CN111717202A - Driving prompting method and device for unmanned vehicle - Google Patents
Driving prompting method and device for unmanned vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The embodiment of the application provides a driving prompting method and device for an unmanned vehicle, and relates to the field of automatic driving equipment, wherein the method comprises the following steps: when the unmanned vehicle automatically drives, whether the unmanned vehicle meets an obstacle is judged; if yes, obtaining obstacle information of the obstacle; and determining obstacle avoidance track projection information according to the obstacle information. Therefore, by the implementation of the implementation mode, the unmanned vehicles (such as unmanned vehicles, automatic driving vehicles and the like) can effectively interact with the surrounding environment in the automatic driving process, and the driving efficiency is further improved.
Description
Technical Field
The application relates to the field of automatic driving equipment, in particular to a driving prompting method for an unmanned vehicle.
Background
At present, unmanned vehicles are more and more widely applied and are often applied to the distribution fields of take-out, express delivery, retail and the like. In practice, it is found that in the process of automatic driving of the unmanned vehicle according to a preset route, when the unmanned vehicle cannot continue to travel due to pedestrians or vehicles, the surrounding pedestrians or vehicles cannot acquire the driving intention of the unmanned vehicle due to lack of interaction with the surrounding pedestrians or vehicles, so that the pedestrians or vehicles can be always blocked on the automatic driving route, effective avoidance cannot be achieved between the unmanned vehicle and an obstacle, and road blockage is caused. Therefore, the existing unmanned vehicle cannot effectively interact with the surrounding environment when encountering obstacles in the automatic running process, and the running efficiency is low.
Disclosure of Invention
An object of the embodiments of the present application is to provide a driving prompt method and device for an unmanned vehicle, which can effectively interact with the surrounding environment in the automatic driving process of the unmanned vehicle, and further facilitate the improvement of the driving efficiency.
A first aspect of an embodiment of the present application provides a driving prompt method for an unmanned vehicle, where the method includes:
when the unmanned vehicle automatically drives, judging whether the unmanned vehicle meets an obstacle or not;
if yes, obtaining obstacle information of the obstacle;
and determining obstacle avoidance track projection information according to the obstacle information, wherein the obstacle avoidance track projection information comprises expected track information of the unmanned vehicle for obstacle avoidance driving.
In the implementation process, the driving prompting method for the unmanned vehicle can be used for judging whether the unmanned vehicle meets an obstacle or not when the unmanned vehicle carries out automatic driving preferentially; when the unmanned vehicle meets the obstacle, acquiring obstacle information of the obstacle; determining obstacle avoidance track projection information according to the obstacle information; the obstacle avoidance track projection information is used for prompting the unmanned vehicle to carry out expected track information of obstacle avoidance driving. Therefore, by the implementation of the implementation mode, the obstacle avoidance track projection information can be generated when the obstacle is detected, so that the calculation load caused by real-time calculation is avoided, and the problems of endurance and service life are solved; in addition, the moving position of the unmanned vehicle can be effectively output through projecting the obstacle avoidance track projection information, so that the effect of reminding pedestrians of avoiding is achieved, further, the unmanned vehicle can effectively interact with the surrounding environment in the automatic driving process, and the driving efficiency of the unmanned vehicle is favorably improved.
Further, determining obstacle avoidance trajectory projection information according to the obstacle information includes:
acquiring an obstacle avoidance route of the unmanned vehicle for avoiding the obstacle and the current environmental information of the unmanned vehicle;
generating a track image to be projected according to the obstacle avoidance route of the obstacle, performing modeling processing according to the obstacle information, the obstacle avoidance route and the environment information, and determining a first projection position of the track image to be projected on the actual ground;
and generating obstacle avoidance track projection information according to the to-be-projected track image and the first projection position.
