CN106910358A - For the attitude determination method and device of unmanned vehicle - Google Patents
For the attitude determination method and device of unmanned vehicle Download PDFInfo
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- CN106910358A CN106910358A CN201710264874.1A CN201710264874A CN106910358A CN 106910358 A CN106910358 A CN 106910358A CN 201710264874 A CN201710264874 A CN 201710264874A CN 106910358 A CN106910358 A CN 106910358A
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- attitude
- unmanned vehicle
- positional information
- filming apparatus
- information
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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Abstract
This application discloses attitude determination method and device for unmanned vehicle.One specific embodiment of the method includes obtaining the positional information and direct of travel of the unmanned vehicle specified；In response to detecting the nearest crossing in position indicated by positional information on the direct of travel, apart from the unmanned vehicle in the range of predeterminable range, it is determined that positioned at the crossing, the signal lamp that the filming apparatus are to be captured positional information；Default positional information of the positional information and the filming apparatus of positional information, the signal lamp based on the unmanned vehicle in the unmanned vehicle, determines that the filming apparatus shoot the attitude information of the signal lamp；Generation includes the attitude regulating command of the attitude information, and the attitude regulating command is sent into the filming apparatus, so that the filming apparatus carry out pose adjustment.The embodiment of the present application can adjust the attitude of filming apparatus, filming apparatus is photographed signal lamp.
Description
Technical field
The application is related to field of computer technology, and in particular to Internet technical field, more particularly, to unmanned vehicle
Attitude determination method and device.
Background technology
The unmanned vehicle travelled on road, to by crossing, first-selection needs identification traffic lights (hereinafter referred to as signal
Lamp).
In the prior art, during marker lamp, unmanned vehicle can shoot by signal lamp, so that root
The operation for meeting traffic rules is made according to the result for shooting, that is, is stopped or current.
But influenceed by complicated traffic, unmanned vehicle possibly cannot photograph signal lamp, also just cannot be to letter
Signal lamp is identified.Thus act of violating regulations is likely to result in, or even causes traffic accident.
The content of the invention
The purpose of the application be propose it is a kind of it is improved for the attitude determination method and device of unmanned vehicle come solve with
The technical problem that upper background section is mentioned.
In a first aspect, the embodiment of the present application provides a kind of attitude determination method for unmanned vehicle, method includes：Obtain
The positional information and direct of travel of the unmanned vehicle specified, wherein, filming apparatus are provided with unmanned vehicle；It is expert in response to detecting
Enter the nearest crossing in the position indicated by positional information on direction, apart from unmanned vehicle in the range of predeterminable range, it is determined that position
In crossing, the signal lamp that filming apparatus are to be captured positional information；The position letter of positional information, signal lamp based on unmanned vehicle
Breath and default positional information of the filming apparatus in unmanned vehicle, determine that filming apparatus shoot the attitude information of signal lamp；Generation
Attitude regulating command including attitude information, and attitude regulating command is sent to filming apparatus, so that filming apparatus carry out appearance
State is adjusted.
In certain embodiments, filming apparatus include the turntable of camera and camera；And generation includes the appearance of attitude information
State adjust instruction, and attitude regulating command is sent to filming apparatus, so that filming apparatus carry out pose adjustment, including：Generation
Attitude regulating command for carrying out pose adjustment to camera, attitude regulating command includes attitude information；By attitude regulating command
Turntable is sent to, so that turntable adjusts the attitude of camera according to attitude information.
In certain embodiments, method also includes：Receive the video flowing or figure sent by the filming apparatus of pose adjustment
Whether picture, determine the signal lamp presented in video flowing or image in default center region；In response to determining not in default center
In region, then according in video flowing or signal lamp is presented in image position, the current positional information of signal lamp is determined；Obtain
The current positional information of unmanned vehicle, according to the current positional information of unmanned vehicle and the current positional information of signal lamp and shooting dress
The default positional information in unmanned vehicle is put, the amendment attitude information of filming apparatus is determined.
In certain embodiments, positional information includes geographical location information and elevation information.
In certain embodiments, the positional information based on unmanned vehicle, the positional information of signal lamp and filming apparatus are at nobody
Default positional information in car, determines that filming apparatus shoot the attitude information of signal lamp, including：Determine the position letter of signal lamp
Manner of breathing obtains the first relative position information for the relative position information of the positional information of unmanned vehicle；Determine the first relative position
The relative position information of default positional information of the information relative to filming apparatus in unmanned vehicle, obtains the second relative position letter
Breath；Using the second relative position information, the attitude information of filming apparatus is determined.
Second aspect, this application provides a kind of attitude determining device for unmanned vehicle, device includes：Acquiring unit,
It is configured to obtain the positional information and direct of travel of the unmanned vehicle specified, wherein, filming apparatus are provided with unmanned vehicle；Detection
Unit, is configured to nearest in response to detecting position indicated by positional information on direct of travel, apart from unmanned vehicle
Crossing in the range of predeterminable range, it is determined that positioned at crossing, the signal lamp that filming apparatus are to be captured positional information；It is determined that single
Unit, is configured to the positional information based on unmanned vehicle, the positional information of signal lamp and filming apparatus default in unmanned vehicle
Positional information, determines that filming apparatus shoot the attitude information of signal lamp；Generation unit, generation includes the pose adjustment of attitude information
Instruction, and attitude regulating command is sent to filming apparatus, so that filming apparatus carry out pose adjustment.
