Method and apparatus for displaying target object for unmanned vehicle

Abstract

A method and apparatus for displaying a target object for an unmanned vehicle. The method comprises: determining a service state of an unmanned vehicle itself (S11); determining a display form of a target object on the basis of the service state, wherein the display form comprises displaying the target object in the form of a display frame surrounding at least part of the target object, and the target object is correspondingly displayed in different display forms in different service states (S13); and when the unmanned vehicle detects the target object, displaying the target object in the display form (S15). The method solves the problem of low trajectory planning efficiency of the unmanned vehicle caused by using a fixed-size frame to represent an obstacle.

Description

Display method and device of target object of unmanned vehicle TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of intelligent driving and unmanned vehicle, and particularly relates to a display method and device of target object of unmanned vehicle. BACKGROUND

[0002] The area involved by the open-pit mine mainly includes loading area, road, intersection and dump. In the process of automatic driving operation of the mine, the perception system of automatic driving delivers the obstacle information to the decision, and the decision completes the vehicle trajectory planning accordingly. When the obstacle is a vehicle (such as a shovel), the perception module will represent the shovel in the form of a box, and then perform vehicle trajectory planning.

[0003] It should be noted that in the prior art, a fixed-size box is used to represent the obstacle throughout the whole process of unmanned vehicle operation, which is used to surround the obstacle as a whole, and then the trajectory planning of the unmanned vehicle is performed based on this.

[0004] However, using a fixed-size box to represent the corresponding obstacle leads to low efficiency of trajectory planning of the unmanned vehicle, and there is currently no effective solution.

[0005] Therefore, the present disclosure is proposed. SUMMARY

[0006] The present disclosure provides a display method of target object of unmanned vehicle to solve the problem of low efficiency of trajectory planning of the unmanned vehicle caused by using a fixed-size box to represent the obstacle in the prior art.

[0007] According to a first aspect of the present disclosure, a display method of target object of unmanned vehicle is provided, the method comprising: determining a business state of the unmanned vehicle itself; determining a display form of the target object based on the business state, wherein the display form comprises displaying the target object in the form of a display box surrounding at least part of the target object, and the target object is displayed in different display forms under different business states; and displaying the target object in the display form when the target object is detected by the unmanned vehicle.

[0008] Optionally, the target object is displayed in display boxes of different sizes under different business states.

[0009] Optionally, the business state is used to represent at least one of the following: a position to be reached by the unmanned vehicle at a future time; and a state to be entered by the unmanned vehicle at a future time.

[0010] Optionally, the display form of the target object is determined based on the business state, including: in a case where the unmanned vehicle goes to the target position, displaying the target object in a display frame of a first size; in a case where the unmanned vehicle goes to a non-target position, displaying the target object in a display frame of a second size; the second size is greater than the first size; or, in a case where the unmanned vehicle enters a target business state, displaying the target object in a display frame of a first size; in a case where the unmanned vehicle enters a non-target business state, displaying the target object in a display frame of a second size; the second size is greater than the first size.

[0011] Optionally, during the unmanned vehicle going to the target position, the unmanned vehicle and the target object are not more than a preset distance apart.

[0012] Optionally, after determining the display form of the target object based on the business state, the method further includes: based on the display frame corresponding to the display form, planning a trajectory of the unmanned vehicle to obtain a target trajectory of a position to be arrived at in a future time.

[0013] Optionally, during the unmanned vehicle going from a first position to a target position, a target component of the target object maintains a specified relative pose relationship with the unmanned vehicle.

[0014] Optionally, the method further includes: detecting a real-time pose of a target component of the target object; in a case where the real-time pose changes, switching a display frame of a first size to a display frame of a second size.

[0015] Optionally, determining the display frame of the first size includes: obtaining a length, a width, and a height of a base of the target object, the length and the width forming a first quadrilateral; obtaining a smallest circle surrounding the first quadrilateral to obtain a first circle; determining a length and a width of a first square circumscribed around the first circle as a length and a width of the display frame of the first size; and determining the height of the base as a height of the display frame of the first size.

[0016] Optionally, determining the display frame of the second size includes: obtaining a length, a width, a height of a base of the target object, and a length of a target component, the length and the width forming a second quadrilateral; obtaining a smallest circle surrounding the second quadrilateral to obtain a second circle; determining a diameter of the second circle as a width of the display frame of the second size; determining a sum of a radius of the second circle and the length of the target component as a length of the display frame of the second size; and determining the height of the base as a height of the display frame of the second size.

