CN111338344A - Vehicle control method and device and vehicle - Google Patents
Vehicle control method and device and vehicle Download PDFInfo
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- CN111338344A CN111338344A CN202010130465.4A CN202010130465A CN111338344A CN 111338344 A CN111338344 A CN 111338344A CN 202010130465 A CN202010130465 A CN 202010130465A CN 111338344 A CN111338344 A CN 111338344A
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a vehicle control method and device and a delivery vehicle. Wherein, the method comprises the following steps: acquiring the type of a target reference object positioned in front of the driving direction of a vehicle and state information of a pedestrian; determining a target driving state of the vehicle based on the target reference object type and the state information; and controlling the vehicle to run according to the target running state. The invention solves the technical problems that the related technology has single obstacle avoidance scheme and inaccurate identification.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to a vehicle control method and device and a delivery vehicle.
Background
In the field of unmanned driving, an unmanned vehicle can sense whether an obstacle exists in front through a radar, and only the fact that whether the obstacle exists in front is identified through point cloud data collected by the radar.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method and device and a vehicle, and aims to at least solve the technical problems that determination factors of an obstacle avoidance scheme in the related art are single and recognition is inaccurate.
According to an aspect of an embodiment of the present invention, there is provided a control method of a vehicle, including: acquiring the type of a target reference object positioned in front of the driving direction of a vehicle and state information of a pedestrian; determining a target driving state of the vehicle based on the target reference object type and the state information; and controlling the vehicle to run according to the target running state.
Alternatively, controlling the vehicle to travel in accordance with the target travel state includes: when the type of the target reference object is the target type, controlling the vehicle to run at a first speed, wherein the first speed is lower than a first threshold value; after the vehicle is controlled to travel at the first speed, if the state information indicates that the pedestrian is moving and the travel speed is greater than a second threshold value, the vehicle is controlled to decelerate or stop traveling, wherein the second threshold value is less than the first threshold value, and the travel speed is less than the first speed.
Optionally, the method further includes: after controlling the vehicle to travel at the first speed, if the state information indicates that the pedestrian is moving and the travel speed is less than a second threshold value, controlling the vehicle to change the current travel route to avoid the pedestrian; and controlling the vehicle to return to the current driving route after the vehicle bypasses the pedestrian.
Optionally, before controlling the vehicle to change the current driving route, the method further includes: determining the number of pedestrians; comparing the number to a third threshold; when the number is smaller than a third threshold value, determining that the vehicle is allowed to change the current driving route; and when the number is larger than a third threshold value, controlling the vehicle to stop moving.
Optionally, the method further includes: when the state information indicates that the pedestrians do not move and the number of the pedestrians is larger than a fourth threshold value, controlling the vehicle to change the current driving route so as to avoid the pedestrians; and after the pedestrian is bypassed, the vehicle continues to run according to the changed running route.
Optionally, the obtaining of the type of the target reference object located in front of the driving direction of the vehicle includes: acquiring an image and point cloud data of a target reference object; a target reference type is determined based on the image and the point cloud data.
Optionally, determining the type of the target reference object based on the image and the point cloud data comprises: identifying the image to obtain a first identification result; identifying the point cloud data to obtain a second identification result; and when the first recognition result is consistent with the second recognition result, taking the type corresponding to any one of the first recognition result and the second recognition result as the type of the target reference object.
Optionally, the method further includes: and when the first recognition result is inconsistent with the second recognition result, generating prompt information, wherein the prompt information is used for prompting the user that the recognition fails.
Optionally, after generating the prompt message, the method further includes: displaying the first recognition result and the second recognition result; receiving a selection instruction of a user; a valid recognition result is selected from the first recognition result and the second recognition result based on the selection instruction.
Optionally, acquiring the type of the target reference object located in front of the traveling direction of the vehicle and the state information of the pedestrian includes: acquiring an environment image in the driving direction of a vehicle according to a preset time interval; inputting the environment image into a first machine learning model for analysis to obtain the type of the target reference object, wherein the first machine learning model is obtained by training a plurality of groups of data, and each group of data in the plurality of groups of data comprises: a sample reference image and a label for marking a type of the sample reference; the environmental image is input into a second machine learning model for analysis, and the posture information of the pedestrian is obtained, wherein the second machine learning model is obtained through training of multiple groups of data, and each group of data in the multiple groups of data comprises: a sample pedestrian image and a tag for marking a pose of the sample pedestrian image; counting the position change information of the pedestrians in at least two adjacent preset time intervals; the state information of the pedestrian is determined based on the attitude information and the position change information together.
