CN112597869A - Obstacle information pushing method, device and equipment and readable storage medium - Google Patents
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Abstract
The invention provides a method, a device and equipment for pushing barrier information and a readable storage medium. The method comprises the following steps: acquiring perception data acquired by perception equipment of a vehicle; inputting the perception data into an obstacle classification model so that the obstacle classification model can perform obstacle type identification based on the perception data; obtaining the type of the obstacle output by the obstacle classification model; determining whether barrier information needs to be pushed according to the barrier type; if so, determining the position of an obstacle corresponding to the sensing data, and determining a pushing range according to the type and the position of the obstacle; and pushing the obstacle information corresponding to the obstacle to the vehicle positioned in the pushing range. According to the invention, the obstacles are identified according to the sensing data acquired by the sensing equipment of the vehicle, and the information of the obstacles is pushed to other vehicles, so that each vehicle can sense the obstacles far beyond the sensing range of the vehicle in advance by means of the sensing systems of other vehicles.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a method, a device and equipment for pushing barrier information and a readable storage medium.
Background
At present, some vehicles can identify obstacles on the road in front of the vehicles through cameras or radars arranged on the vehicles, and send out early warning to prompt drivers, so that driving safety is improved.
However, due to the limitation of the data acquisition distance of the camera or the radar, for a vehicle, only an obstacle near the front can be identified, so that even if the obstacle is identified and the driver is prompted, the driver needs to perform evasive action in a short time, and the risk of misoperation exists. Moreover, when the barrier can influence current, can discover the barrier when being close to the barrier through current mode for the driver just knows the existence of this barrier when driving the vehicle and closing on the barrier, thereby changes the trip route, has wasted the trip time.
Disclosure of Invention
The invention mainly aims to provide a method, a device and equipment for pushing obstacle information and a readable storage medium, and aims to solve the technical problem that a vehicle cannot sense an obstacle far away from the vehicle in the prior art.
In a first aspect, the present invention provides an obstacle information pushing method, including:
acquiring perception data acquired by perception equipment of a vehicle;
inputting the perception data into an obstacle classification model so that the obstacle classification model can perform obstacle type identification based on the perception data;
obtaining the type of the obstacle output by the obstacle classification model;
determining whether barrier information needs to be pushed according to the barrier type;
if so, determining the position of an obstacle corresponding to the sensing data, and determining a pushing range according to the type and the position of the obstacle;
and pushing the obstacle information corresponding to the obstacle to the vehicle positioned in the pushing range.
Optionally, the step of determining whether obstacle information needs to be pushed according to the obstacle type includes:
obtaining the hazard degree and duration corresponding to the type of the obstacle;
and when the hazard degree is higher than the preset degree and the duration is longer than the preset duration, determining that the barrier information needs to be pushed.
Optionally, the step of determining the pushing range according to the type and the position of the obstacle includes:
acquiring the duration corresponding to the type of the obstacle;
acquiring the length corresponding to the duration;
and taking the position of the obstacle as a circle center and the length as a range corresponding to the radius as a pushing range.
Optionally, after the step of inputting the sensing data into an obstacle classification model for the obstacle classification model to perform obstacle type identification based on the sensing data, the method further includes:
if the obstacle classification model cannot identify the obstacle type based on the perception data;
sending the perception data to a manual labeling end for personnel at the end side of the manual labeling to label the perception data;
receiving sensing data with labeling information fed back by a manual labeling end, wherein the labeling information comprises barrier types, hazard degrees and duration;
determining whether barrier information needs to be pushed or not according to the hazard degree and the duration;
if so, determining the position of the obstacle corresponding to the perception data, and determining a pushing range according to the duration and the position;
pushing obstacle information corresponding to the obstacle to the vehicle located in the pushing range;
and performing incremental training on the obstacle classification model by taking the perception data and the obstacle type as training data.
Optionally, the step of pushing obstacle information corresponding to the obstacle to the vehicle located in the pushing range includes:
and pushing obstacle information corresponding to the obstacle to the vehicle which is located in the pushing range and subscribed with the pushing service.