[0017] According to another aspect of the present disclosure, a display device of a target object of an unmanned vehicle is also provided, the device comprising: a business state determination module configured to determine a business state of the unmanned vehicle itself; a display form determination module configured to determine a display form of the target object based on the business state, wherein the display form comprises displaying the target object in the form of a display frame surrounding at least part of the target object, and the target object is displayed in different display forms corresponding to different business states; and a display module configured to display the target object in the display form when the unmanned vehicle detects the target object.

[0018] The present disclosure provides a display method and device of a target object of an unmanned vehicle, by determining a business state of the unmanned vehicle itself, determining a display form of the target object based on the business state, wherein the display form comprises displaying the target object in the form of a display frame surrounding at least part of the target object, the target object is displayed in different display forms corresponding to different business states, and the target object is displayed in the display form when the unmanned vehicle detects the target object, solving the problem of low efficiency of trajectory planning of the unmanned vehicle caused by using a fixed size frame to represent obstacles in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] FIG. 1 is a flow diagram of a display method of a target object of an unmanned vehicle according to an embodiment of the present disclosure;

[0021] FIG. 2 is a structural diagram of a display frame of a first size according to an embodiment of the present disclosure;

[0022] FIG. 3 is a structural diagram of a display frame of a second size according to an embodiment of the present disclosure;

[0023] FIG. 4 is a structural diagram of a display device of a target object of an unmanned vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] In order to make the above and other features and advantages of the present disclosure clearer, the present disclosure will be further described below with reference to the drawings. It should be understood that the specific embodiments given by the present disclosure are only exemplary and are not limiting.

[0025] In the following description, numerous specific details are set forth to provide a thorough understanding of the present disclosure. However, it will be apparent to one of ordinary skill in the art that the present disclosure can be practiced without the specific details. In other instances, well-known steps or operations are not described in detail in order to avoid obscuring the present disclosure.

[0026] For the subsequent description of aspects, it is explained here that:

[0027] The application scenario of the present disclosure can be any scenario where an unmanned vehicle and / or a target object exist. The unmanned vehicle can be any type of unmanned vehicle, and the target object can be any form of dynamic or static target. The present disclosure does not make specific limitations on the above information. For example, the scenario can be a road transportation scenario, a loading scenario, an unloading scenario, a blasting scenario, a watering scenario, a road flattening scenario, etc.

[0028] For ease of illustration, the loading scenario (mine truck and excavator cooperation) is generally taken as an example in the following description, but it should be noted that the present disclosure is not limited thereto.

[0029] Embodiment one

[0030] The present disclosure provides a display method of a target object of an unmanned vehicle. In combination with FIG. 1, the method comprises:

[0031] Step S11, determining the business state of the unmanned vehicle itself.

[0032] Specifically, the above-mentioned unmanned vehicle can be any type of unmanned or autonomous vehicle, for example, it can be a mine truck, an excavator, a bulldozer, a watering truck, etc. In the present scheme, the controller of the unmanned vehicle, the server or other devices with data processing function can be used as the execution subject of the method of the present scheme.

[0033] In the present embodiment, the business state can be determined based on the state parameters of the unmanned vehicle itself. The state parameters can include at least one of the following: position, elevation, working state, speed, acceleration, load condition, relative characteristics (such as relative distance, relative elevation difference, relative speed, etc.) between other devices, state change, etc.

[0034] Optionally, the above-mentioned business state can represent the position to be reached by the unmanned vehicle at a future time, such as from the to-be-loaded position to the loading position, or from the loading position to the to-be-loaded position; the position to be reached is at a distance from the position of the target object that satisfies a preset distance requirement (such as less than a distance threshold).

[0035] Optionally, the above business state can also represent a working state that the unmanned vehicle will enter at a future time, such as changing from a stationary state to a moving state, or changing from a moving state to a stationary state; for example, it can be entering a to-be-loaded state, entering a loading state, etc. The above business state can also be different working modes in which the mine truck is currently located.

[0036] It should be noted that the above business state can be a business state that the unmanned vehicle controller decides to enter, or a business state that is entered by executing a received externally sent business instruction.