Optionally, jointly determining the state information of the pedestrian based on the attitude information and the position change information includes: when the position change information indicates that the position of the pedestrian changes and the posture information is the target posture, determining that the pedestrian moves; when the position change information indicates that the position of the pedestrian is not changed, it is determined that the pedestrian is in a stationary state.
Optionally, in the process of controlling the vehicle to travel according to the target travel state, the method further includes: detecting an adjusting instruction of a user; and under the triggering of the adjustment instruction, changing the target running state of the vehicle into the running state indicated by the adjustment instruction.
According to another aspect of an embodiment of the present invention, there is provided a control apparatus of a vehicle, including: the acquisition module is used for acquiring the type of a target reference object positioned in front of the driving direction of the vehicle and the state information of the pedestrian; a determination module for determining a target driving state of the vehicle based on the target reference object type and the state information; and the control module is used for controlling the vehicle to run according to the target running state.
Optionally, the control module is further configured to control the vehicle to travel at a first speed when the target reference object type is the target type, where the first speed is less than a first threshold; after the vehicle is controlled to travel at the first speed, if the state information indicates that the pedestrian is moving and the travel speed is greater than a second threshold value, the vehicle is controlled to decelerate or stop traveling, wherein the second threshold value is less than the first threshold value, and the travel speed is less than the first speed.
Optionally, the control module is further configured to, after controlling the vehicle to travel at the first speed, control the vehicle to change the current travel route to avoid the pedestrian if the state information indicates that the pedestrian is moving and the travel speed is less than a second threshold; and controlling the vehicle to return to the current driving route after the vehicle bypasses the pedestrian.
Optionally, the control module is further configured to determine the number of pedestrians; comparing the number to a third threshold; when the number is smaller than a third threshold value, determining that the vehicle is allowed to change the current driving route; and when the number is larger than a third threshold value, controlling the vehicle to stop moving.
Optionally, the control module is further configured to control the vehicle to change the current driving route to avoid the pedestrian when the pedestrian does not move and the number of the pedestrians is greater than a fourth threshold; and after the pedestrian is bypassed, the vehicle continues to run according to the changed running route.
According to another aspect of the embodiments of the present invention, there is provided a nonvolatile storage medium including a stored program, wherein an apparatus that controls the nonvolatile storage medium at the time of execution of the program performs the control method of the vehicle described above.
According to yet another aspect of an embodiment of the present invention, there is provided a vehicle including: a memory for storing program instructions; a processor for calling the program instructions stored in the memory and implementing the following functions when executing the program instructions: acquiring the type of a target reference object positioned in front of the driving direction of a vehicle and state information of a pedestrian; determining a target driving state of the vehicle based on the target reference object type and the state information; and controlling the vehicle to run according to the target running state.
In the embodiment of the invention, the method comprises the steps of acquiring the type of a target reference object located in front of the driving direction of a vehicle and the state information of a pedestrian; determining a target driving state of the vehicle based on the target reference object type and the state information; the method controls the vehicle to run according to the target running state, controls the target running state of the vehicle according to the type of the target reference object and/or the state information of the pedestrian, thereby expanding the obstacle recognition scheme, enabling the obstacle recognition scheme of the unmanned vehicle to be more accurate, and further solving the technical problems that the obstacle avoidance scheme is single and the recognition is inaccurate in the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic flow chart diagram of a method of controlling a vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a control apparatus of a vehicle according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided a method embodiment of vehicle control, it being noted that the steps illustrated 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 illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a schematic diagram of a control method of a vehicle according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, acquiring the type of a target reference object positioned in front of the driving direction of the vehicle and the state information of a pedestrian;
specifically, the target reference types include, but are not limited to: pedestrian crossings, roundabouts, schools; the pedestrian state information includes, but is not limited to: the walking direction and walking speed of the pedestrian.