Optionally, the step of pushing obstacle information corresponding to the obstacle to the vehicle located in the pushing range includes:
detecting whether the type of the obstacle is a specific type;
and if the type of the obstacle is a specific type, pushing obstacle information corresponding to the obstacle to a vehicle corresponding to the obstacle type in the pushing range.
Optionally, the step of pushing obstacle information corresponding to the obstacle to the vehicle located in the pushing range includes:
acquiring navigation planning information of vehicles within the pushing range;
determining a target vehicle which can pass through the position according to the navigation planning information;
and pushing the obstacle information corresponding to the obstacle to the target vehicle.
In a second aspect, the present invention further provides an obstacle information pushing apparatus, including:
the first acquisition module is used for acquiring perception data acquired by perception equipment of a vehicle;
the recognition module is used for inputting the perception data into an obstacle classification model so as to enable the obstacle classification model to recognize the type of the obstacle based on the perception data;
the second acquisition module is used for acquiring the barrier types output by the barrier classification model;
the first determining module is used for determining whether barrier information needs to be pushed according to the barrier type;
the second determining module is used for determining the position of an obstacle corresponding to the sensing data if needed, and determining a pushing range according to the type and the position of the obstacle;
and the pushing module is used for pushing the obstacle information corresponding to the obstacle to the vehicle positioned in the pushing range.
In a third aspect, the present invention further provides an obstacle information pushing apparatus, which includes a processor, a memory, and an obstacle information pushing program stored on the memory and executable by the processor, wherein when the obstacle information pushing program is executed by the processor, the steps of the obstacle information pushing method as described above are implemented.
In a fourth aspect, the present invention further provides a readable storage medium, where an obstacle information pushing program is stored, where the obstacle information pushing program, when executed by a processor, implements the steps of the obstacle information pushing method as described above.
In the invention, sensing data collected by sensing equipment of a vehicle is obtained; inputting the perception data into an obstacle classification model so that the obstacle classification model can perform obstacle type identification based on the perception data; obtaining the type of the obstacle output by the obstacle classification model; determining whether barrier information needs to be pushed according to the barrier type; if so, determining the position of an obstacle corresponding to the sensing data, and determining a pushing range according to the type and the position of the obstacle; and pushing the obstacle information corresponding to the obstacle to the vehicle positioned in the pushing range. According to the invention, the obstacles are identified according to the sensing data acquired by the sensing equipment of the vehicle, and the information of the obstacles is pushed to other vehicles, so that each vehicle can sense the obstacles far beyond the sensing range of the vehicle in advance by means of the sensing systems of other vehicles.
Drawings
Fig. 1 is a schematic hardware structure diagram of an obstacle information pushing device according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating an obstacle information pushing method according to an embodiment of the present invention;
fig. 3 is a schematic functional block diagram of an obstacle information pushing apparatus according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first aspect, an embodiment of the present invention provides an obstacle information pushing apparatus.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an obstacle information pushing device according to an embodiment of the present invention. In this embodiment of the present invention, the obstacle information pushing device may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, a memory 1005, which is one type of computer storage medium in fig. 1, may include therein an operating system, a network communication module, a user interface module, and an obstacle information pushing program. The processor 1001 may call an obstacle information pushing program stored in the memory 1005, and execute the obstacle information pushing method provided by the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides an obstacle information pushing method.
Referring to fig. 2, fig. 2 is a flowchart illustrating an embodiment of an obstacle information pushing method according to the present invention. As shown in fig. 2, in an embodiment, the obstacle information pushing method includes:
step S10, obtaining perception data collected by perception equipment of the vehicle;
in this embodiment, the sensing device of the vehicle may be a camera and/or a radar, and the sensing data is image data and/or radar point cloud data.
Step S20, inputting the perception data into an obstacle classification model for the obstacle classification model to recognize the type of the obstacle based on the perception data;
in this embodiment, the obstacle classification model is obtained by training a neural network with a plurality of image data and/or radar point cloud data with obstacle type labeling information, and the specific training process may refer to the prior art and is not described herein again. The sensing data obtained at present is input into the obstacle classification model, and the obstacle classification model can identify the type of the obstacle based on the sensing data.
