CN111290386B - Path planning method and device and carrier - Google Patents
Path planning method and device and carrier Download PDFInfo
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- CN111290386B CN111290386B CN202010104985.8A CN202010104985A CN111290386B CN 111290386 B CN111290386 B CN 111290386B CN 202010104985 A CN202010104985 A CN 202010104985A CN 111290386 B CN111290386 B CN 111290386B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses a path planning method, a path planning device and a carrier. Wherein the method comprises the following steps: acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image; extracting characteristic information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises: an obstacle and a liquid on the ground in front; it is determined whether to alter the planned route of the first vehicle based on the type. The invention solves the technical problems that whether the liquid on the ground is an obstacle or not can not be distinguished in the related technology, and the path planning is affected.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a path planning method and device and a carrier.
Background
In the related art, during the running of an unmanned vehicle, it is necessary to identify whether an object in front of the vehicle is an obstacle or a non-obstacle for safety. In the case of performing obstacle recognition, radar signals mounted on an unmanned vehicle can be used for recognition, but since radar images obtained based on radar signals are determined based on radar echo signals, it is difficult to recognize whether a front object is water or an obstacle distributed on the ground, which is liable to cause misjudgment. In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a path planning method, a path planning device and a carrier, which at least solve the technical problem that whether liquid on the ground is an obstacle or not can not be distinguished in the related art, and the path planning is affected.
According to an aspect of an embodiment of the present invention, there is provided a path planning method including: acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image; extracting characteristic information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises: an obstacle and a liquid on the ground in front; it is determined whether to alter the planned route of the first vehicle based on the type.
Optionally, acquiring a first image of a target object located in front of the first vehicle includes: scanning a target object through radar equipment installed in a first vehicle to obtain a first image; extracting feature information of the target object from the first image, including: the shape of the target object is extracted from the first image.
Optionally, identifying the type of the target object according to the feature information includes: the type of the target object is determined based on the shape of the target object in the first image.
Optionally, determining the type of the target object based on the shape of the target object in the first image includes: when the shape of the target object is a regular shape, determining that the target object is an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be liquid.
Optionally, determining the target object as an obstacle includes: determining whether the target object is from a second vehicle in front of the first vehicle; and when the judging result indicates that the target object is not from the second vehicle and the shape of the target object is a regular shape, determining that the target object is an obstacle.
Optionally, determining whether the target object is from a second vehicle in front of the first vehicle includes: acquiring a second image of a second vehicle, wherein the second image is an RGB image; inputting the second image into a machine learning model for analysis to obtain a working state of the second vehicle and the working state, wherein the working state comprises: a spraying operation is being performed and a spraying operation is not being performed; the machine learning model is obtained through training a plurality of groups of data, and each group of data in the plurality of groups of data comprises: an image of the second vehicle and a tag for marking the image of the second vehicle as a working state; when the operation state is that spraying operation is being performed, determining the type of a spraying object corresponding to the spraying operation; when the type and the type of the target object are consistent, then it is determined that the target object is from a second vehicle.
Optionally, before determining whether to alter the planned route of the first vehicle according to the type, the method further comprises: acquiring attitude information of a second vehicle and information of a road where the second vehicle is located; predicting a traveling direction of the second vehicle based on the posture information; when the running direction of the second vehicle is changed and a road adjacent to the road on which the second vehicle is located exists in the changed running direction, the first vehicle is controlled to continue running according to the planned route.
Optionally, when the driving direction of the second vehicle is not changed, the first vehicle is controlled to change the planned route so as to avoid the obstacle.
Optionally, before controlling the first vehicle to change the planned route, the method further includes: acquiring the relative speeds of the first vehicle and the second vehicle; when the relative speed is greater than 0, controlling the first vehicle to change the planned route; and when the relative speed is less than or equal to 0, controlling the first vehicle to continue to drive according to the planned route.
Optionally, the gesture information includes: the head of the second vehicle is oriented.
Optionally, the method further comprises: after the head orientation of the second vehicle is changed and the head orientation is changed, the running direction of the second vehicle is determined to be changed according to the changed head orientation for a preset running time.