In step S104, the target running state of the vehicle is determined based on the target reference object type and the state information.
And step S106, controlling the vehicle to run according to the target running state.
The target driving state of the vehicle is controlled through the type of the target reference object and/or the state information of the pedestrian, so that the obstacle recognition scheme is expanded, the obstacle recognition scheme of the unmanned vehicle is more accurate, and the technical problems that the obstacle avoidance scheme is single and the recognition is inaccurate in the related technology are solved.
In some embodiments of the present application, when the target reference object type is the target type, controlling the vehicle to travel at a first speed, wherein the first speed is less than a first threshold; after the vehicle is controlled to travel at the first speed, if the state information indicates that the pedestrian is moving and the travel speed is greater than a second threshold value, the vehicle is controlled to decelerate or stop traveling, wherein the second threshold value is less than the first threshold value, and the travel speed is less than the first speed. Wherein the target types include, but are not limited to: school signs, pedestrian crossings, etc.
And, after controlling the vehicle to travel at the first speed, if the state information indicates that the pedestrian is moving and the moving speed is less than a second threshold, controlling the vehicle to change the current travel route to avoid the pedestrian; and controlling the vehicle to return to the current driving route after the vehicle bypasses the pedestrian.
In order to enhance driving safety, before controlling the vehicle to change the current driving route, the following steps can be further executed: determining the number of pedestrians; comparing the number to a third threshold; when the number is smaller than a third threshold value, determining that the vehicle is allowed to change the current driving route; and when the number is larger than a third threshold value, controlling the vehicle to stop moving.
Alternatively, the target running state of the vehicle may be directly determined based on the state information, for example: when the state information indicates that the pedestrians do not move and the number of the pedestrians is larger than a fourth threshold value, controlling the vehicle to change the current driving route so as to avoid the pedestrians; and after the pedestrian is bypassed, the vehicle continues to run according to the changed running route. Namely, when the number of pedestrians is large, the pedestrians are directly bypassed, so that the risk is reduced.
For example, assuming that the first threshold value is 10, the second threshold value is 1.5, the third threshold value is 8, and the fourth threshold value is 10, when the traveling speed of the vehicle is less than 10m/s and the traveling speed of the pedestrian is more than 1.5m/s, the traveling vehicle is controlled to decelerate or stop traveling; when the speed of the pedestrians is less than 1.5m/s or the number of the pedestrians is less than 8 or the number of the pedestrians is not less than 10, controlling the running vehicle to change the current route, and controlling the vehicle to return to the original route to run after the vehicle bypasses the pedestrians; and when the number of the pedestrians is more than 8, controlling the running vehicle to stop moving.
In some embodiments, the target reference object type located in front of the driving direction of the vehicle may be acquired by: acquiring an image and point cloud data of a target reference object; a target reference type is determined based on the image and the point cloud data.
The method comprises the steps of identifying an image to obtain a first identification result; identifying the point cloud data to obtain a second identification result; when the first recognition result is consistent with the second recognition result, taking the type corresponding to any one of the first recognition result and the second recognition result as the type of the target reference object; and when the first recognition result is inconsistent with the second recognition result, generating prompt information, wherein the prompt information is used for prompting the user that the recognition is failed. For example, when the recognition fails, a voice is played to "recognition result is inconsistent, please re-recognize".
Alternatively, after generating the prompt message, a valid recognition result may be obtained by: displaying the first recognition result and the second recognition result; receiving a selection instruction of a user; a valid recognition result is selected from the first recognition result and the second recognition result based on the selection instruction.
The point cloud data is data determined based on an echo signal of the radar. Because the data is only formed according to the reflection points, the identification result has certain limitation, and therefore, the reference object type can be determined together with the image identification result.