Step S30, obtaining the obstacle type output by the obstacle classification model;
in this embodiment, after the obstacle classification model identifies the obstacle type based on the sensing data, the obstacle type corresponding to the sensing data may be output, and the execution subject of this embodiment may obtain the obstacle type output by the obstacle classification model.
Step S40, determining whether barrier information needs to be pushed according to the barrier type;
in this embodiment, after the type of the obstacle is obtained, whether the obstacle information needs to be pushed or not can be determined according to the type of the obstacle. Specifically, which types of obstacles need to push obstacle information may be preset based on actual requirements, for example, the types of obstacles are set to be height-limiting rods, falling rocks and obstacles of a vehicle need to push obstacle information, and if the currently obtained obstacle type is any one of the height-limiting rods, the falling rocks and the vehicle, it is determined that the obstacle information needs to be pushed.
Further, in one embodiment, step S40 includes:
obtaining the hazard degree and duration corresponding to the type of the obstacle; and when the hazard degree is higher than the preset degree and the duration is longer than the preset duration, determining that the barrier information needs to be pushed.
In this embodiment, the hazard level and the duration corresponding to each obstacle type may be preset based on actual requirements. For example, a high limit lever corresponds to a high hazard level for a duration of greater than 24 hours; the harm degree corresponding to falling rocks is high, and the duration is more than 24 hours; the vehicle corresponds to a medium hazard level of 3 hours in duration. Simultaneously setting: the preset degree is low, and the preset time is 5 hours. It is easy to understand that the above-mentioned arrangement can be flexibly arranged according to actual needs, and is not limited herein.
If the corresponding hazard degree and the duration of the barrier are obtained according to the type of the barrier, when the hazard degree is higher than low and the duration is longer than 5 hours, the barrier information is determined to be required to be pushed, otherwise, the barrier information is determined not to be required to be pushed.
Step S50, if necessary, determining the position of the obstacle corresponding to the perception data, and determining the pushing range according to the type and position of the obstacle;
in this embodiment, if the obstacle information needs to be pushed, the position of the obstacle corresponding to the sensing data is determined first, and specifically, the position of the vehicle may be used as the position of the obstacle corresponding to the sensing data; then, the push range is determined according to the type and position of the obstacle. The length corresponding to each obstacle type can be preset, then the position of the obstacle corresponding to the sensing data is used as the center of a circle, the length is used as the radius, and the range of the corresponding circle is the pushing range.
Further, in an embodiment, the step of determining the pushing range according to the type and the position of the obstacle includes:
acquiring the duration corresponding to the type of the obstacle; acquiring the length corresponding to the duration; and taking the position of the obstacle as a circle center and the length as a range corresponding to the radius as a pushing range.
In this embodiment, if the duration of the obstacle is longer, the range of the influence of the obstacle is brighter, so that the length corresponding to the duration can be set according to actual needs.
For example, if the duration is less than or equal to 5 hours, the corresponding length is set to 300 km; if the duration is longer than 5 hours and less than or equal to 10 hours, setting the corresponding length as 800 kilometers; if the duration is longer than 10 hours and less than or equal to 15 hours, the corresponding length is set to 1300 kilometers, and so on.
And acquiring corresponding duration according to the type of the obstacle, then determining the set information, and determining the length corresponding to the duration, so that the range corresponding to the radius with the position of the obstacle as the center of a circle is taken as the pushing range.
And step S60, pushing the obstacle information corresponding to the obstacle to the vehicle in the pushing range.
In this embodiment, after the push range is determined, the vehicle located in the push range may be pushed with the obstacle information corresponding to the obstacle. The obstacle information comprises obstacle positions and obstacle types. The specific information included in the obstacle information is not limited, and the specific information included in the obstacle information may be expanded or reduced according to actual needs.
In the embodiment, sensing data acquired by sensing equipment of a vehicle is acquired; inputting the perception data into an obstacle classification model so that the obstacle classification model can perform obstacle type identification based on the perception data; obtaining the type of the obstacle output by the obstacle classification model; determining whether barrier information needs to be pushed according to the barrier type; if so, determining the position of an obstacle corresponding to the sensing data, and determining a pushing range according to the type and the position of the obstacle; and pushing the obstacle information corresponding to the obstacle to the vehicle positioned in the pushing range. According to the embodiment, the obstacles are identified according to the sensing data acquired by the sensing equipment of the vehicle, and the information of the obstacles is pushed to other vehicles, so that each vehicle can sense the obstacles far beyond the sensing range of the vehicle in advance by means of the sensing systems of the other vehicles.