[0037] Step S13, determining a display form of the target object based on the business state, wherein the display form includes displaying the target object in the form of a display box surrounding at least part of the target object, and the target object is displayed in different display forms under different business states.

[0038] The target object can be any object, pedestrian, vehicle, etc. outside the unmanned vehicle, which is not specifically limited in the present disclosure. For example, the vehicle can be a mine truck, a excavator, a watering truck, a bulldozer, etc.

[0039] The display box in this embodiment can be any figure surrounding at least part of the target object. The figure can be in three-dimensional or two-dimensional form. The figure can be in any form such as a rectangle, a circle, a polygon, etc.

[0040] Optionally, the display box surrounding at least part of the target object can be at least partially 0, i.e. the display box can not be displayed. Optionally, the display box is not displayed when the unmanned vehicle is about to enter a specified position.

[0041] Taking the above target object as a excavator near the loading position as an example, the above display form can be a 3D display box, which can surround part of the excavator, such as only the base or the excavator arm (including the bucket, or not including the bucket), or can surround the whole or most part of the excavator, such as the base and the excavator arm (including the bucket). That is, the form of the 3D display box for the excavator in the present disclosure is different under different business states.

[0042] It should be further noted that the present disclosure can display the 3D display box of the target object in different shapes, colors, etc. based on the above different business states. For example, in the first business state, the 3D display box of the target object is displayed in a first color, such as transparent; in the second business state, the 3D display box of the target object is displayed in a second color, such as opaque.

[0043] Step S15, displaying the target object in the display form when the unmanned vehicle detects the target object.

[0044] Specifically, after the unmanned vehicle detects the target object in the vicinity, the unmanned vehicle displays the target object based on the display form corresponding to the business state of the unmanned vehicle. Optionally, trajectory planning can be performed based on this.

[0045] It should be noted that "display" in the present disclosure means that the processing side knows this information. The target object can be displayed in a visual manner based on the display form, for example, by a terminal based on the display form. Alternatively, it can also be non-visual, used as an indication of information, for example, the perception module of the unmanned vehicle can know the display form of the target object. For example, in the case of displaying the target object in the form of a display frame surrounding the base of the excavator, displaying the target object in the display form means that the perception module of the unmanned vehicle knows the display frame of the base of the corresponding excavator, which represents the excavator.

[0046] It should be noted that the present disclosure is different from the prior art, which uses the same display frame to represent obstacles. Instead, the obstacles (i.e. the above-mentioned target objects) are displayed in different ways based on different working states of the unmanned vehicle, which not only avoids the danger of collision, but also improves the positioning accuracy of the unmanned vehicle entering the working position, thereby improving the positioning accuracy of the obstacles of the unmanned vehicle on the basis of safety.

[0047] Optionally, the target object is displayed in a display frame of different sizes corresponding to different business states.

[0048] Specifically, the different sizes can be display frames of different sizes, for example, in the first business state, the present disclosure displays the target object in a small frame, and in the second business state, the present disclosure displays the target object in a large frame. For example, in the third business state, the target object is not displayed (i.e. the target frame is reduced to 0).

[0049] Optionally, the target object is displayed in a display frame of different shapes corresponding to different business states.

[0050] For example, in the first business state, the target object is displayed in a smallest circular display frame surrounding the target object, and in the second business state, the target object is displayed in a smallest square display frame surrounding the target object.

[0051] Optionally, the business state is used to represent at least one of:

[0052] The position to which the unmanned vehicle will go at a future time;

[0053] The state in which the unmanned vehicle will enter at a future time.

[0054] Optionally, the target object is displayed in a display frame of a first size when the unmanned vehicle is going to the target position; and the target object is displayed in a display frame of a second size when the unmanned vehicle is going to a non-target position; the second size is greater than the first size.

[0055] In this embodiment, the target position can be a position of a specified type, or a position in a pre-specified preset area range. For example, the position of the specified type can be a loading position, an unloading position, a crushing station, etc. For example, the position in the pre-specified preset area range can be a position area marked in advance by a map.

[0056] Optionally, the target object is displayed in a display frame of a first size when the unmanned vehicle enters a target business state; and the target object is displayed in a display frame of a second size when the unmanned vehicle enters a non-target business state; the second size is greater than the first size.

[0057] In this embodiment, the target business state can be a pre-specified business state.