Optionally, determining whether to alter the travel route of the first vehicle according to the type includes: when the type is an obstacle, modifying a planned route of the first vehicle, wherein the modified planned route avoids a target object; and when the type is liquid, controlling the vehicle to continue to run according to the current planned route.
According to another aspect of the embodiments of the present application, there is provided a path planning apparatus, including: the acquisition module is used for acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image; the extraction module is used for extracting the characteristic information of the target object from the first image; the identification module is used for identifying the type of the target object according to the characteristic information, wherein the type comprises the following components: an obstacle and a liquid on the ground in front; and the determining module is used for determining whether to change the planned route of the first vehicle according to the type.
Optionally, the acquisition module is used for scanning the target object through radar equipment installed in the first vehicle to obtain a first image; and the extraction module is used for extracting the shape of the target object from the first image.
Optionally, the identifying module is configured to determine a type of the target object based on a shape of the target object in the first image.
Optionally, the identifying module is used for determining that the target object is an obstacle when the shape of the target object is a regular shape; when the shape of the target object is an irregular shape, the target object is determined to be liquid.
According to another aspect of the embodiments of the present application, there is provided a non-volatile storage medium, the storage medium including a stored program, wherein the device on which the storage medium is controlled to execute the above path planning method when the program runs.
According to another aspect of an embodiment of the present application, there is provided a vehicle comprising: an electronic device, the electronic device comprising: a memory for storing program instructions; a processor for retrieving program instructions stored in the memory, performing the functions of: acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image; extracting characteristic information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises: an obstacle and a liquid on the ground in front; it is determined whether to alter the planned route of the first vehicle based on the type.
In the embodiment of the invention, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the obstacle or the liquid can be realized according to the final identification result, the erroneous judgment is avoided, and the technical problem that whether the liquid on the ground is the obstacle or not and the path planning is influenced in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow diagram of a path planning method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present application;
fig. 3 is a schematic structural view of a vehicle according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, there is provided a method embodiment of a path planning method, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a path planning method according to an embodiment of the present invention, as shown in fig. 1, the method includes the steps of:
step S102, acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image;
in some embodiments of the present application, acquiring a first image of a target object located in front of a first vehicle includes: the radar equipment installed in the first vehicle scans the target object to obtain a first image of the target object, and in order to ensure the accuracy of a detection result, the radar equipment for acquiring the image can be a plurality of equipment installed at different positions of the vehicle, for example, one radar equipment is respectively placed at the left end and the right end of the top position of the vehicle, and multiple types of radar equipment can be combined for use, for example, millimeter wave radar and ultrasonic radar are combined for use; it should be noted that the target object may be a vehicle, branches on two sides of a road, pedestrians, and other objects; feature information of the target object is extracted from the first image, and the feature information may be a shape, a motion state, a volume size, and the like of the target object.
Step S104, extracting characteristic information of a target object from the first image;
the feature information includes, but is not limited to, a shape, a motion state, a volume size, and the like of the target object.
Step S106, identifying the type of the target object according to the characteristic information, and determining the type of the target object based on the shape of the target object in the first image, wherein the two cases are divided, and when the shape of the target object is a regular shape, determining the target object as an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be liquid. It should be noted that, the regular shape is a shape with smooth boundary, the irregular shape is a shape with uneven boundary, when the target object is an irregular shape, the radar reflection point is irregular, when the target object is a regular shape, the target object is determined to be an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be liquid.
In another alternative embodiment, identifying the type of the target object based on the characteristic information includes: determining the type of the target object based on the shape of the target object in the first image, e.g. when the target object is a car parked on the roadside, the radar device scans the car, it may be determined that it is a car based on a deep learning vision algorithm; likewise, when the target object is a bicycle parked at a roadside, it may be determined that it is a bicycle based on a deep learning visual algorithm.