Further, in an embodiment, after step S20, the method further includes:
if the obstacle classification model cannot identify the obstacle type based on the perception data; sending the perception data to a manual labeling end for personnel at the end side of the manual labeling to label the perception data; receiving sensing data with labeling information fed back by a manual labeling end, wherein the labeling information comprises barrier types, hazard degrees and duration; determining whether barrier information needs to be pushed or not according to the hazard degree and the duration; if so, determining the position of the obstacle corresponding to the perception data, and determining a pushing range according to the duration and the position; pushing obstacle information corresponding to the obstacle to the vehicle located in the pushing range; and performing incremental training on the obstacle classification model by taking the perception data and the obstacle type as training data.
In this embodiment, when the obstacle classification model cannot identify the obstacle type based on the sensing data, the sensing data is sent to the manual labeling end, so that the personnel at the end side of the manual labeling can label the sensing data. After the manual labeling work is finished, sensing data with labeling information fed back by the manual labeling end can be received, wherein the labeling information comprises barrier types, hazard degrees and duration. And then determining whether barrier information needs to be pushed according to the degree of harm and the duration, if so, determining the position of a barrier corresponding to the sensing data, determining a pushing range according to the duration and the position, and pushing the barrier information corresponding to the barrier to a vehicle in the pushing range. The specific embodiment for determining whether the obstacle information needs to be pushed and determining the pushing range is substantially the same as the above embodiment, and details are not repeated here.
And in order to identify the type of obstacles by the subsequent obstacle classification model, the obstacle classification model is subjected to incremental training by taking the sensing data and the type of the obstacles as training data.
Further, in one embodiment, step S60 includes:
and pushing obstacle information corresponding to the obstacle to the vehicle which is located in the pushing range and subscribed with the pushing service.
In this embodiment, the obstacle information pushing method may be used as a value-added service, that is, obstacle information is pushed only to vehicles subscribed with the pushing service. After the push range is determined, vehicles subscribed with the push service are searched from the vehicles located in the push range, barrier information corresponding to barriers is pushed to the vehicles subscribed with the push service, and other vehicles do not push the barrier information.
Further, in one embodiment, step S60 includes:
detecting whether the type of the obstacle is a specific type; and if the type of the obstacle is a specific type, pushing obstacle information corresponding to the obstacle to a vehicle corresponding to the obstacle type in the pushing range.
In this embodiment, it is considered that some types of obstacles do not constitute obstacles for some vehicle types, for example, a height limit rod with a height limit of 2.5m constitutes an obstacle for a vehicle type higher than or equal to 2.5m, and does not constitute an obstacle for a vehicle lower than 2.5 m. Therefore, a height limit lever having a height limit of 2.5m is set to a specific type, and the vehicle corresponding to the specific type is a vehicle higher than or equal to 2.5 m. If the obstacle type determined according to the sensing data is a height limit rod with the height being limited to 2.5m, when obstacle information is pushed, vehicles higher than or equal to 2.5m are searched from vehicles within the pushing range, the obstacle information is pushed to the vehicles higher than or equal to 2.5m, and pushing is not needed for the vehicles lower than 2.5 m.
For another example, the width-limiting pier with the width limited by 2m is set to be of a specific type, and the vehicle corresponding to the specific type is a vehicle with the width greater than or equal to 2 m. If the obstacle type determined according to the sensing data is the width-limited pier with the width limited by 2m, when obstacle information is pushed, vehicles with the width larger than or equal to 2m are searched from the vehicles in the pushing range, the obstacle information is pushed to the vehicles with the width larger than or equal to 2m, and the vehicles with the width smaller than 2m do not need to be pushed.
Of course, when determining the vehicle to be pushed, it may be further considered whether the vehicle is subscribed to the push service, that is, the vehicle to be pushed needs to be subscribed to the push service in addition to the vehicle corresponding to the obstacle type.