In certain embodiments, filming apparatus include the turntable of camera and camera；And generation unit, including：Generation mould
Block, being configured to generation for carrying out the attitude regulating command of pose adjustment, attitude regulating command to camera includes attitude information；
Sending module, is configured to for attitude regulating command to be sent to turntable, so that turntable adjusts the attitude of camera according to attitude information.
In certain embodiments, device also includes：Receiving unit, is configured to receive by the filming apparatus of pose adjustment
Whether the video flowing or image of transmission, determine the signal lamp presented in video flowing or image in default center region；It is determined that letter
Interest statement unit, is configured in response to determining not in default center region, then according to signal lamp is in video flowing or in image
Existing position, determines the current positional information of signal lamp；Determine attitude unit, be configured to obtain the current position letter of unmanned vehicle
Breath, the presetting in unmanned vehicle according to the current positional information of unmanned vehicle and the current positional information of signal lamp and filming apparatus
Positional information, determine the amendment attitude information of filming apparatus.
In certain embodiments, positional information includes geographical location information and elevation information.
In certain embodiments, determining unit, including：Determining module, is configured to determine the positional information phase of signal lamp
For the relative position information of the positional information of unmanned vehicle, the first relative position information is obtained；Determine position module, be configured to
Determine the relative position information of default positional information of first relative position information relative to filming apparatus in unmanned vehicle, obtain
To the second relative position information；Determine gesture module, be configured to, using the second relative position information, determine the appearance of filming apparatus
State information.
Attitude determination method and device for unmanned vehicle that the embodiment of the present application is provided, the unmanned vehicle specified by acquisition
Positional information and direct of travel, wherein, filming apparatus are provided with unmanned vehicle, filming apparatus can change shooting angle；It
Afterwards, in response to detecting the nearest crossing in position indicated by positional information on direct of travel, apart from unmanned vehicle pre-
If in distance range, it is determined that positioned at crossing, the signal lamp that filming apparatus are to be captured positional information；Then, based on unmanned vehicle
Default positional information in unmanned vehicle of positional information, the positional information of signal lamp and filming apparatus, determine filming apparatus
Shoot the attitude information of signal lamp；Finally, generation includes the attitude regulating command of attitude information, and attitude regulating command is sent
To filming apparatus, so that filming apparatus carry out pose adjustment such that it is able to adjust the attitude of filming apparatus, enable filming apparatus
Photograph signal lamp.
Brief description of the drawings
By the detailed description made to non-limiting example made with reference to the following drawings of reading, the application other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is that the application can apply to exemplary system architecture figure therein；
Fig. 2 is the flow chart of one embodiment of the attitude determination method for unmanned vehicle according to the application；
Fig. 3 is a schematic diagram for application scenarios of the attitude determination method for unmanned vehicle according to the application；
Fig. 4 is the flow chart of another embodiment of the attitude determination method for unmanned vehicle according to the application；
Fig. 5 is the structural representation of one embodiment of the attitude determining device for unmanned vehicle according to the application；
Fig. 6 is adapted for the structural representation of the computer system of the electronic equipment for realizing the embodiment of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that, in order to
Be easy to description, be illustrate only in accompanying drawing to about the related part of invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the attitude determination method or the example of attitude determining device for unmanned vehicle that can apply the application
Sexual system framework 100.
As shown in figure 1, system architecture 100 can include that system architecture 100 can include unmanned vehicle 101, network 102 and right
Unmanned vehicle 101 provides the server 103 supported.Vehicle intelligent equipment 104 can be provided with unmanned vehicle 101.Network 102 is used to
The medium of communication link is provided between unmanned vehicle 101 and server 103.Network 102 can include various connection types, for example
Wired, wireless communication link or fiber optic cables etc..
The control system of unmanned vehicle 101 is installed, control system can include inertial navigation system in vehicle intelligent equipment 104
System.There is communication connection between vehicle intelligent equipment 104 and filming apparatus.Its positional information that can determine unmanned vehicle 101 and
Determine the attitude of filming apparatus in unmanned vehicle 101.Vehicle intelligent equipment 104 can also be handed over by network 102 with server 103
Mutually.
It is pointed out that the inertial navigation system that can be installed in above-mentioned vehicle intelligent equipment 104 is one kind being independent of
In the navigation system of external information, so, said system framework 100 can not exist network 102 and server 103.
It should be noted that the attitude determination method for unmanned vehicle that the embodiment of the present application is provided is general by vehicle-mounted intelligence
Energy equipment 104 is performed, and correspondingly, the attitude determining device for unmanned vehicle is generally positioned in vehicle intelligent equipment 104.
It should be understood that the number of the unmanned vehicle, vehicle intelligent equipment, network and server in Fig. 1 is only schematical.