[0058] Taking the above target position as a loading position, the target object as a shovel, and the unmanned vehicle as a mine truck as an example, when the current position of the mine truck is a to-be-loaded position and the mine truck will go to the loading position from the to-be-loaded position at a future time, the disclosure displays the target object in a small frame, the small frame only wraps the base of the shovel, and the 3D display frame is smaller than the actual shovel. In this case (the mine truck will go to the loading position from the to-be-loaded position at a future time), the planned trajectory of the mine truck will not overlap with the 3D display frame. When the mine truck is going to a non-loading position, the disclosure displays the target object in a large frame, the large frame wraps the base of the shovel and the shovel arm, and the 3D display frame matches the actual space occupied by the shovel arm. Therefore, in this case (the mine truck will go to the non-loading position at a future time), the planned trajectory of the mine truck not only avoids the collision risk between the mine truck and the shovel, but also improves the path planning efficiency, which can ensure the efficient execution of the loading business.

[0059] Optionally, the small frame (the 3D frame of the first size) covers all areas swept by the cockpit rotation, and the large frame (the 3D frame of the second size) covers the area of the cockpit + the shovel arm.

[0060] Optionally, the large frame (the 3D frame of the second size) covers the area of the cockpit and the area corresponding to the current orientation of the shovel arm. Alternatively, it can also cover the area of the cockpit and the area swept by the shovel arm in one revolution.

[0061] Optionally, the target position can also be other positions besides the loading position, and the first size of the display frame needs to be used for display in the working conditions of the other positions.

[0062] The target service state can be that the mine card receives a loading instruction and needs to switch from the current state (such as a static state or a standby state) to a loading state. The non-target service state is a non-loading state, such as the current state of the mine card being in loading, and the next moment needs to enter the non-loading state.

[0063] Optionally, during the unmanned vehicle going to the target position, the unmanned vehicle and the target object are not more than a preset distance apart.

[0064] Specifically, the target position is a loading position, and the excavator is located near the loading position. During the unmanned vehicle going from the standby loading position to the loading position, the unmanned vehicle and the target object are not more than a preset distance (such as 5m) apart.

[0065] Optionally, after determining the display form of the target object based on the service state, the method further comprises:

[0066] Based on the display frame corresponding to the display form, the trajectory of the unmanned vehicle is planned to obtain the target trajectory of the position to be gone to at the future time.

[0067] Specifically, after displaying the 3D display frame, the 3D display frame is used to plan the trajectory of the unmanned vehicle to obtain the target trajectory of the position to be gone to at the future time. It should be noted that the target trajectory avoids the obstacle (excavator).

[0068] Optionally, during the unmanned vehicle going from the first position to the target position, the target component of the target object maintains a specified relative attitude relationship with the unmanned vehicle.

[0069] For example, the first position is a loading position, the target position is a loading position, the target component of the target object is an excavator arm, and the specified relative attitude relationship is that the excavator arm is not directed at the tail of the mine truck or the direction of the mine truck. In this embodiment, during the mine truck going from the standby loading position to the loading position, a control instruction is sent to the excavator to ensure that the excavator arm is not placed in the direction of the mine truck tail or the direction of the mine truck. Under such working conditions, the 3D small frame is used to represent the excavator, which improves the accuracy and efficiency of the trajectory planning of the mine truck while avoiding the collision risk between the mine truck and the excavator. It should be noted that the 3D small frame is used to represent the excavator only when the collision risk between the mine truck and the excavator is avoided, and the 3D large frame is used to represent the excavator under other conditions.

[0070] Optionally, the method further comprises:

[0071] Detecting the real-time attitude of the target component of the target object;

[0072] In the case that the real-time posture changes, the display frame of the first size is switched to a display frame of a second size.

[0073] For example, in the process that the unmanned vehicle walks to the loading position, the real-time posture of the target component of the target object is detected, i.e., whether the real-time posture of the excavator arm is toward the tail of the mine truck is detected in real time. When the detection result is that the real-time posture of the excavator arm is toward the tail of the mine truck, the small frame needs to be switched to the large frame for display, so as to ensure safety and avoid collision risk between the unmanned vehicle and the target object.

[0074] Optionally, determining the display frame of the first size comprises:

[0075] The length, width and height of the base of the target object are obtained, and the length and width form a first quadrilateral;

[0076] A minimum circle surrounding the first quadrilateral is obtained to obtain a first circle;

[0077] The length and width of the circumscribed first square of the first circle are determined as the length and width of the display frame of the first size;

[0078] The height of the base (cockpit) is determined as the height of the display frame of the first size.