In the implementation process, an obstacle avoidance route for the unmanned vehicle to avoid the obstacle and the current environmental information of the unmanned vehicle can be preferentially obtained; and then generating a to-be-projected track image according to the obstacle avoidance route of the obstacle, performing modeling processing according to the obstacle information, the obstacle avoidance route and the environment information, determining a first projection position of the to-be-projected track image on the actual ground, and finally generating obstacle avoidance track projection information according to the first projection position and the to-be-projected track image. Therefore, by implementing the implementation mode, modeling can be performed according to multiple information of the obstacle information, the obstacle avoidance route and the environment information, so that a high-precision modeling result is obtained, and the high-precision modeling result can be applied to determination of the first projection position, so that the determination precision of the first projection position is improved, and the driving efficiency of the unmanned vehicle is improved.
Further, after determining the obstacle avoidance trajectory projection information according to the obstacle information, the method further includes:
adjusting a first projection direction of a first projection device arranged on the unmanned vehicle according to the first projection position;
and controlling the first projection device to project the track image to be projected at the first projection position in the first projection direction.
In the implementation process, after determining the obstacle avoidance track projection information according to the obstacle information, the method can also adjust a first projection direction of a first projection device arranged on the unmanned vehicle according to the first projection position; and then controlling the first projection device to project the obstacle avoidance track projection information at the first projection position. Therefore, by implementing the implementation of the implementation mode, the first projection device can be controlled to project at the first projection position according to the first projection position after the first projection position is acquired, so that the driving track of the unmanned vehicle can be displayed through projection, surrounding people can know the driving track of the unmanned vehicle and avoid the driving track, and the driving efficiency of the unmanned vehicle is improved.
Further, the obstacle information includes one or more of obstacle type, obstacle position, and obstacle size.
In the implementation process, the method can detect the obstacle information comprising one or more of the obstacle type, the obstacle position and the obstacle size, so that the unmanned vehicle can correspondingly calculate and avoid according to one or more of the obstacle type, the obstacle position and the obstacle size, the determination of the first projection position is more accurate, and the driving efficiency of the automatic driving vehicle is further facilitated.
Further, after determining obstacle avoidance trajectory projection information according to the obstacle information, the method further includes:
determining a second projection position of an obstacle prompt projection image according to the obstacle information, wherein the obstacle prompt projection image is used for identifying the obstacle;
adjusting a second projection direction of a second projection device arranged on the unmanned vehicle according to the second projection position;
and controlling the second projection device to project the obstacle prompt projection image at the second projection position in the second projection direction.
In the implementation process, after the obstacle avoidance track projection information is determined according to the obstacle information, a second projection position of an obstacle prompt projection image can be determined according to the obstacle information, and the obstacle prompt projection image is used for identifying the obstacle; adjusting a second projection direction of a second projection device arranged on the unmanned vehicle according to the second projection position; and then controlling a second projection device to project the obstacle-prompting projection image at the second projection position. Therefore, by implementing the implementation mode, the obstacle prompt projection image used for representing the obstacle can be output, so that the obstacle can be actively avoided or related prompts can be given, the unmanned vehicle can adjust the route after the obstacle disappears, the driving planning of the unmanned vehicle is facilitated, and the unmanned efficiency is improved.
A second aspect of the embodiments of the present application provides a travel guidance apparatus for an unmanned vehicle, the travel guidance apparatus including:
a judging unit configured to judge whether the unmanned vehicle encounters an obstacle when the unmanned vehicle is automatically driven;
an acquisition unit configured to acquire obstacle information of the obstacle when it is determined that the unmanned vehicle has encountered the obstacle;
and the information determining unit is used for determining obstacle avoidance track projection information according to the obstacle information, wherein the obstacle avoidance track projection information comprises expected track information of the unmanned vehicle for obstacle avoidance driving.
In the implementation process, the driving prompting device can judge whether the unmanned vehicle meets an obstacle or not through the judging unit when the unmanned vehicle automatically drives; then, when the fact that the unmanned vehicle meets the obstacle is judged through the obtaining unit, obstacle information of the obstacle is obtained; and finally, determining obstacle avoidance track projection information according to the obstacle information through an information determining unit. Therefore, by implementing the implementation mode, the working efficiency of the driving prompting device can be improved through the cooperative work of the multiple units, and meanwhile, the obstacle avoidance track projection information can be generated when the obstacle is detected, so that the calculation load generated by real-time calculation is avoided, and the problems of endurance and service life are solved; in addition, the moving position of the unmanned vehicle can be effectively output through projection obstacle avoidance track projection information, so that the effect of reminding pedestrians of avoiding is achieved, further, the unmanned vehicle can effectively interact with the surrounding environment in the automatic driving process, and the driving efficiency of the unmanned vehicle is favorably improved.