According to needs are realized, can have any number of unmanned vehicle, vehicle intelligent equipment, network and server.
With continued reference to Fig. 2, one embodiment of the attitude determination method for unmanned vehicle according to the application is shown
Flow 200.This is used for the attitude determination method of unmanned vehicle, comprises the following steps：
Step 201, the positional information and direct of travel of the unmanned vehicle that acquisition is specified.
In the present embodiment, for the attitude determination method operation electronic equipment thereon (such as shown in Fig. 1 of unmanned vehicle
Vehicle intelligent equipment 104) positional information of the unmanned vehicle specified can be obtained, and also it is current to obtain the unmanned vehicle
Direct of travel.The unmanned vehicle specified can be the unmanned vehicle where above-mentioned electronic equipment.Wherein, shooting dress is provided with unmanned vehicle
Put, filming apparatus can change shooting angle.
Positional information is the information in the geographical position where unmanned vehicle, and the positional information can be that above-mentioned electronic equipment is utilized
What the inertial navigation system of itself or other alignment systems got.
Filming apparatus can shoot to the scene around unmanned vehicle, to obtain video or image.In unmanned vehicle
Installation can change the filming apparatus of shooting angle, it becomes possible to by adjusting the attitude of filming apparatus, photograph and specify in scene
Object.
Herein, attitude is that filming apparatus are shot presented appearance with certain shooting angle, and filming apparatus are not with
Same attitude is shot, that is, is shot with different shooting angle.Such as, an attitude of filming apparatus is the elevation angle
45 degree and to unmanned vehicle car body left side it is inclined 10 degree.
Step 202, in response to detecting the position indicated by positional information on direct of travel, apart from unmanned vehicle most
Near crossing in the range of predeterminable range, it is determined that positioned at crossing, the signal lamp that filming apparatus are to be captured positional information.
In the present embodiment, if above-mentioned electronic equipment is monitored on the direct of travel of unmanned vehicle, with unmanned vehicle distance most
Near crossing is in default distance range, it is determined that the positional information of filming apparatus signal lamp to be captured.Can utilize
Position indicated by the positional information of the unmanned vehicle of acquisition, obtains the position to the distance at crossing.Signal lamp to be captured is nothing
People's car by crossing need it is shooting, so that its determination is current or the signal lamp that stops.
Predeterminable range scope is number range of the unmanned vehicle set in advance to the distance at crossing.Predeterminable range scope can be with
It is a numerical intervals, such as 40-60 meters, or a numerical value, such as 50 meters.
Specifically, unmanned vehicle and crossing can on the electronic map be determined according to the positional information of acquired unmanned vehicle
Distance.Here electronic map can be high accuracy map, to obtain accurate distance.
Above-mentioned electronic equipment can on the electronic map be searched filming apparatus and treated by the positional information of the unmanned vehicle of acquisition
The signal lamp of shooting.In order to obtain more accurately signal location information, can be searched using high accuracy map.
Here, the signal lamp is filming apparatus signal lamp to be captured, namely the signal lamp it is targeted be the unmanned vehicle traveling side
Upward vehicle, the signal lamp is exactly that unmanned vehicle needs the signal lamp of identification by crossing.
Step 203, the positional information and filming apparatus of positional information, signal lamp based on unmanned vehicle is pre- in unmanned vehicle
If positional information, determine filming apparatus shoot signal lamp attitude information.
In the present embodiment, be stored with default positional information in above-mentioned electronic equipment, and the default positional information is
Information that is set in advance, indicating position of the filming apparatus in unmanned vehicle.Above-mentioned electronic equipment can be clapped using filming apparatus
Signal lamp is taken the photograph, to determine whether to continue to travel.And determine and filming apparatus is adjusted attitude, then can photograph filming apparatus
Signal lamp.Above-mentioned electronic equipment can be according to the positional information of acquired unmanned vehicle, the positional information of identified signal lamp
Default positional information with filming apparatus in unmanned vehicle, determines that filming apparatus shoot the attitude information of signal lamp.Attitude is believed
Breath is the information related to the attitude of filming apparatus, the attitude of records photographing device.
Specifically, default positional information of the filming apparatus in unmanned vehicle is position of the filming apparatus relative to unmanned vehicle
Confidence ceases.Because position of the filming apparatus in unmanned vehicle is default, that is to say what comparing was fixed.So, above-mentioned electronics sets
The default positional information of position of the standby positional information and filming apparatus that can be first according to unmanned vehicle in unmanned vehicle, it is determined that
The positional information of filming apparatus, the positional information of the positional information according to filming apparatus and signal lamp, determines filming apparatus afterwards
Shoot the attitude information of signal lamp.Relative position information of the signal lamp relative to vehicle can also first be determined, then determine signal lamp
Relative position information of the relative position information relative to the default positional information of filming apparatus, and then determine filming apparatus
Attitude information.
In some optional implementations of the present embodiment, positional information includes geographical location information and elevation information.