In one embodiment of the present application, when the radar-reflected points are not regularly arranged, the liquid on the land where the radar-reflected points are scattered is considered to be water, and then, the liquid can be determined to be other compounds in combination with the running environment in front of the first vehicle, for example, when the laser radar is combined with other signal acquisition devices to identify that the vehicle in front of the first vehicle is a tank truck, the type of the liquid is considered to be gasoline or diesel oil, etc.
Step S108, determining whether to change the planned route of the first vehicle according to the type.
In an alternative embodiment of the present application, in determining whether the target object is an obstacle: it may be first determined whether the target object is from a second vehicle in front of the first vehicle; when the determination result indicates that the target object is not from the second vehicle and the shape of the target object is a regular shape, the target object is determined to be an obstacle, that is, all objects which do not belong to the second vehicle and are recognized as regular shapes are regarded as the obstacle.
In an alternative embodiment of the present application, in order to determine whether the target object is from the accuracy of the result of the second vehicle, before determining whether the target object is from the second vehicle in front of the first vehicle, a second image of the second vehicle may be acquired first, where the second image is an RGB image; and then inputting the second image into a machine learning model for analysis to obtain a working state of the second vehicle, and judging the working state of the second vehicle based on the machine learning model to further determine whether the target object is from the second vehicle, wherein the working state comprises the following situations: the first operating state is in progress with a spraying operation; the second operation state does not carry out spraying operation; the machine learning model is trained from a plurality of sets of data, wherein each set of data includes, but is not limited to: an image of the second vehicle and a tag for marking the image of the second vehicle as a working state; when the operation state is that spraying operation is being performed, determining the type of a spraying object corresponding to the spraying operation; when the type and the type of the target object are consistent, then it is determined that the target object is from a second vehicle.
In an alternative embodiment of the present application, before determining whether to alter the planned route of the first vehicle according to the type, the method further includes: acquiring attitude information of a second vehicle and information of a road where the second vehicle is located; predicting a traveling direction of the second vehicle based on the posture information; when the running direction of the second vehicle is changed and a road adjacent to the road on which the second vehicle is located exists in the changed running direction, the first vehicle is controlled to continue running according to the planned route.
In an alternative embodiment of the present application, when the traveling direction of the second vehicle is not changed, the first vehicle is controlled to change the planned route so as to avoid the obstacle.
In an alternative embodiment of the present application, before controlling the first vehicle to change the planned route, the method further includes: acquiring the relative speeds of the first vehicle and the second vehicle; when the relative speed is greater than 0, controlling the first vehicle to change the planned route; and when the relative speed is less than or equal to 0, controlling the first vehicle to continue to drive according to the planned route. Wherein the relative speed is the difference between the speeds of the first vehicle and the second vehicle; when the speed of the first vehicle is greater than that of the second vehicle, the two vehicles may collide, so that the previous planned route must be changed; when the speed of the first vehicle is smaller than that of the second vehicle, the second vehicle is more and more distant from the first vehicle, so that no collision occurs, and the vehicle can continue to run according to the planned route.
Note that the posture information includes, but is not limited to: the head of the second vehicle is oriented.
In an alternative embodiment of the present application, the method further includes: after the head orientation of the second vehicle is changed and the head orientation is changed, the running direction of the second vehicle is determined to be changed according to the changed head orientation for a preset running time.
In another optional embodiment of the present application, determining whether to change the driving route of the first vehicle according to the type of the target object, where the type includes an obstacle and a liquid, and when the type of the target object is determined to be the obstacle, modifying the planned route of the first vehicle, where the modified planned route is used to avoid the target object; when the type of the target object is determined to be liquid, the vehicle is controlled to continue to run according to the current planned route, namely, the liquid is considered not to belong to an obstacle, for example, when water sprayed by the sprinkler is sprayed on the first vehicle, the water is not considered to influence the safe running of the first vehicle, the first vehicle runs according to the route which is planned in advance as required, and the running route is not required to be changed.
In the embodiment of the application, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the obstacle or the liquid can be realized according to the final identification result, the erroneous judgment is avoided, and the technical problem that whether the liquid on the ground is the obstacle or not and the path planning is influenced in the related technology is solved.