Further, in one embodiment, step S60 includes:
acquiring navigation planning information of vehicles within the pushing range; determining a target vehicle which can pass through the position according to the navigation planning information; and pushing the obstacle information corresponding to the obstacle to the target vehicle.
In this embodiment, if the push range includes a plurality of vehicles, considering that some vehicles may not pass through the position of the obstacle, it is not necessary to push the obstacle information corresponding to the obstacle for the vehicles. Therefore, the navigation planning information of each vehicle is obtained, the target vehicle passing through the position is determined according to the navigation planning information, and the obstacle information corresponding to the obstacle is pushed to the target vehicle.
Of course, when determining the vehicle to be pushed, it may be further considered whether the vehicle is subscribed to the push service, that is, the vehicle to be pushed needs to be subscribed to the push service in addition to being the target vehicle.
In a third aspect, an embodiment of the present invention further provides an obstacle information pushing apparatus.
Referring to fig. 3, fig. 3 is a functional module schematic diagram of an embodiment of the obstacle information pushing device of the present invention. As shown in fig. 3, in an embodiment, the obstacle information pushing device includes:
the first acquisition module 10 is used for acquiring perception data acquired by perception equipment of a vehicle;
the recognition module 20 is configured to input the sensing data into an obstacle classification model, so that the obstacle classification model performs obstacle type recognition based on the sensing data;
a second obtaining module 30, configured to obtain an obstacle type output by the obstacle classification model;
the first determining module 40 is configured to determine whether obstacle information needs to be pushed according to the obstacle type;
a second determining module 50, configured to determine, if needed, a position of an obstacle corresponding to the sensing data, and determine a pushing range according to the type and the position of the obstacle;
and the pushing module 60 is configured to push the obstacle information corresponding to the obstacle to the vehicle located in the pushing range.
Further, in an embodiment, the first determining module 40 is configured to:
obtaining the hazard degree and duration corresponding to the type of the obstacle;
and when the hazard degree is higher than the preset degree and the duration is longer than the preset duration, determining that the barrier information needs to be pushed.
Further, in an embodiment, the second determining module 50 is configured to:
acquiring the duration corresponding to the type of the obstacle;
acquiring the length corresponding to the duration;
and taking the position of the obstacle as a circle center and the length as a range corresponding to the radius as a pushing range.
Further, in an embodiment, the obstacle information pushing apparatus further includes a processing module, configured to:
if the obstacle classification model cannot identify the obstacle type based on the perception data;
sending the perception data to a manual labeling end for personnel at the end side of the manual labeling to label the perception data;
receiving sensing data with labeling information fed back by a manual labeling end, wherein the labeling information comprises barrier types, hazard degrees and duration;
determining whether barrier information needs to be pushed or not according to the hazard degree and the duration;
if so, determining the position of the obstacle corresponding to the perception data, and determining a pushing range according to the duration and the position;
pushing obstacle information corresponding to the obstacle to the vehicle located in the pushing range;
and performing incremental training on the obstacle classification model by taking the perception data and the obstacle type as training data.
Further, in an embodiment, the pushing module 60 is configured to:
and pushing obstacle information corresponding to the obstacle to the vehicle which is located in the pushing range and subscribed with the pushing service.
Further, in an embodiment, the pushing module 60 is configured to:
detecting whether the type of the obstacle is a specific type;
and if the type of the obstacle is a specific type, pushing obstacle information corresponding to the obstacle to a vehicle corresponding to the obstacle type in the pushing range.
Further, in an embodiment, the pushing module 60 is configured to:
acquiring navigation planning information of vehicles within the pushing range;
determining a target vehicle which can pass through the position according to the navigation planning information;
and pushing the obstacle information corresponding to the obstacle to the target vehicle.
The function implementation of each module in the obstacle information pushing device corresponds to each step in the above obstacle information pushing method embodiment, and the function and implementation process are not described in detail here.
In a fourth aspect, the embodiment of the present invention further provides a readable storage medium.
The readable storage medium of the present invention stores thereon an obstacle information pushing program, wherein when the obstacle information pushing program is executed by a processor, the steps of the obstacle information pushing method as described above are implemented.