Here positional information refers to the positional information of unmanned vehicle, the positional information of signal lamp and filming apparatus in unmanned vehicle
Default positional information.Positional information can be geographical location information.Geographical location information is to indicator body location
The information of position is managed, the coordinate of horizontal direction in the coordinate value of horizontal direction in longitude and latitude, map or coordinate system can be used
The form of value is represented.Additionally, positional information can also be represented using elevation information, elevation information is the height to indicator body
In the information of degree, such as height above sea level, map in the coordinate value or coordinate system of vertical direction the coordinate value of vertical direction form
Represent.
By elevation information, the present embodiment can more accurately determine the attitude information of filming apparatus, can when shooting
Not influenceed by signal lamp height or surface evenness and the gradient.
In some optional implementations of the present embodiment, the turntable of camera is Three-degree of Freedom Rotational Platform, including pedestal, X
Axle rotating mechanism, Y-axis rotating mechanism and Z axis rotating mechanism.
The present embodiment can flexibly be adjusted using Three-degree of Freedom Rotational Platform to camera.Additionally, the turntable of camera from
Can also be the multiple degrees of freedom beyond Three Degree Of Freedom by degree, in order to carry out more flexible adjustment to camera.
Step 204, generation includes the attitude regulating command of attitude information, and attitude regulating command is sent into shooting dress
Put, so that filming apparatus carry out pose adjustment.
In the present embodiment, above-mentioned electronic equipment generates the attitude regulating command to filming apparatus, in attitude regulating command
Include attitude information.After attitude regulating command is generated, attitude regulating command is sent to filming apparatus by above-mentioned electronic equipment,
So that filming apparatus carry out pose adjustment according to attitude information.
Herein, in filming apparatus by after pose adjustment, signal lamp is located at the visual field of the filming apparatus after pose adjustment
Designated area or center.Designated area refers generally to the central area in the visual field.
With continued reference to Fig. 3, Fig. 3 is the one of the application scenarios of the attitude determination method for unmanned vehicle according to the present embodiment
Individual schematic diagram.In the application scenarios of Fig. 3, the vehicle intelligent equipment in unmanned vehicle 303 obtains the positional information of the unmanned vehicle 303
And direct of travel, filming apparatus 301 are provided with the unmanned vehicle 303, the filming apparatus 301 can change shooting angle.On
If stating vehicle intelligent equipment detects 30 meters closest on direct of travel of crossing of unmanned vehicle 303 in default scope：20
Rice in the range of 35 meters, it is determined that positioned at crossing, the signal lamp 302 that filming apparatus 301 are to be captured positional information.Above-mentioned car
Carry positional information of the smart machine based on unmanned vehicle 303, the positional information of signal lamp 302 and filming apparatus pre- in unmanned vehicle
If positional information, the attitude information that filming apparatus 301 are shot to signal lamp 302 is determined.Above-mentioned vehicle intelligent equipment generation
To the attitude regulating command of filming apparatus 301, attitude regulating command includes attitude information, and attitude regulating command is sent into bat
Device 301 is taken the photograph, filming apparatus is carried out pose adjustment.
The method that above-described embodiment of the application is provided sends attitude regulating command by filming apparatus, makes filming apparatus
Adjustment attitude such that it is able to photograph signal lamp.
With further reference to Fig. 4, it illustrates the flow of another embodiment of the attitude determination method for unmanned vehicle
400.This is used for the flow 400 of the attitude determination method of unmanned vehicle, comprises the following steps：
Step 401, the positional information and direct of travel of the unmanned vehicle that acquisition is specified.
In the present embodiment, vehicle intelligent equipment can obtain the positional information of the unmanned vehicle specified, and also can obtain
Take the current direct of travel of the unmanned vehicle.The unmanned vehicle specified can be the unmanned vehicle where above-mentioned electronic equipment.Wherein, nobody
Filming apparatus are provided with car, filming apparatus can change shooting angle.
Positional information in the present embodiment includes geographical location information and elevation information.
Step 402, in response to detecting the position indicated by positional information on direct of travel, apart from unmanned vehicle most
Near crossing in the range of predeterminable range, it is determined that positioned at crossing, the signal lamp that filming apparatus are to be captured positional information.
In the present embodiment, if above-mentioned vehicle intelligent equipment monitor it is on the direct of travel of unmanned vehicle, closest
Crossing in default distance range, it is determined that the positional information of filming apparatus signal lamp to be captured.Can utilize and obtain
Position indicated by the positional information of the unmanned vehicle for taking, obtains the position to the distance at crossing.
Step 403, determines the relative position information of the positional information relative to the positional information of unmanned vehicle of signal lamp, obtains
First relative position information.
In the present embodiment, in order to obtain accurate location of the signal lamp relative to filming apparatus, and then filming apparatus are obtained
Attitude information, it is possible to use different coordinate systems.First, in earth-fixed co-ordinate system, above-mentioned vehicle intelligent equipment is with nothing
The positional information of people's car is, with reference to information, to determine the relative position of the positional information relative to the positional information of unmanned vehicle of signal lamp
Information, using the relative position information as the first relative position information.Using the positional information of unmanned vehicle as reference information, it is determined that
Signal lamp and the relative position information of unmanned vehicle, can believe for the follow-up position that signal lamp is determined in the coordinate system of unmanned vehicle
Breath is prepared.