In some embodiments of the present application, in order to acquire the type of the target reference object and the state information of the pedestrian located forward in the traveling direction of the vehicle, the following steps may be further performed: acquiring an environment image in the driving direction of a vehicle according to a preset time interval; inputting the environment image into a first machine learning model for analysis to obtain the type of the target reference object, wherein the first machine learning model is obtained by training a plurality of groups of data, and each group of data in the plurality of groups of data comprises: a sample reference image and a label for marking a type of the sample reference; the environmental image is input into a second machine learning model for analysis, and the posture information of the pedestrian is obtained, wherein the second machine learning model is obtained through training of multiple groups of data, and each group of data in the multiple groups of data comprises: a sample pedestrian image and a tag for marking a pose of the sample pedestrian image; counting the position change information of the pedestrians in at least two adjacent preset time intervals; the state information of the pedestrian is determined based on the attitude information and the position change information together.
When the state information of the pedestrian is judged, the state information of the pedestrian can be determined together according to the attitude information and the position change information, and the method can be realized by executing the following steps: when the position change information indicates that the position of the pedestrian changes and the posture information is the target posture, determining that the pedestrian moves; when the position change information indicates that the position of the pedestrian is not changed, the pedestrian is determined to be in a static state, wherein the target posture at least comprises the walking posture, the moving direction and the like of the pedestrian.
For example: assuming that a vehicle collects an environment image every 3S, selecting environment images in the vehicle driving direction collected at least two adjacent preset time intervals, respectively inputting the selected images into a first machine learning model and a second machine learning model for analysis to obtain the types of target reference objects and the posture information of pedestrians of the at least two environment images, counting the positions of the pedestrians in the adjacent preset time, and determining that the pedestrians are moving if the adjacent positions change and the pedestrians have walking postures through information comparison; if the position is not changed, the pedestrian does not move.
In the above scenario, after it is determined that the pedestrian is moving, the type of travel of the pedestrian may be further determined according to the motion state of the pedestrian and the real-time driving state of the vehicle, specifically, according to the position of the pedestrian and the included angle between the motion direction of the pedestrian and the driving direction of the vehicle, where the type of travel includes: crossing the road, walking forward along the road and walking backward. Wherein, crossing the road means that the included angle between the pedestrian and the vehicle is 0 degree to 360 degrees (except 180 degrees); the forward walking along the road means that the included angle between the moving direction of the pedestrian and the driving direction of the vehicle is 0 degree; the reverse walking means that the included angle between the moving direction of the pedestrian and the driving direction of the vehicle is 180 degrees.
In some embodiments of the present application, in the process of controlling the vehicle to travel according to the target travel state, the target travel state may also be adjusted according to the actual requirement of the user, for example, by detecting an adjustment instruction of the user; and under the triggering of the adjustment instruction, changing the target running state of the vehicle into the running state indicated by the adjustment instruction. For example, a pedestrian originally stops at the roadside to wait, the position of the pedestrian is detected to change in the vehicle walking process, the included angle between the position change direction of the pedestrian and the advancing direction of the vehicle is 60 degrees, the driver sends a deceleration or parking instruction after receiving the information, and the vehicle slows down or stops after receiving the deceleration or parking instruction.
The following is described in detail with reference to a specific application scenario:
the method comprises the steps of identifying reference objects such as pedestrian crosswalks, annular islands, school signs and the like by combining point cloud data and a camera, judging that more pedestrians are attached to the current position, and giving a vehicle instruction to perform corresponding (speed reduction and the like) operation, wherein the operation is performed by identifying the behavior characteristics and the state of the pedestrians. The method for identifying the behavior characteristics and states of the pedestrian comprises the following steps: the number of pedestrians is identified and whether the pedestrians are moving. The method mainly comprises the following conditions:
1. when the number of pedestrians is small and the walking speed is high, the vehicle decelerates or stops;
2. when the number of pedestrians is small and the walking speed is low, the vehicle bypasses the pedestrians and then returns to the original path to continue running;
3. when the number of pedestrians is large, the vehicle is driven to change the road.
Fig. 2 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present application, and as shown in fig. 2, the device includes:
the acquiring module 20 is used for acquiring the type of the target reference object located in front of the driving direction of the vehicle and the state information of the pedestrian.
And the determining module 22 is used for determining the target running state of the vehicle based on the target reference object type and the state information.
And the control module 24 is used for controlling the vehicle to run according to the target running state.