[0079] Taking the target object as an excavator, the length length, the width width and the height height of the cockpit of the excavator can be obtained from the cloud. The length length and the width width of the cockpit form a first quadrilateral ABCD. In combination with FIG. 2, the quadrilateral ABCD is a top view of the cockpit of the excavator, and the point O is the rotation axis of the cockpit and is also the center of the first circle. The cockpit can rotate 360° around the rotation axis O, i.e., the area swept by the cockpit is the range of the circle (the circle is the first circle). Since the obstacle given by the perception is in the form of a 3D box, the top view of the small frame of the excavator is a quadrilateral E1F1G1H1. The length and width of the circumscribed first square E1F1G1H1 of the first circle are determined as the length and width of the display frame (small frame of the excavator) of the first size. The height height of the base (cockpit) is the height of the small frame of the excavator.

[0080] Optionally, determining the display frame of the second size comprises:

[0081] The length, width and height of the base of the target object and the length of the target component are obtained, and the length and width form a second quadrilateral;

[0082] A minimum circle surrounding the second quadrilateral is obtained to obtain a second circle;

[0083] The diameter of the second circle is determined as the width of the display frame of the second size;

[0084] determine the sum of the radius of the second circle and the length of the target component as the length of the display frame of the second size;

[0085] determine the height of the base as the height of the display frame of the second size.

[0086] Taking the target object as a shovel as an example, in combination with FIG. 3, the disclosure can obtain the length length, the width width, and the height height of the shovel cab from the cloud, the length arm_len of the shovel arm OM, and the heading heading. The length length and the width width of the cab form a second quadrilateral ABCD, and the second quadrilateral ABCD is a top view of the shovel cab. A large frame of the shovel is a minimum circumscribed quadrilateral E2F2G2H2 including the base and the shovel arm. The diameter AC of the above-mentioned second circle is a circle with the center O in FIG. 3. The length of the diameter AC of the second circle is the width of the large frame of the shovel. The radius AC / 2 of the second circle plus the length arm_len of the shovel arm is the length of the large frame of the shovel. It should be noted that the disclosure can display the large frame of the shovel in the correct heading based on the heading heading of the shovel arm, so as to facilitate more accurate trajectory planning of the mining truck.

[0087] It should be noted that the above-mentioned second size can also be obtained by the following method:

[0088] Taking the shovel arm as a radius and the recognized center of the shovel base as an origin, a large circle is obtained. The length and the width of the circumscribed rectangle of the large circle are the length and the width of the large frame of the shovel. The height of the large frame of the shovel is still the height of the base.

[0089] In the embodiment of the disclosure, when the mining truck enters the loading position, if a certain shovel is working near the loading position, and at this time the mining truck ignores the shovel target, there is a risk of collision between the mining truck and the shovel. In view of this actual business scenario, the disclosure proposes the above-mentioned method of using different target frames in different working areas or different business states.

[0090] Optionally, determining the display form of the target object based on the business state can further include: obtaining a state parameter of the target object; and determining the display form of the target object according to the business state and the state parameter of the target object.

[0091] Optionally, the state parameter of the target object can include at least one of the following information of the target object: position, elevation, working state, state of a component on the target object, speed, acceleration, load condition, relative characteristics between other devices, etc.

[0092] Optionally, the state parameter of the target object is the state of a component of the target object. For example, it can be the state of a watering component of a watering truck, the state of a bucket / arm of a shovel, the state of a bucket of a bulldozer, etc.

[0093] For example, the state of the excavator arm can be acquired, and the display form of the target object is determined according to the state of the excavator arm and the service state of the unmanned vehicle.

[0094] Optionally, based on the service state of the unmanned vehicle itself, the perception module of the unmanned vehicle analyzes the perception data captured by the perception device, determines the display form of the perceived target object, and then sends it to the planning control module of the unmanned vehicle for path planning and control of the unmanned vehicle. Optionally, the perception module can generate a display frame of one display form under the service state of itself as a target display frame and send it to the planning control module; or the perception module can also generate display frames of corresponding display forms under each service state and send them to the planning control module, and the planning control module selects and uses the display frame of the display form corresponding to the current service state of the unmanned vehicle from them.