Step 404, determines default positional information of first relative position information relative to filming apparatus in unmanned vehicle
Relative position information, obtain the second relative position information.
In the present embodiment, relative position information of the signal lamp with respect to unmanned vehicle has been obtained, (i.e. the first relative position is believed
Breath) after, the positional information of signal lamp can be determined in the coordinate system of unmanned vehicle.Filming apparatus are default in unmanned vehicle
Positional information be information in the coordinate system of unmanned vehicle.In the coordinate system of unmanned vehicle, above-mentioned vehicle intelligent equipment is true
The relative position information of fixed default positional information of first relative position information relative to filming apparatus in unmanned vehicle, by this
Relative position information is used as the second relative position information.
Step 405, using the second relative position information, determines the attitude information of filming apparatus.
In the present embodiment, the second relative position information is positional information of the signal lamp relative to filming apparatus, thus may be used
To obtain relative position information of the signal lamp for filming apparatus, and then obtain the attitude information that filming apparatus shoot signal lamp.
Step 406, generates the attitude regulating command for carrying out pose adjustment to camera, and attitude regulating command includes attitude
Information.
In the present embodiment, filming apparatus include the turntable of camera and camera.The attitude of camera can be entered by turntable
Row adjustment, so as to realize adjusting the attitude of filming apparatus.Above-mentioned vehicle intelligent equipment it is determined that filming apparatus attitude information it
Afterwards, attitude regulating command is generated, the adjust instruction is used to carry out pose adjustment to camera.
Step 407, turntable is sent to by attitude regulating command, so that turntable adjusts the attitude of camera according to attitude information.
In the present embodiment, above-mentioned vehicle intelligent equipment generate attitude regulating command after, by the attitude regulating command
The turntable of camera is sent to, attitude information of the turntable in attitude regulating command is adjusted the attitude of camera.After adjustment
Camera can photograph signal lamp, and the signal lamp is located across the central area in the visual field of the camera of pose adjustment.
Step 408, receives the video flowing or image sent by the filming apparatus of pose adjustment, determines video flowing or image
Whether the signal lamp of middle presentation is in default center region.
In the present embodiment, above-mentioned vehicle intelligent equipment is received by the filming apparatus transmission after pose adjustment on letter
The video flowing or image of signal lamp, determine whether the signal lamp presented in the video flowing or the image is located at default center region
It is interior.Default center region is (can preset area or radius etc.) set in advance, the center in the visual field of filming apparatus
Domain.The shape of the central area can be circular, square etc. various figures.
Step 409, in response to determining not in default center region, then according to signal lamp is in video flowing or in image
Existing position, determines the current positional information of signal lamp.
In the present embodiment, above-mentioned vehicle intelligent equipment is not if it is determined that the signal lamp presented in video flowing or image is default
In central area, then the position for being presented in video flowing or image according to signal lamp determines the current positional information of signal lamp.
For example, signal lamp is in video flowing or the left region of image, without in default center region, then can be with
The camera of filming apparatus is adjusted to the right, so that signal lamp is presented in the default center region in the visual field of filming apparatus.
Step 410, obtains the current positional information of unmanned vehicle, current according to the current positional information of unmanned vehicle and signal lamp
Default positional information in unmanned vehicle of positional information and filming apparatus, determine the amendment attitude information of filming apparatus.
In the present embodiment, the current positional information of unmanned vehicle is obtained, according to the current positional information of the unmanned vehicle, signal
The default positional information of the current positional information of lamp and filming apparatus in unmanned vehicle, determines the amendment attitude of filming apparatus
Information.Amendment attitude is the attitude that the filming apparatus by pose adjustment are carried out with further adjustment.Amendment attitude information is note
The information of record amendment attitude.
It should be noted that how to determine that the attitude information of filming apparatus has done in step 203 using positional information
Detailed description is gone out, amendment attitude information is also determined using this method, will not be repeated here.
It is determined that after the amendment attitude information of filming apparatus, can amendment attitude information be sent to filming apparatus so that
Filming apparatus make further pose adjustment.
The present embodiment can more accurately determine the attitude information of filming apparatus by elevation information, so that signal lamp is presented
In the default center region in the filming apparatus visual field.Also, the present embodiment is by regarding that the filming apparatus by pose adjustment send
Frequency stream or image, it is determined that amendment attitude, obtains the attitude information of more accurate filming apparatus, are entered with the attitude to filming apparatus
Advance a successive step, to ensure that filming apparatus can photograph signal lamp, the unmanned vehicle security row where enabling filming apparatus
Sail.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, unmanned vehicle to be used for this application provides one kind
Attitude determining device one embodiment, the device embodiment is corresponding with the embodiment of the method shown in Fig. 2, and the device is specific
In can apply to various electronic equipments.