Further, the information determination unit includes:
the first subunit is used for acquiring an obstacle avoidance route of the unmanned vehicle for avoiding the obstacle and the current environmental information of the unmanned vehicle;
the second subunit is used for generating a track image to be projected according to the obstacle avoidance route of the obstacle, performing modeling processing according to the obstacle information, the obstacle avoidance route and the environment information, and determining a first projection position of the track image to be projected on the actual ground;
and the third subunit is used for generating obstacle avoidance track projection information according to the to-be-projected track image and the first projection position.
In the implementation process, a first subunit firstly acquires an obstacle avoidance route for the unmanned vehicle to avoid the obstacle and the current environment information of the unmanned vehicle; and finally, the third subunit generates obstacle avoidance track projection information according to the first projection position and the to-be-projected track image. Therefore, by implementing the implementation mode, modeling can be performed according to multiple information of the obstacle information, the obstacle avoidance route and the environment information, so that a high-precision modeling result is obtained, and the high-precision modeling result can be applied to determination of the first projection position, so that the determination precision of the first projection position is improved, and the driving efficiency of the unmanned vehicle is improved.
Further, the driving prompt device further includes:
the position determining unit is used for determining a second projection position of an obstacle prompting projection image according to the obstacle information after determining the obstacle avoidance track projection information according to the obstacle information, wherein the obstacle prompting projection image is used for identifying the obstacle;
and the projection unit is used for adjusting a second projection direction of a second projection device arranged on the unmanned vehicle according to the second projection position and controlling the second projection device to project the obstacle prompt projection image at the second projection position in the second projection direction.
In the implementation process, after determining obstacle avoidance track projection information according to the obstacle information, the position determination unit determines a second projection position of an obstacle prompt projection image according to the obstacle information, wherein the obstacle prompt projection image is used for identifying a prompt obstacle; adjusting a second projection direction of a second projection device arranged on the unmanned vehicle according to the second projection position through an adjusting unit; and finally, the control unit controls the second projection device to project the obstacle prompt projection image at the second projection position. Therefore, by implementing the implementation mode, the obstacle prompt projection image used for representing the obstacle can be output, so that the obstacle can be actively avoided or related prompts can be given, the unmanned vehicle can adjust the route after the obstacle disappears, the driving planning of the unmanned vehicle is facilitated, and the unmanned efficiency is improved.
A third aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, where the memory is used for storing a computer program, and the processor runs the computer program to make the electronic device execute the driving prompting method for an unmanned vehicle according to any one of the first aspect of the embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores computer program instructions, which when read and executed by a processor, perform the driving instruction method for an unmanned vehicle according to any one of the first aspect of the embodiments of the present application.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a driving prompt method for an unmanned vehicle according to an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating another driving prompt method for an unmanned vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a driving prompt device for an unmanned vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of another driving prompt device for an unmanned vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a related system of a driving prompt device for an unmanned vehicle according to an embodiment of the present application;
fig. 6 is a schematic view of a driving effect for an unmanned vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a driving prompting method for an unmanned vehicle according to an embodiment of the present application. The application scenario and application opportunity of the method. The driving prompting method for the unmanned vehicle comprises the following steps:
s101, when the unmanned vehicle automatically drives, judging whether the unmanned vehicle meets an obstacle, if so, executing steps S102-S103; if not, the flow is ended.
In this embodiment, unmanned vehicles may be used to represent all intelligently driven vehicles, including at least artificially intelligently driven vehicles.
In this embodiment, the process of judgment can be judged through an artificial intelligence autopilot control chip.
As an optional implementation, the method may further include:
and acquiring environment detection information during automatic driving, and judging whether the unmanned vehicle meets an obstacle or not according to the image information.