The embodiment of the application also provides a path planning device, as shown in fig. 2, which comprises: an acquisition module 20 for acquiring a first image of a target object located in front of a first vehicle, the first image being a radar image; an extracting module 22, configured to extract feature information of the target object from the first image; an identifying module 24, configured to identify a type of the target object according to the feature information, where the type includes: an obstacle and a liquid on the ground in front; a determination module 26 for determining whether to alter the planned route of the first vehicle based on the type; in the embodiment of the invention, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the obstacle or the liquid can be realized according to the final identification result, the erroneous judgment is avoided, and the technical problem that whether the liquid on the ground is the obstacle or not and the path planning is influenced in the related technology is solved
In some embodiments of the present application, the acquisition module 20 is configured to scan a target object through a radar device installed in a first vehicle to obtain a first image; the extracting module 22 is configured to extract a shape of the target object from the first image.
Specifically, in order to ensure accuracy of the detection result, in an alternative embodiment of the present application, the radar apparatus for acquiring the image may be a plurality of apparatuses mounted at different positions of the vehicle, for example, one radar apparatus is respectively disposed at each of left and right ends of the roof of the vehicle, and in another alternative embodiment of the present application, a plurality of types of radar apparatuses may be used in combination, for example, a millimeter wave radar and an ultrasonic radar may be used in combination.
In an alternative embodiment of the present application, the identification module 24 is configured to determine the type of the target object based on the shape of the target object in the first image. Optionally, the identifying module is used for determining that the target object is an obstacle when the shape of the target object is a regular shape; when the shape of the target object is an irregular shape, the target object is determined to be liquid.
Specifically, when determining the type of the target object based on the shape of the target object in the first image, it is classified into two cases, and when the shape of the target object is a regular shape, the target object is determined to be an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be liquid. It should be noted that, the regular shape is a shape with smooth boundary, the irregular shape is a shape with uneven boundary, when the target object is an irregular shape, the radar reflection point is irregular, when the target object is a regular shape, the target object is determined to be an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be liquid. It should be noted that, when the target object is an irregular shape, radar reflection points are irregular, in one embodiment of the present application, when radar reflection points are not regularly arranged, and are considered to be spilled liquid on the ground, and then, the liquid can be determined to be other compounds in combination with the running environment in front of the first vehicle, for example, when the lidar is combined with other signal acquisition devices to identify that the vehicle in front of the first vehicle is a tank truck, the type of the liquid is determined to be gasoline or diesel.
In some embodiments of the present application, the determining module 26 is configured to determine whether to alter the planned route of the first vehicle based on the type.
Specifically, in an optional embodiment of the present application, when determining whether the target object is an obstacle: it may be first determined whether the target object is from a second vehicle in front of the first vehicle; when the judgment result indicates that the target object is not from the second vehicle and the shape of the target object is a regular shape, the target object is determined to be an obstacle, namely, all target objects which do not belong to the second vehicle and are identified as the regular shape are identified as the obstacle.
In an alternative embodiment of the present application, in order to determine whether the target object is from the accuracy of the result of the second vehicle, before determining whether the target object is from the second vehicle in front of the first vehicle, a second image of the second vehicle may be acquired, where the second image includes, but is not limited to, an RGB image; then, the second image is input to a machine learning model for analysis to obtain a working state of the second vehicle, and whether the target object is from the second vehicle is further determined based on the working state of the second vehicle judged by the machine learning model, wherein the working state includes but is not limited to the following cases: the first operating state is in progress with a spraying operation; the second operating state does not perform a spraying operation. The machine learning model is trained from a plurality of sets of data, wherein each set of data includes, but is not limited to: an image of the second vehicle and a tag for marking the image of the second vehicle as a working state; when the operation state is that the spraying operation is being performed, determining whether the type of the spraying object corresponding to the spraying operation is from the second vehicle; when the type and the type of the target object are consistent, then it is determined that the target object is from a second vehicle.