In some embodiments of the present application, the determining module 24 is further configured to control the vehicle to travel at a first speed when the target reference object type is the target type, wherein the first speed is less than a first threshold; after the vehicle is controlled to travel at the first speed, if the state information indicates that the pedestrian is moving and the travel speed is greater than a second threshold value, the vehicle is controlled to decelerate or stop traveling, wherein the second threshold value is less than the first threshold value, and the travel speed is less than the first speed.
In some embodiments of the present application, the control module 24 is further configured to, after controlling the vehicle to travel at the first speed, control the vehicle to change the current travel route to avoid the pedestrian if the status information indicates that the pedestrian is moving and the travel speed is less than the second threshold; and controlling the vehicle to return to the current driving route after the vehicle bypasses the pedestrian.
In some embodiments of the present application, the control module 24 is further configured to determine a number of pedestrians; comparing the number to a third threshold; when the number is smaller than a third threshold value, determining that the vehicle is allowed to change the current driving route; and when the number is larger than a third threshold value, controlling the vehicle to stop moving.
The preferred embodiment of this embodiment can refer to the description related to the embodiment in fig. 1, and the description thereof is omitted here.
According to another aspect of the embodiments of the present invention, there is provided a nonvolatile storage medium including a stored program, wherein an apparatus that controls the nonvolatile storage medium at the time of execution of the program performs the control method of the vehicle described above. For example, the following functions may be performed: acquiring the type of a target reference object positioned in front of the driving direction of a vehicle and state information of a pedestrian; step S104, determining a target running state of the vehicle based on the type of the target reference object and the state information; step S106, controlling the vehicle to run according to the target running state
As shown in fig. 3, an embodiment of the present invention provides a vehicle 3 including: a memory 30 for storing program instructions; a processor 32 for retrieving program instructions stored in the memory and implementing the following functions when executing the program instructions: acquiring the type of a target reference object positioned in front of the driving direction of a vehicle and state information of a pedestrian; determining a target driving state of the vehicle based on the target reference object type and the state information; and controlling the vehicle to run according to the target running state.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (19)
1. A control method of a vehicle, characterized by comprising:
acquiring the type of a target reference object positioned in front of the driving direction of a vehicle and state information of a pedestrian;
determining a target driving state of the vehicle based on the target reference object type and the state information;
and controlling the vehicle to run according to the target running state.
2. The method according to claim 1, wherein controlling the vehicle to travel in accordance with the target travel state includes:
when the type of the target reference object is a target type, controlling the vehicle to run at a first speed, wherein the first speed is less than a first threshold value; after controlling the vehicle to travel at a first speed, if the state information indicates that the pedestrian is moving and the travel speed is greater than a second threshold value, controlling the vehicle to decelerate or stop traveling, wherein the second threshold value is less than the first threshold value, and the travel speed is less than the first speed.
3. The method of claim 2, further comprising:
after controlling the vehicle to travel at a first speed, if the state information indicates that a pedestrian is moving and the moving speed is less than the second threshold value, controlling the vehicle to change the current travel route to avoid the pedestrian; and controlling the vehicle to return to the current driving route after the vehicle bypasses the pedestrian.
4. The method of claim 3, wherein prior to controlling the vehicle to alter the current driving route, the method further comprises:
determining the number of pedestrians; comparing the number to a third threshold value; when the number is less than the third threshold, then determining to allow the vehicle to modify a current driving route; and when the number is larger than the third threshold value, controlling the vehicle to stop moving.
5. The method of claim 1, further comprising:
when the state information indicates that the pedestrians do not move and the number of the pedestrians is larger than a fourth threshold value, controlling the vehicle to change the current driving route to avoid the pedestrians; and after the pedestrian is bypassed, the vehicle continues to run according to the changed running route.
6. The method of claim 1, wherein obtaining a target reference type located forward in a direction of travel of the vehicle comprises:
acquiring an image and point cloud data of a target reference object;
determining the target reference type based on the image and point cloud data.
7. The method of claim 6, wherein determining the type of the target reference based on the image and point cloud data comprises:
identifying the image to obtain a first identification result;
identifying the point cloud data to obtain a second identification result;
and when the first recognition result is consistent with the second recognition result, taking the type corresponding to any one of the first recognition result and the second recognition result as the type of the target reference object.