In the present embodiment, the obstacle is used to mean any object that obstructs the travel of the unmanned vehicle during travel, including a person.
In this embodiment of the present application, the environment detection information includes radar detection data, camera detection data, sensor detection data, and the like, which is not limited in this embodiment of the present application.
S102, obtaining obstacle information of the obstacle.
In this embodiment, the obstacle information includes one or more of an obstacle type, an obstacle position, and an obstacle size.
In this embodiment, the obstacle information may further include whether the obstacle is moving, an obstacle motion, and the like.
S103, determining obstacle avoidance track projection information according to the obstacle information, wherein the obstacle avoidance track projection information comprises expected track information of the unmanned vehicle for obstacle avoidance driving.
In this embodiment, the execution subject of the method may be a computing device such as a computer and a server, and is not limited in this embodiment.
In this embodiment, an execution subject of the method may also be a smart device such as a smart phone and a tablet, which is not limited in this embodiment.
It can be seen that, by implementing the driving prompting method for the unmanned vehicle described in this embodiment, it can be determined whether the unmanned vehicle encounters an obstacle or not, preferentially when the unmanned vehicle is automatically driven; when the unmanned vehicle meets the obstacle, acquiring obstacle information of the obstacle; and determining obstacle avoidance track projection information according to the obstacle information, wherein the obstacle avoidance track projection information comprises expected track information of the unmanned vehicle for obstacle avoidance driving. Therefore, by implementing the implementation mode, the expected track information of the unmanned vehicle for obstacle avoidance driving can be displayed more intuitively and vividly through the obstacle avoidance track projection information, the pedestrians can be favorably enabled to know the specific driving track of the unmanned vehicle, the rapid and effective avoidance can be realized, the unmanned vehicle can effectively interact with the surrounding environment in the automatic driving process, and the driving efficiency of the unmanned vehicle is improved.
Example 2
Referring to fig. 2, fig. 2 is a schematic flow chart of another driving prompting method for an unmanned vehicle according to an embodiment of the present application. The flow diagram of the driving instruction method for the unmanned vehicle depicted in fig. 2 is improved from the flow diagram of the driving instruction method for the unmanned vehicle depicted in fig. 1. The driving prompting method for the unmanned vehicle comprises the following steps:
s201, when the unmanned vehicle automatically drives, judging whether the unmanned vehicle meets an obstacle, if so, executing steps S202-S209; if not, the flow is ended.
In this embodiment, unmanned vehicles may be used to represent all intelligently driven vehicles, including at least artificially intelligently driven vehicles.
In this embodiment, the process of judgment can be judged through an artificial intelligence autopilot control chip.
As an optional implementation, the method may further include:
and acquiring image information shot in real time during automatic driving, and judging whether the unmanned vehicle meets an obstacle or not according to the image information.
In the present embodiment, the obstacle is used to mean any object that obstructs the travel of the unmanned vehicle during travel, including a person.
S202, obtaining obstacle information of the obstacle, and obtaining an obstacle avoidance route of the unmanned vehicle for avoiding the obstacle and current environment information of the unmanned vehicle.
In this embodiment, the obstacle information includes one or more of an obstacle type, an obstacle position, and an obstacle size.
In this embodiment, the obstacle avoidance route may be a result obtained and output by the artificial intelligent driving control chip after calculation.
In this embodiment, the environmental information may include flowers, grass, trees, buildings, people, and the like around the unmanned vehicle.
S203, generating a to-be-projected track image according to the obstacle avoidance route of the obstacle, performing modeling processing according to the obstacle information, the obstacle avoidance route and the environment information, and determining a first projection position of the to-be-projected track image on the actual ground.
And S204, generating obstacle avoidance track projection information according to the track image to be projected and the first projection position.
In this embodiment, the obstacle avoidance trajectory projection information includes expected trajectory information of the unmanned vehicle for obstacle avoidance driving. The method specifically comprises a track image to be projected and a first projection position.