In an alternative embodiment of the present application, before determining whether to alter the planned route of the first vehicle according to the type, the method further includes: acquiring attitude information of a second vehicle and information of a road where the second vehicle is located; predicting a traveling direction of the second vehicle based on the posture information; when the running direction of the second vehicle is changed, the first vehicle is controlled to continue running according to the planned route. The gesture information includes, but is not limited to: the vehicle head direction is that when the second vehicle and the first vehicle do not belong to the same route, the second vehicle is considered not to belong to an obstacle, and the first vehicle can travel according to the planned route.
In an alternative embodiment of the present application, when the driving direction of the second vehicle is not changed, the first vehicle is controlled to change the planned route so as to avoid the obstacle, that is, when the second vehicle overlaps with the first vehicle route of the present application, the second vehicle is considered to belong to the obstacle, and at this time, the driving route of the first vehicle needs to be planned again.
In another optional embodiment of the present application, determining whether to change the driving route of the first vehicle according to the type of the target object, where the type includes an obstacle and a liquid, and when the type of the target object is determined to be the obstacle, modifying the planned route of the first vehicle, where the modified planned route is used to avoid the target object; when the type of the target object is determined to be liquid, the vehicle is controlled to continue to run according to the current planned route, namely, the liquid is considered not to belong to an obstacle, for example, when water sprayed by the sprinkler is sprayed on the first vehicle, the water is not considered to influence the safe running of the first vehicle, the first vehicle runs according to the route which is planned in advance as required, and the running route is not required to be changed.
In the embodiment of the application, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the obstacle or the liquid can be realized according to the final identification result, the erroneous judgment is avoided, and the technical problem that whether the liquid on the ground is the obstacle or not and the path planning is influenced in the related technology is solved
According to another aspect of the embodiments of the present application, there is provided a non-volatile storage medium, where the storage medium includes a stored program, and when the program runs, the device on which the storage medium is controlled to execute the above path planning method, for example, the following program instructions may be executed: acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image; extracting characteristic information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises: an obstacle and a liquid on the ground in front; it is determined whether to alter the planned route of the first vehicle based on the type.
According to another aspect of an embodiment of the present application, there is provided a vehicle, as shown in fig. 3, including: an electronic device 3, the electronic device comprising: a memory 30 for storing program instructions; processor 32, for retrieving program instructions stored in memory, performs the following functions: acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image; extracting characteristic information of a target object from the first image; identifying the type of the target object according to the characteristic information, wherein the type comprises: an obstacle and a liquid on the ground in front; it is determined whether to alter the planned route of the first vehicle based on the type.
Optionally, the memory is further used to store a program that performs the following functions: scanning a target object through radar equipment installed in a first vehicle to obtain a first image; the shape of the target object is extracted from the first image.
Optionally, the memory is further used to store a program that performs the following functions: the type of the target object is determined based on the shape of the target object in the first image. When the shape of the target object is a regular shape, determining that the target object is an obstacle; when the shape of the target object is an irregular shape, the target object is determined to be liquid.
In the embodiment of the invention, the mode of identifying the type of the front target object based on the radar image is adopted, so that the identification of the obstacle or the liquid can be realized according to the final identification result, the erroneous judgment is avoided, and the technical problem that whether the liquid on the ground is the obstacle or not and the path planning is influenced in the related technology is solved.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (14)
1. A method of path planning, comprising:
acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image;
extracting characteristic information of the target object from the first image;
identifying the type of the target object according to the characteristic information, wherein the type comprises: an obstacle and a liquid on the ground in front, identifying the type of the target object based on the characteristic information, comprising:
when the shape of the target object is a shape with smooth boundary, determining that the target object is an obstacle; when the shape of the target object is a shape with a non-smooth boundary, determining that the target object is liquid;
and determining whether to change the planned route of the first vehicle according to the type.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
acquiring a first image of a target object located in front of a first vehicle, comprising: scanning the target object through radar equipment installed in the first vehicle to obtain the first image;
extracting feature information of the target object from the first image, including: and extracting the shape of the target object from the first image.