The method implemented when the obstacle information pushing program is executed may refer to each embodiment of the obstacle information pushing method of the present invention, and details thereof are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
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.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. 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 (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An obstacle information pushing method, characterized by comprising:
acquiring perception data acquired by perception equipment of a vehicle;
inputting the perception data into an obstacle classification model so that the obstacle classification model can perform obstacle type identification based on the perception data;
obtaining the type of the obstacle output by the obstacle classification model;
determining whether barrier information needs to be pushed according to the barrier type;
if so, determining the position of an obstacle corresponding to the sensing data, and determining a pushing range according to the type and the position of the obstacle;
and pushing the obstacle information corresponding to the obstacle to the vehicle positioned in the pushing range.
2. The method of claim 1, wherein the step of determining whether obstacle information needs to be pushed according to the obstacle type comprises:
obtaining the hazard degree and duration corresponding to the type of the obstacle;
and when the hazard degree is higher than the preset degree and the duration is longer than the preset duration, determining that the barrier information needs to be pushed.
3. The method of pushing obstacle information according to claim 1, wherein the step of determining a pushing range according to the type and position of the obstacle includes:
acquiring the duration corresponding to the type of the obstacle;
acquiring the length corresponding to the duration;
and taking the position of the obstacle as a circle center and the length as a range corresponding to the radius as a pushing range.
4. The obstacle information pushing method according to claim 1, further comprising, after the step of inputting the perception data into an obstacle classification model for obstacle type identification by the obstacle classification model based on the perception data:
if the obstacle classification model cannot identify the obstacle type based on the perception data;
sending the perception data to a manual labeling end for personnel at the end side of the manual labeling to label the perception data;
receiving sensing data with labeling information fed back by a manual labeling end, wherein the labeling information comprises barrier types, hazard degrees and duration;
determining whether barrier information needs to be pushed or not according to the hazard degree and the duration;
if so, determining the position of the obstacle corresponding to the perception data, and determining a pushing range according to the duration and the position;
pushing obstacle information corresponding to the obstacle to the vehicle located in the pushing range;
and performing incremental training on the obstacle classification model by taking the perception data and the obstacle type as training data.
5. The obstacle information pushing method according to claim 1, wherein the step of pushing the obstacle information corresponding to the obstacle to the vehicle located within the pushing range includes:
and pushing obstacle information corresponding to the obstacle to the vehicle which is located in the pushing range and subscribed with the pushing service.
6. The obstacle information pushing method according to claim 1, wherein the step of pushing the obstacle information corresponding to the obstacle to the vehicle located within the pushing range includes:
detecting whether the type of the obstacle is a specific type;
and if the type of the obstacle is a specific type, pushing obstacle information corresponding to the obstacle to a vehicle corresponding to the obstacle type in the pushing range.
7. The obstacle information pushing method according to claim 1, wherein the step of pushing the obstacle information corresponding to the obstacle to the vehicle located within the pushing range includes:
acquiring navigation planning information of vehicles within the pushing range;
determining a target vehicle which can pass through the position according to the navigation planning information;
and pushing the obstacle information corresponding to the obstacle to the target vehicle.
8. An obstacle information pushing apparatus characterized by comprising:
the first acquisition module is used for acquiring perception data acquired by perception equipment of a vehicle;
the recognition module is used for inputting the perception data into an obstacle classification model so as to enable the obstacle classification model to recognize the type of the obstacle based on the perception data;
the second acquisition module is used for acquiring the barrier types output by the barrier classification model;
the first determining module is used for determining whether barrier information needs to be pushed according to the barrier type;
the second determining module is used for determining the position of an obstacle corresponding to the sensing data if needed, and determining a pushing range according to the type and the position of the obstacle;
and the pushing module is used for pushing the obstacle information corresponding to the obstacle to the vehicle positioned in the pushing range.
9. An obstacle information pushing apparatus characterized by comprising a processor, a memory, and an obstacle information pushing program stored on the memory and executable by the processor, wherein the obstacle information pushing program, when executed by the processor, implements the steps of the obstacle information pushing method according to any one of claims 1 to 7.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon an obstacle information pushing program, wherein the obstacle information pushing program, when executed by a processor, implements the steps of the obstacle information pushing method according to any one of claims 1 to 7.
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