In this embodiment, the track image to be projected may be obtained by installing a projection device (connected to the automatic driving host computer through a network cable) on the inner side of the vehicle head of the unmanned vehicle, and projecting the driving route planned by the automatic driving system on the road surface in front of the vehicle in real time.
For example, the image of the trajectory to be projected may be an image with a length of 3 meters and a width of 1.2 meters, and the shape of the image is adjusted in real time according to the system plan. Actual scene effect can be seen in fig. 6, as shown in fig. 6, a gray portion in front of the unmanned vehicle is a track image to be projected.
As shown in fig. 6, when the unmanned vehicle runs smoothly, the projected image is a rectangular projected image. Specifically, the rectangular projection image may be filled with a preset color, which may be green, blue, or the like, to indicate that no obstacle is present on the predicted trajectory of the unmanned vehicle, and the unmanned vehicle is driven smoothly.
As shown in fig. 6, when an obstacle exists on the expected trajectory of the unmanned vehicle, the rectangular projection image may be filled with a preset color, which may be red, yellow, or the like, to indicate that an obstacle exists on the predicted trajectory of the unmanned vehicle, which is beneficial to prompt an obstacle in advance.
In this embodiment, the first projection position is used to represent a position on the ground for displaying the track image to be projected.
In this embodiment, the to-be-projected track image is used to prompt the unmanned vehicle to perform the expected track information of obstacle avoidance driving, and reference may be made to a gray portion in fig. 6.
As an optional implementation manner, modeling is performed according to the obstacle information, the obstacle avoidance route, and the environment information, and when the first projection position of the track image to be projected on the actual ground is determined, modeling may be performed by using an augmented reality technology.
In the above embodiment, the augmented reality technology is a technology for calculating the position and angle of a camera image in real time and adding a corresponding image, and is a new technology for seamlessly integrating real world information and virtual world information, and the goal of the technology is to fit and interact a virtual world in the real world on a screen.
As a further optional implementation manner, when modeling is performed by using an augmented reality technology and a first projection position is determined, a virtual world of the current environment where the unmanned vehicle is located is constructed according to obstacle information, an obstacle avoidance route and environment information, then a projection effect is simulated in the virtual world according to the obstacle avoidance route of the unmanned vehicle, and then an actual projection position in the current environment is calculated according to the projection effect simulated in the virtual world, namely the first projection position.
S205, adjusting a first projection direction of a first projection device arranged on the unmanned vehicle according to the first projection position.
In this embodiment, the first projection device is used to project the driving path of the unmanned vehicle.
And S206, controlling a first projection device to project the track image to be projected at the first projection position in the first projection direction.
In this embodiment, the first projection device may be connected to an artificial intelligence autopilot chip (artificial intelligence host) through a network cable, and projects a driving route planned by the artificial intelligence autopilot chip on a front road surface in real time to obtain a trajectory image to be projected. The image may be an image with a projected image length of 2-4 m and a projected image width of 0.5-1.5 m, and may be an expected driving track of the unmanned vehicle shown by a specific image symbol (e.g. a dotted line, a curve, an arrow, a virtual road image, etc.), and the specific shape is not limited in this embodiment, so that the image shape can be adjusted in real time according to the route planning.
In this embodiment, the color of the track image to be projected may be a preset theme color. The preset theme colors include red, yellow, green, blue, black, white, etc., and the embodiments of the present application are not limited thereto. In practical use, when the unmanned vehicle runs smoothly, the color of the track image to be projected can be a red preset theme color or a yellow preset theme color, so as to indicate that no obstacle is blocked on the predicted track of the unmanned vehicle and the unmanned vehicle runs smoothly. When an obstacle exists on the expected track of the unmanned vehicle, the color of the track image to be projected can be a green preset theme color or a blue preset theme color to represent that the obstacle exists on the predicted track of the unmanned vehicle, so that the obstacle can be prompted in advance.
As an alternative embodiment, the determination of the color of the trajectory image to be projected may further include the following steps:
acquiring environment detection information during automatic driving;
determining a ground color at the first projection position according to the environment detection information;
and adjusting the color of the track image to be projected according to the ground color so that the track image to be projected can be clearly displayed at the first projection position.
