of user equipment executes the computer executed instructions, user equipment
Execute above-mentioned various possible methods.
Wherein, computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
From a place to any medium of another place transmission computer program.Storage medium can be general or specialized computer
Any usable medium that can be accessed.A kind of illustrative storage medium is coupled to processor, to enable a processor to from this
Read information, and information can be written to the storage medium.Certainly, storage medium is also possible to the composition portion of processor
Point.Pocessor and storage media can be located in ASIC.In addition, the ASIC can be located in user equipment.Certainly, processor and
Storage medium can also be used as discrete assembly and be present in communication equipment.
The application also provides a kind of program product, and program product includes computer program, and computer program is stored in readable
In storage medium, at least one processor of server can read computer program from readable storage medium storing program for executing, at least one
Reason device executes the unmanned vehicle control method that computer program makes the server implementation embodiments of the present invention any.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or part of or all technical features are carried out etc.
With replacement；And these modifications or substitutions, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (10)
1. a kind of unmanned vehicle control method characterized by comprising
Acquisition includes the pedestrian image of pedestrian's limb action；
Gesture recognition is carried out to pedestrian's limb action in the pedestrian image, obtains pedestrian's posture information；
Judge whether the movement posture that pedestrian's posture information is characterized is preset targeted attitude；
If the movement posture that pedestrian's posture information is characterized is preset targeted attitude, the position letter of target pedestrian is obtained
Breath；
Driving path is determined according to the location information of the target pedestrian, and is travelled according to the driving path.
2. the method according to claim 1, wherein it is described acquisition include pedestrian's limb action pedestrian image,
Include:
According to the preset time interval, the ambient image around unmanned vehicle is acquired by image acquisition equipment；
Pedestrian's identifying processing is carried out to the ambient image, filters out the candidate image for containing at least one pedestrian；
Screenshot and enhanced processing are carried out to the pedestrian area in the candidate image, the pedestrian comprising pedestrian's limb action is obtained and schemes
Picture.
3. the method according to claim 1, wherein carrying out appearance to pedestrian's limb action in the pedestrian image
State identification, obtains pedestrian's posture information, comprising:
Bone gesture recognition is carried out to the pedestrian in the pedestrian image, obtains the corresponding pedestrian's posture letter of the pedestrian image
Breath, pedestrian's posture information includes: shoulder position coordinates, arm joint position coordinates, wrist joint position coordinates, palm position
Set coordinate.
4. the method according to claim 1, wherein judging the movement posture that pedestrian's posture information is characterized
It whether is preset targeted attitude, comprising:
According to pedestrian's posture information, the movement posture of pedestrian is constructed；
The movement posture and preset targeted attitude are compared one by one, if it exists at least one preset targeted attitude with
The similarity of the movement posture is greater than preset threshold, it is determined that the movement posture that pedestrian's posture information is characterized is default
Targeted attitude.
5. the method according to claim 1, wherein the preset targeted attitude includes: wave posture, swing arm
Posture, any one of posture of raising one's hand are appointed a variety of.
6. the method according to claim 1, wherein the location information for obtaining target pedestrian, comprising:
If getting the movement posture that two or more pedestrian's posture informations are characterized is target appearance from the pedestrian image
State；The corresponding pedestrian of pedestrian's posture information is then labeled as candidate pedestrian；
Obtain all candidate the distance between pedestrians and unmanned vehicle；
Will with the unmanned vehicle apart from the smallest candidate pedestrian as target pedestrian, and the position for obtaining the target pedestrian is believed
Breath.
7. method according to claim 1 to 6, which is characterized in that according to the location information of the target pedestrian
It determines driving path, and is travelled according to the driving path, comprising:
According to the location information of the target pedestrian, the destination of traveling is determined；
According to the current location information of unmanned vehicle and destination, driving path is generated；
It is travelled according to the driving path, until reaching the destination.
8. a kind of unmanned truck control device characterized by comprising
Acquisition module, for acquiring the pedestrian image comprising pedestrian's limb action；
Identification module obtains pedestrian's posture information for carrying out gesture recognition to pedestrian's limb action in the pedestrian image；
Judgment module, for judging whether the movement posture that pedestrian's posture information is characterized is preset targeted attitude；
Locating module when the movement posture for being characterized in pedestrian's posture information is preset targeted attitude, obtains mesh
Mark the location information of pedestrian；
Control module, for determining driving path according to the location information of the target pedestrian, and according to the driving path row
It sails.
9. a kind of unmanned vehicle characterized by comprising memory and processor, be stored with the processor in memory can
It executes instruction；Wherein, the processor is configured to carry out nothing described in perform claim requirement 1-7 via the execution executable instruction
People's vehicle control method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Claim 1-7 described in any item unmanned vehicle control methods are realized when execution.
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