As shown in figure 5, the attitude determining device 500 for unmanned vehicle of the present embodiment includes：Acquiring unit 501, detection
Unit 502, determining unit 503 and generation unit 504.Acquiring unit 501, is configured to obtain the position letter of the unmanned vehicle specified
Breath and direct of travel, wherein, filming apparatus are provided with unmanned vehicle, filming apparatus can change shooting angle；Detection unit
502, it is configured to nearest in response to detecting position indicated by positional information on direct of travel, apart from unmanned vehicle
Crossing in the range of predeterminable range, it is determined that positioned at crossing, the signal lamp that filming apparatus are to be captured positional information；Determining unit
503, it is configured to the positional information based on unmanned vehicle, the positional information of signal lamp and filming apparatus default in unmanned vehicle
Positional information, determines that filming apparatus shoot the attitude information of signal lamp；Generation unit 504, being configured to generation includes that attitude is believed
The attitude regulating command of breath, and attitude regulating command is sent to filming apparatus, so that filming apparatus carry out pose adjustment.
In the present embodiment, acquiring unit 501 can obtain the positional information of the unmanned vehicle specified, and also can obtain
The current direct of travel of the unmanned vehicle.The unmanned vehicle specified can be the unmanned vehicle where above-mentioned electronic equipment.Wherein, unmanned vehicle
In be provided with filming apparatus, filming apparatus can change shooting angle.
In the present embodiment, it is closest with unmanned vehicle if detection unit 502 is monitored on the direct of travel of unmanned vehicle
Crossing in default distance range, it is determined that the positional information of filming apparatus signal lamp to be captured.Can utilize and obtain
Position indicated by the positional information of the unmanned vehicle for taking, obtains the position to the distance at crossing.
In the present embodiment, be stored with default positional information in determining unit 503, and the default positional information is advance
Setting, the position that instruction filming apparatus are in unmanned vehicle information.Determining unit 503 can shoot signal using filming apparatus
Lamp, to determine whether to continue to travel.And determining the attitude of filming apparatus can then make it photograph signal lamp.Determining unit 503
Can be according to the positional information of acquired unmanned vehicle, the positional information of identified signal lamp and filming apparatus in unmanned vehicle
Default positional information, determine shooting attitude information of the filming apparatus to signal lamp.
In the present embodiment, generation unit 504 generates the attitude regulating command to filming apparatus, in attitude regulating command
Including attitude information.Attitude information is the information of the attitude of filming apparatus determined by record.After attitude regulating command is generated,
Attitude regulating command is sent to filming apparatus by generation unit 504, so that filming apparatus carry out pose adjustment according to attitude information.
In some optional implementations of the present embodiment, filming apparatus include the turntable of camera and camera；And it is raw
Into unit, including：Generation module, is configured to generation and is adjusted for carrying out the attitude regulating command of pose adjustment, attitude to camera
Whole instruction includes attitude information；Sending module, is configured to for attitude regulating command to be sent to turntable, so that turntable is according to attitude
Information adjusts the attitude of camera.
In some optional implementations of the present embodiment, device also includes：Receiving unit, is configured to receive and passes through
Whether video flowing or image that the filming apparatus of pose adjustment send, determine the signal lamp presented in video flowing or image default
In central area；Determine information unit, be configured in response to determining not in default center region, then according in video flowing or
The position that signal lamp is presented in image, determines the current positional information of signal lamp；Determine attitude unit, be configured to obtain nothing
The current positional information of people's car, according to the current positional information of unmanned vehicle and the current positional information of signal lamp and filming apparatus
Default positional information in unmanned vehicle, determines the amendment attitude information of filming apparatus.
In some optional implementations of the present embodiment, positional information includes geographical location information and elevation information.
In some optional implementations of the present embodiment, determining unit, including：Determining module, is configured to determine
The positional information of signal lamp obtains the first relative position information relative to the relative position information of the positional information of unmanned vehicle；Really
Determine position module, be configured to determine default position letter of first relative position information relative to filming apparatus in unmanned vehicle
The relative position information of breath, obtains the second relative position information；Determine gesture module, be configured to believe using the second relative position
Breath, determines the attitude information of filming apparatus.
Below with reference to Fig. 6, it illustrates the computer system 600 for being suitable to the electronic equipment for realizing the embodiment of the present application
Structural representation.Electronic equipment shown in Fig. 6 is only an example, to the function of the embodiment of the present application and should not use model
Shroud carrys out any limitation.
Fig. 6 shows the structural representation of the computer system for being suitable to the electronic equipment for realizing the embodiment of the present application.
As shown in fig. 6, computer system 600 includes CPU (CPU) 601, it can be according to storage in read-only storage
(ROM) program in 602 or the program that is loaded into random access storage device (RAM) 603 from storage part 608 and perform each
Plant appropriate action and treatment.In RAM 603, the system that is also stored with 600 operates required various programs and data.CPU
601st, ROM 602 and RAM 603 is connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to bus
604。
I/O interfaces 605 are connected to lower component：Including the importation 606 of keyboard, mouse etc.；Penetrated including such as negative electrode
The output par, c 607 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage part 608 including hard disk etc.；
And the communications portion 609 of the NIC including LAN card, modem etc..Communications portion 609 via such as because
The network of spy's net performs communication process.Driver 610 is also according to needing to be connected to I/O interfaces 605.Detachable media 611, such as
Disk, CD, magneto-optic disk, semiconductor memory etc., as needed on driver 610, in order to read from it
Computer program be mounted into as needed storage part 608.