In the above-mentioned embodiment, adjust the colour of treating the projection orbit image through ground colour, can solve when the colour of treating the projection orbit image is close with ground colour mutually, can't show clearly the problem of treating the projection orbit image, can both clearly will treat the projection orbit image at every turn and project subaerially, ensure that unmanned vehicle is at the automatic in-process of traveling, effectively interdynamic with the surrounding environment, and then be favorable to promoting the efficiency of traveling of unmanned vehicle.
Referring to fig. 5, fig. 5 shows a related system structure diagram of a driving prompting device for an unmanned vehicle for executing the method, wherein the driving prompting device for the unmanned vehicle is connected with an artificial intelligence automatic driving control chip (which may also be an artificial intelligence control device), and the driving prompting device for the unmanned vehicle is connected with a power supply. Therefore, the driving prompting device for the unmanned vehicle is applied to the unmanned vehicle and can play a plurality of roles.
And S207, determining a second projection position of the obstacle prompt projection image according to the obstacle information, wherein the obstacle prompt projection image is used for identifying the obstacle.
In this embodiment, the obstacle-prompting projection image is used for projecting to an obstacle, so that the obstacle can be marked.
For example, when the obstacle is a person, the obstacle prompt projection image may project a ring-shaped image under the foot of the person, thereby playing a role of a prompt.
And S208, adjusting a second projection direction of a second projection device arranged on the unmanned vehicle according to the second projection position.
In this embodiment, the second projection device is configured to output an obstacle indication projection image.
And S209, controlling a second projection device to project the obstacle prompting projection image at a second projection position in a second projection direction.
In this embodiment, when an obstacle is detected while the unmanned vehicle is running, the second projection device may output a red obstacle prompt projection image and perform a blinking prompt.
In the embodiment, when the unmanned vehicle stops for more than 10 seconds due to the obstruction of the obstacle, the automatic driving host machine sends out voice broadcast to prompt that the obstacle exists on the traveling route of the unmanned vehicle, so that the purpose of prompting pedestrians or vehicles to avoid is achieved.
By implementing the implementation mode, the method can prompt and interact surrounding pedestrians and vehicles in time in a mode of projecting the driving route of the unmanned vehicle, so that the pedestrians or vehicles can obtain the driving route of the vehicle by watching the projection and avoid the driving route in time, and the problem of road congestion caused by the fact that the unmanned vehicle is stopped by accident is avoided; meanwhile, the method can also prompt pedestrians or vehicles to avoid through projection display and voice broadcast after the vehicles are unintentionally stopped when the pedestrians drive the vehicles.
In this embodiment, the explanation described in embodiment 1 may be referred to in embodiment 2, and details are not repeated in this embodiment.
As an optional implementation mode, when the obstacle is a human body and the aggressive movement is detected, alarm prompt information is sent out, image shooting is carried out, and the shot image is uploaded to a system for alarm backup.
As an optional implementation manner, when the obstacle is detected to coincide with the captured image again, an alarm prompt message is sent immediately to prompt timely avoidance.
As an optional implementation manner, when the alarm prompt information is sent, surprise audio information can be sent to prompt the opponent person to avoid the opponent person in time.
As an alternative embodiment, the surprising audio information may be personalized prompt information of personal information obtained by obtaining the shot image.
For example, the surprise cue message can see XXX (the aggressive animal) timing, telling XXX: XXX please leave the designated area quickly. Meanwhile, the prompt message can play a friendly frightening role.
Therefore, by implementing the driving prompting method for the unmanned vehicle described in the embodiment, the obstacle avoidance track projection information can be generated when the obstacle is detected, so that the calculation load generated by real-time calculation is avoided, and the problems of endurance and service life are solved; in addition, the step of outputting the projection information of the obstacle avoidance track according to the first projection position can effectively output the moving position of the unmanned vehicle, so that the effect of reminding pedestrians of avoiding is achieved, further, the unmanned vehicle can effectively interact with the surrounding environment in the automatic driving process, and the driving efficiency of the unmanned vehicle is favorably improved.