8. The method of claim 7, further comprising: and when the first recognition result is inconsistent with the second recognition result, generating prompt information, wherein the prompt information is used for prompting the user that the recognition fails.
9. The method of claim 8, wherein after generating the hint information, the method further comprises: displaying the first recognition result and the second recognition result; receiving a selection instruction of a user; a valid recognition result is selected from the first recognition result and the second recognition result based on the selection instruction.
10. The method according to claim 1, wherein acquiring the type of the target reference object located forward in the traveling direction of the vehicle and the state information of the pedestrian includes:
acquiring an environment image in the driving direction of the vehicle according to a preset time interval;
inputting the environment image into a first machine learning model for analysis to obtain the type of the target reference object, wherein the first machine learning model is obtained by training a plurality of groups of data, and each group of data in the plurality of groups of data comprises: a sample reference image and a label for marking the type of the sample reference;
inputting the environment image into a second machine learning model for analysis to obtain the posture information of the pedestrian, wherein the second machine learning model is obtained by training a plurality of groups of data, and each group of data in the plurality of groups of data comprises: a sample pedestrian image and a tag for marking a pose of the sample pedestrian image; counting the position change information of the pedestrians in at least two adjacent preset time intervals; determining the state information of the pedestrian based on the attitude information and the position change information together.
11. The method of claim 10, wherein jointly determining the pedestrian's state information based on the attitude information and position change information comprises: determining that the pedestrian is moving when the position change information indicates that the position of the pedestrian changes and the posture information is a target posture; when the position change information indicates that the position of the pedestrian is not changed, determining that the pedestrian is in a static state.
12. The method according to claim 10, wherein, during the control of the vehicle to travel in accordance with the target travel state, the method further comprises:
detecting an adjusting instruction of a user;
and under the triggering of the adjusting instruction, changing the target running state of the vehicle into the running state indicated by the adjusting instruction.
13. A control apparatus of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the type of a target reference object positioned in front of the driving direction of the vehicle and the state information of the pedestrian;
a determination module for determining a target driving state of the vehicle based on the target reference object type and the state information;
and the control module is used for controlling the vehicle to run according to the target running state.
14. The apparatus of claim 13, wherein the control module is further configured to control the vehicle to travel at a first speed when the target reference object type is a target type, wherein the first speed is less than a first threshold; after controlling the vehicle to travel at a first speed, if the state information indicates that the pedestrian is moving and the travel speed is greater than a second threshold value, controlling the vehicle to decelerate or stop traveling, wherein the second threshold value is less than the first threshold value, and the travel speed is less than the first speed.
15. The apparatus of claim 14, wherein the control module is further configured to, after controlling the vehicle to travel at the first speed, control the vehicle to change the current travel route to avoid the pedestrian if the status information indicates that the pedestrian is moving and the moving speed is less than the second threshold; and controlling the vehicle to return to the current driving route after the vehicle bypasses the pedestrian.
16. The apparatus of claim 15,
the control module is further used for determining the number of the pedestrians; comparing the number to a third threshold value; when the number is less than the third threshold, then determining to allow the vehicle to modify a current driving route; and when the number is larger than the third threshold value, controlling the vehicle to stop moving.
17. The device of claim 13, wherein the control module is further configured to control the vehicle to change the current driving route to avoid the pedestrian when the pedestrian is not moving and the number is greater than a fourth threshold; and after the pedestrian is bypassed, the vehicle continues to run according to the changed running route.
18. A nonvolatile storage medium characterized by comprising a stored program, wherein a device on which the nonvolatile storage medium is installed is controlled to execute the control method of the vehicle according to any one of claims 1 to 7 when the program is executed.
19. A vehicle, comprising:
a memory for storing program instructions;
a processor for retrieving program instructions stored in the memory and implementing the following functions when executing the program instructions:
acquiring the type of a target reference object positioned in front of the driving direction of a vehicle and state information of a pedestrian;
determining a target driving state of the vehicle based on the target reference object type and the state information;
and controlling the vehicle to run according to the target running state.
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