Especially, according to embodiments herein, the process above with reference to flow chart description may be implemented as computer
Software program.For example, embodiments herein includes a kind of computer program product, it includes being carried on computer-readable medium
On computer program, the computer program includes the program code for the method shown in execution flow chart.In such reality
Apply in example, the computer program can be downloaded and installed by communications portion 609 from network, and/or from detachable media
611 are mounted.When the computer program is performed by CPU (CPU) 601, limited in execution the present processes
Above-mentioned functions.It should be noted that the computer-readable medium of the application can be computer-readable signal media or calculating
Machine readable storage medium storing program for executing or the two are combined.Computer-readable recording medium for example can be --- but do not limit
In --- the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or device, or it is any more than combination.Calculate
The more specifically example of machine readable storage medium storing program for executing can be included but is not limited to：It is electrical connection with one or more wires, portable
Formula computer disk, hard disk, random access storage device (RAM), read-only storage (ROM), erasable programmable read only memory
(EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic memory device or
The above-mentioned any appropriate combination of person.In this application, computer-readable recording medium can be it is any comprising or storage program
Tangible medium, the program can be commanded execution system, device or device and use or in connection.And in this Shen
Please in, computer-readable signal media can include in a base band or as carrier wave a part propagate data-signal, its
In carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to
Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable
Any computer-readable medium beyond storage medium, the computer-readable medium can send, propagate or transmit for by
Instruction execution system, device or device are used or program in connection.The journey included on computer-readable medium
Sequence code can be transmitted with any appropriate medium, including but not limited to：Wirelessly, electric wire, optical cable, RF etc., or it is above-mentioned
Any appropriate combination.
Flow chart and block diagram in accompanying drawing, it is illustrated that according to the system of the various embodiments of the application, method and computer journey
The architectural framework in the cards of sequence product, function and operation.At this point, each square frame in flow chart or block diagram can generation
One part for module, program segment or code of table a, part for the module, program segment or code is used comprising one or more
In the executable instruction of the logic function for realizing regulation.It should also be noted that in some are as the realization replaced, being marked in square frame
The function of note can also occur with different from the order marked in accompanying drawing.For example, two square frames for succeedingly representing are actually
Can perform substantially in parallel, they can also be performed in the opposite order sometimes, this is depending on involved function.Also to note
Meaning, the combination of the square frame in each square frame and block diagram and/or flow chart in block diagram and/or flow chart can be with holding
The fixed function of professional etiquette or the special hardware based system of operation are realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in involved unit in the embodiment of the present application can be realized by way of software, it is also possible to by hard
The mode of part is realized.Described unit can also be set within a processor, for example, can be described as：A kind of processor bag
Include acquiring unit, detection unit, determining unit and generation unit.Wherein, the title of these units not structure under certain conditions
Paired unit restriction in itself, for example, receiving unit is also described as " getting the positional information of the unmanned vehicle specified
With the unit of direct of travel ".
Used as on the other hand, present invention also provides a kind of computer-readable medium, the computer-readable medium can be
Included in device described in above-described embodiment；Can also be individualism, and without in allocating the device into.Above-mentioned calculating
Machine computer-readable recording medium carries one or more program, when said one or multiple programs are performed by the device so that should
Device：The positional information and direct of travel of the unmanned vehicle that acquisition is specified, wherein, filming apparatus are provided with unmanned vehicle, shoot dress
Putting can change shooting angle；In response to detecting the position indicated by positional information on direct of travel, apart from unmanned vehicle
Nearest crossing is put in the range of predeterminable range, it is determined that positioned at crossing, the signal lamp that filming apparatus are to be captured positional information；
Default positional information of the positional information and filming apparatus of positional information, signal lamp based on unmanned vehicle in unmanned vehicle, really
Determine the attitude information that filming apparatus shoot signal lamp；Generation includes the attitude regulating command of attitude information, and pose adjustment is referred to
Order is sent to filming apparatus, so that filming apparatus carry out pose adjustment.
Above description is only the preferred embodiment and the explanation to institute's application technology principle of the application.People in the art
Member is it should be appreciated that involved invention scope in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where foregoing invention design is not departed from, is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (12)
1. a kind of attitude determination method for unmanned vehicle, it is characterised in that methods described includes：
The positional information and direct of travel of the unmanned vehicle that acquisition is specified, wherein, it is provided with filming apparatus in the unmanned vehicle；
It is nearest in response to detecting position indicated by positional information on the direct of travel, apart from the unmanned vehicle
Crossing in the range of predeterminable range, it is determined that positioned at the positional information of the signal lamp crossing, that the filming apparatus are to be captured；
Positional information based on the unmanned vehicle, the positional information of the signal lamp and the filming apparatus are in the unmanned vehicle
Default positional information, determine that the filming apparatus shoot the attitude information of the signal lamp；
Generation includes the attitude regulating command of the attitude information, and the attitude regulating command is sent into the shooting dress
Put, so that the filming apparatus carry out pose adjustment.