Example 3
Referring to fig. 3, fig. 3 is a schematic structural diagram of a driving prompt device for an unmanned vehicle according to an embodiment of the present application. Wherein, this a suggestion device that traveles for unmanned vehicle includes:
a determination unit 310, configured to determine whether the unmanned vehicle encounters an obstacle when the unmanned vehicle performs autonomous driving.
An obtaining unit 320, configured to obtain obstacle information of an obstacle when it is determined that the unmanned vehicle encounters the obstacle.
The information determining unit 330 is configured to determine obstacle avoidance trajectory projection information according to the obstacle information, where the obstacle avoidance trajectory projection information includes expected trajectory information of the unmanned vehicle for obstacle avoidance driving.
In this embodiment, for the explanation of the driving prompting device for the unmanned vehicle, reference may be made to the description in embodiment 1 or embodiment 2, and details are not repeated in this embodiment.
It can be seen that, by implementing the driving prompting device for the unmanned vehicle described in this embodiment, the working efficiency of the driving prompting device can be improved through the cooperative work of a plurality of units, and meanwhile, the generation of the obstacle avoidance trajectory projection information can be performed when an obstacle is detected, so that the calculation load generated by real-time calculation is avoided, and the problems of endurance and service life are solved; in addition, the moving position of the unmanned vehicle can be effectively output through obstacle avoidance track projection information, so that the effect of reminding pedestrians of avoiding is achieved, further, the unmanned vehicle can effectively interact with the surrounding environment in the automatic driving process, and the driving efficiency of the unmanned vehicle is favorably improved.
Example 4
Referring to fig. 4, fig. 4 is a schematic structural diagram of another driving prompting device for an unmanned vehicle according to an embodiment of the present application. The schematic configuration of the travel prompting device for an unmanned vehicle depicted in fig. 4 is modified from the schematic configuration of the travel prompting device for an unmanned vehicle depicted in fig. 3. Wherein, the information determining unit 330 includes:
the first sub-unit 331 is configured to acquire an obstacle avoidance route where the unmanned vehicle avoids an obstacle and environmental information where the unmanned vehicle is currently located;
the second subunit 332 is configured to generate a to-be-projected track image according to the obstacle avoidance route of the obstacle, perform modeling processing according to the obstacle information, the obstacle avoidance route, and the environment information, and determine a first projection position of the to-be-projected track image on the actual ground;
the third subunit 333 is configured to generate obstacle avoidance trajectory projection information according to the to-be-projected trajectory image and the first projection position.
As an alternative embodiment, the obstacle information includes one or more of obstacle type, obstacle position, and obstacle size.
As an alternative embodiment, the travel prompting device for an unmanned vehicle further includes:
the position determining unit 340 is further configured to determine, according to the obstacle information, a second projection position of the obstacle prompt projection image after determining the obstacle avoidance trajectory projection information, where the obstacle prompt projection image is used to identify an obstacle.
And the projection unit 350 is further used for adjusting a second projection direction of a second projection device arranged on the unmanned vehicle according to the second projection position, and controlling the second projection device to project the obstacle prompting projection image at the second projection position in the second projection direction.
In this embodiment, for the explanation of the driving prompting device for the unmanned vehicle, reference may be made to the description in embodiment 1 or embodiment 2, and details are not repeated in this embodiment.
It can be seen that, by implementing the driving prompting device for the unmanned vehicle described in this embodiment, the working efficiency of the driving prompting device can be improved through the cooperative work of a plurality of units, and meanwhile, the generation of the obstacle avoidance trajectory projection information can be performed when an obstacle is detected, so that the calculation load generated by real-time calculation is avoided, and the problems of endurance and service life are solved; in addition, the moving position of the unmanned vehicle can be effectively output by outputting the obstacle avoidance track projection information, so that the effect of reminding pedestrians of avoiding is achieved, further, the unmanned vehicle can effectively interact with the surrounding environment in the automatic driving process, and the driving efficiency of the unmanned vehicle is favorably improved.
An embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute a driving prompting method for an unmanned vehicle according to any one of embodiment 1 or embodiment 2 of the present application.
The embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and executed by a processor, the computer program instructions execute a driving prompting method for an unmanned vehicle according to any one of embodiment 1 or embodiment 2 of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules 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 application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including 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 application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A travel prompting method for an unmanned vehicle, the method comprising:
when the unmanned vehicle automatically drives, judging whether the unmanned vehicle meets an obstacle or not;
if yes, obtaining obstacle information of the obstacle;
and determining obstacle avoidance track projection information according to the obstacle information, wherein the obstacle avoidance track projection information comprises expected track information of the unmanned vehicle for obstacle avoidance driving.
2. The driving prompting method for the unmanned vehicle as claimed in claim 1, wherein determining obstacle avoidance trajectory projection information according to the obstacle information comprises:
acquiring an obstacle avoidance route of the unmanned vehicle for avoiding the obstacle and the current environmental information of the unmanned vehicle;
generating a track image to be projected according to the obstacle avoidance route of the obstacle, performing modeling processing according to the obstacle information, the obstacle avoidance route and the environment information, and determining a first projection position of the track image to be projected on the actual ground;
and generating obstacle avoidance track projection information according to the to-be-projected track image and the first projection position.
3. The driving prompting method for unmanned vehicle as defined in claim 2, further comprising, after determining obstacle avoidance trajectory projection information according to the obstacle information:
adjusting a first projection direction of a first projection device arranged on the unmanned vehicle according to the first projection position;
and controlling the first projection device to project the track image to be projected at the first projection position in the first projection direction.
4. The driving prompting method for an unmanned vehicle according to any one of claims 1 to 3, wherein the obstacle information includes one or more of obstacle type, obstacle position, and obstacle size.
5. The driving prompting method for an unmanned vehicle according to claim 1, wherein after determining obstacle avoidance trajectory projection information from the obstacle information, the method further comprises:
determining a second projection position of an obstacle prompt projection image according to the obstacle information, wherein the obstacle prompt projection image is used for identifying the obstacle;
adjusting a second projection direction of a second projection device arranged on the unmanned vehicle according to the second projection position;
and controlling the second projection device to project the obstacle prompt projection image at the second projection position in the second projection direction.
6. A travel prompting device for an unmanned vehicle, characterized by comprising:
a judging unit configured to judge whether the unmanned vehicle encounters an obstacle when the unmanned vehicle is automatically driven;
an acquisition unit configured to acquire obstacle information of the obstacle when it is determined that the unmanned vehicle has encountered the obstacle;
and the information determining unit is used for determining obstacle avoidance track projection information according to the obstacle information, wherein the obstacle avoidance track projection information comprises expected track information of the unmanned vehicle for obstacle avoidance driving.
7. The travel prompting device for an unmanned vehicle according to claim 6, wherein the information determination unit includes:
the first subunit is used for acquiring an obstacle avoidance route of the unmanned vehicle for avoiding the obstacle and the current environmental information of the unmanned vehicle;
the second subunit is used for generating a track image to be projected according to the obstacle avoidance route of the obstacle, performing modeling processing according to the obstacle information, the obstacle avoidance route and the environment information, and determining a first projection position of the track image to be projected on the actual ground;
and the third subunit is used for generating obstacle avoidance track projection information according to the to-be-projected track image and the first projection position.
8. The travel prompting device for an unmanned vehicle according to claim 6, characterized by further comprising:
the position determining unit is used for determining a second projection position of an obstacle prompting projection image according to the obstacle information after determining the obstacle avoidance track projection information according to the obstacle information, wherein the obstacle prompting projection image is used for identifying the obstacle;
and the projection unit is used for adjusting a second projection direction of a second projection device arranged on the unmanned vehicle according to the second projection position and controlling the second projection device to project the obstacle prompt projection image at the second projection position in the second projection direction.
9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to execute the driving instruction method for an unmanned vehicle according to any one of claims 1 to 5.
10. A readable storage medium having stored thereon computer program instructions which, when read and executed by a processor, perform a method of travel prompting for an unmanned vehicle according to any of claims 1 to 5.
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