3. The method of claim 1, wherein determining that the target object is an obstacle comprises:
determining whether the target object is from a second vehicle in front of the first vehicle;
and when the judging result indicates that the target object is not from the second vehicle and the shape of the target object is a regular shape, determining that the target object is an obstacle.
4. A method according to claim 3, wherein determining whether the target object is from a second vehicle in front of the first vehicle comprises:
acquiring a second image of the second vehicle, wherein the second image is an RGB image;
inputting the second image into a machine learning model for analysis to obtain a working state of the second vehicle and the working state, wherein the working state comprises: a spraying operation is being performed and a spraying operation is not being performed; the machine learning model is obtained through training of multiple sets of data, and each set of data in the multiple sets of data comprises: an image of a second vehicle and a tag for marking the image of the second vehicle as a working state;
when the operation state is that the spraying operation is in progress, determining the type of a spraying object corresponding to the spraying operation; and when the type is consistent with the type of the target object, determining that the target object is from the second vehicle.
5. A method according to claim 3, wherein before determining whether to alter the planned route of the first vehicle in dependence on the type, the method further comprises:
acquiring attitude information of the second vehicle and a road where the second vehicle is located;
predicting a traveling direction of the second vehicle based on the posture information;
and when the running direction of the second vehicle is changed and a road adjacent to the road where the second vehicle is located exists in the changed running direction, controlling the first vehicle to continue running according to the planned route.
6. The method of claim 5, wherein when the direction of travel of the second vehicle is unchanged, then controlling the first vehicle to alter the planned route to avoid an obstacle.
7. The method of claim 6, wherein prior to controlling the first vehicle to alter the planned route, the method further comprises:
acquiring the relative speeds of the first vehicle and the second vehicle;
controlling the first vehicle to change the planned route when the relative speed is greater than 0; and when the relative speed is less than 0 or equal to 0, controlling the first vehicle to continue to drive according to the planned route.
8. The method of claim 7, wherein the gesture information comprises: the head of the second vehicle faces.
9. The method of claim 8, wherein the method further comprises:
and after the head direction of the second vehicle is changed and the head direction is changed, determining that the running direction of the second vehicle is changed according to the changed head direction after the head direction is changed for a preset running time.
10. The method of claim 1, wherein determining whether to alter the travel route of the first vehicle based on the type comprises:
when the type is an obstacle, modifying a planned route of the first vehicle, wherein the target object is avoided in the modified planned route;
and when the type is liquid, controlling the vehicle to continue to run according to the current planned route.
11. A path planning apparatus, comprising:
the acquisition module is used for acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image;
the extraction module is used for extracting the characteristic information of the target object from the first image;
the identification module is used for identifying the type of the target object according to the characteristic information, wherein the type comprises the following steps: the recognition module is used for determining that the target object is an obstacle when the shape of the target object is a shape with smooth boundary; determining that the target object is liquid when the shape of the target object is a shape with unsmooth boundary
And the determining module is used for determining whether to change the planned route of the first vehicle according to the type.
12. The apparatus of claim 11, wherein the device comprises a plurality of sensors,
the acquisition module is used for scanning the target object through radar equipment installed in the first vehicle to obtain the first image;
the extraction module is used for extracting the shape of the target object from the first image.
13. A non-volatile storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the path planning method of any one of claims 1 to 10.
14. A vehicle, comprising: an electronic device, the electronic device comprising:
a memory for storing program instructions;
a processor for retrieving program instructions stored in said memory and performing the following functions when said program instructions are executed:
acquiring a first image of a target object positioned in front of a first vehicle, wherein the first image is a radar image;
extracting characteristic information of the target object from the first image;
identifying the type of the target object according to the characteristic information, wherein the type comprises: an obstacle and a liquid located on the ground in front, wherein identifying the type of the target object from the characteristic information comprises: when the shape of the target object is a shape with smooth boundary, determining that the target object is an obstacle; when the shape of the target object is a shape with a non-smooth boundary, determining that the target object is liquid;
and determining whether to change the planned route of the first vehicle according to the type.
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