2. the attitude determination method for unmanned vehicle according to claim 1, it is characterised in that the filming apparatus include
The turntable of camera and camera；And
The generation includes the attitude regulating command of the attitude information, and the attitude regulating command is sent into the shooting
Device, so that the filming apparatus carry out pose adjustment, including：
The attitude regulating command for carrying out pose adjustment to the camera is generated, the attitude regulating command includes the attitude
Information；
The attitude regulating command is sent to the turntable, so that the turntable adjusts the camera according to the attitude information
Attitude.
3. the attitude determination method for unmanned vehicle according to claim 1, it is characterised in that methods described also includes：
The video flowing or image sent by the filming apparatus of pose adjustment are received, the video flowing or described image is determined
Whether the signal lamp of middle presentation is in default center region；
In response to determining not in default center region, then to be presented according to signal lamp in the video flowing or in described image
Position, determines the current positional information of signal lamp；
The current positional information of the unmanned vehicle is obtained, it is current according to the current positional information of the unmanned vehicle and the signal lamp
Default positional information in the unmanned vehicle of positional information and the filming apparatus, determine repairing for the filming apparatus
Positive attitude information.
4. the attitude determination method for unmanned vehicle according to claim 1, it is characterised in that positional information includes geography
Positional information and elevation information.
5. the attitude determination method for unmanned vehicle according to claim 1, it is characterised in that it is described based on it is described nobody
The default position letter of the positional information of car, the positional information of the signal lamp and the filming apparatus in the unmanned vehicle
Breath, determines that the filming apparatus shoot the attitude information of the signal lamp, including：
Determine the relative position information of the positional information of the positional information relative to the unmanned vehicle of the signal lamp, obtain first
Relative position information；
Determine default positional information of first relative position information relative to the filming apparatus in the unmanned vehicle
Relative position information, obtain the second relative position information；
Using second relative position information, the attitude information of the filming apparatus is determined.
6. a kind of attitude determining device for unmanned vehicle, it is characterised in that described device includes：
Acquiring unit, is configured to obtain the positional information and direct of travel of the unmanned vehicle specified, wherein, set in the unmanned vehicle
It is equipped with filming apparatus；
Detection unit, is configured in response to detecting positional information on the direct of travel, apart from the unmanned vehicle
The nearest crossing in indicated position in the range of predeterminable range, it is determined that to be captured positioned at the crossing, filming apparatus
Signal lamp positional information；
Determining unit, is configured to the positional information based on the unmanned vehicle, the positional information of the signal lamp and the shooting
Default positional information of the device in the unmanned vehicle, determines that the filming apparatus shoot the attitude information of the signal lamp；
Generation unit, being configured to generation includes the attitude regulating command of the attitude information, and by the attitude regulating command
The filming apparatus are sent to, so that the filming apparatus carry out pose adjustment.
7. the attitude determining device for unmanned vehicle according to claim 6, it is characterised in that the filming apparatus include
The turntable of camera and camera；And
The generation unit, including：
Generation module, is configured to generation and is adjusted for carrying out the attitude regulating command of pose adjustment, the attitude to the camera
Whole instruction includes the attitude information；
Sending module, is configured to for the attitude regulating command to be sent to the turntable, so that the turntable is according to the appearance
State information adjusts the attitude of the camera.
8. the attitude determining device for unmanned vehicle according to claim 6, it is characterised in that described device also includes：
Receiving unit, is configured to receive the video flowing or image sent by the filming apparatus of pose adjustment, determines institute
The signal lamp presented in video flowing or described image is stated whether in default center region；
Determine information unit, be configured in response to determining not in default center region, then according in the video flowing or institute
The position that signal lamp in image is presented is stated, the current positional information of signal lamp is determined；
Determine attitude unit, be configured to obtain the current positional information of the unmanned vehicle, according to the current position of the unmanned vehicle
Confidence is ceased and the default position of the current positional information of the signal lamp and the filming apparatus in the unmanned vehicle is believed
Breath, determines the amendment attitude information of the filming apparatus.
9. the attitude determining device for unmanned vehicle according to claim 6, it is characterised in that positional information includes geography
Positional information and elevation information.
10. the attitude determining device for unmanned vehicle according to claim 6, it is characterised in that the determining unit, bag
Include：
Determining module, be configured to determine the signal lamp positional information of the positional information relative to the unmanned vehicle it is relative
Positional information, obtains the first relative position information；
Determine position module, be configured to determine first relative position information relative to the filming apparatus it is described nobody
The relative position information of the default positional information in car, obtains the second relative position information；
Determine gesture module, be configured to, using second relative position information, determine the attitude information of the filming apparatus.
11. a kind of electronic equipment, including：
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are by one or more of computing devices so that one or more of processor realities
The existing method as described in any in claim 1-5.
A kind of 12. computer-readable recording mediums, are stored thereon with computer program, it is characterised in that the program is by processor
The method as described in any in claim 1-5 is realized during execution.
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| CN106910358B (en) | 2019-09-06 |
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