[0095] The display method of the target object of the unmanned vehicle provided in the above embodiments determines the service state of the unmanned vehicle itself, determines the display form of the target object based on the service state, wherein the display form includes displaying the target object in the form of a display frame surrounding at least part of the target object, the target object is displayed in different display forms under different service states, and the target object is displayed in the display form when the unmanned vehicle detects the target object, thereby solving the problem of low trajectory planning efficiency of the unmanned vehicle caused by using a fixed-size frame to represent obstacles in the prior art.

[0096] Embodiment Two

[0097] According to the embodiments of the present disclosure, a display device of a target object of an unmanned vehicle is also provided, which can execute the display method of the target object of the unmanned vehicle described in any of the above embodiments. In combination with FIG. 4, the display device can include:

[0098] The service state determination module 40 is configured to determine the service state of the unmanned vehicle itself;

[0099] The display form determination module 42 is configured to determine the display form of the target object based on the service state, wherein the display form includes displaying the target object in the form of a display frame surrounding at least part of the target object, and the target object is displayed in different display forms under different service states.

[0100] The display module 44 is configured to display the target object in the display form when the unmanned vehicle detects the target object.

[0101] Optionally, the target object is displayed in display frames of different sizes under different service states.

[0102] Optionally, the business state is used to represent at least one of: a position to which the unmanned vehicle is to go at a future time; a state into which the unmanned vehicle is to enter at the future time.

[0103] Optionally, the display form determination module is configured to: display the target object in a display frame of a first size if the unmanned vehicle is to go to a target position; display the target object in a display frame of a second size if the unmanned vehicle is to go to a non-target position, the second size being greater than the first size; or display the target object in a display frame of a first size if the unmanned vehicle is to enter a target business state; display the target object in a display frame of a second size if the unmanned vehicle is to enter a non-target business state, the second size being greater than the first size.

[0104] Optionally, the unmanned vehicle is not more than a preset distance from the target object on a way to the target position.

[0105] Optionally, after determining the display form of the target object based on the business state, the device is configured to: plan a trajectory of the unmanned vehicle based on a display frame corresponding to the display form, to obtain a target trajectory of a position to be gone to at a future time.

[0106] Optionally, a target component of the target object maintains a specified relative pose relationship with the unmanned vehicle on a way from a first position to a target position.

[0107] Optionally, the device is configured to: detect a real-time pose of a target component of the target object; and switch a display frame of a first size to a display frame of a second size if the real-time pose changes.

[0108] Optionally, the device can determine the display frame of the first size by: obtaining a length, a width, and a height of a base of the target object, the length and the width forming a first quadrilateral; obtaining a smallest circle surrounding the first quadrilateral to obtain a first circle; determining a length and a width of a first square circumscribing the first circle as a length and a width of the display frame of the first size; and determining the height of the base as a height of the display frame of the first size.

[0109] Optionally, the device can determine the display frame of the second size by: obtaining a length, a width, a height of a base of the target object, and a length of a target component, the length and the width forming a second quadrilateral; obtaining a smallest circle surrounding the second quadrilateral to obtain a second circle; determining a diameter of the second circle as a width of the display frame of the second size; determining a sum of a radius of the second circle and the length of the target component as a length of the display frame of the second size; and determining the height of the base as a height of the display frame of the second size.

[0110] The display device of the target object of the unmanned vehicle provided by the above embodiments determines the business state of the unmanned vehicle itself, determines the display form of the target object based on the business state, wherein the display form includes displaying the target object in the form of a display frame surrounding at least part of the target object, the target object is displayed in different display forms under different business states, and the target object is displayed in the display form when the unmanned vehicle detects the target object, solving the problem of low efficiency of unmanned vehicle trajectory planning caused by the fixed size frame representing obstacles in the prior art.

[0111] It should be understood that the specific features, operations and details described above with respect to the method of the present disclosure can also be similarly applied to the device and system of the present disclosure, or vice versa. In addition, each step of the method of the present disclosure described above can be performed by the corresponding component or unit of the device or system of the present disclosure.

[0112] It should be understood that each module / unit of the device of the present disclosure can be realized by software, hardware, firmware or a combination thereof, in whole or in part. Each of the modules / units can be embedded in a processor of a computer device in hardware or firmware form, or independent of the processor, or in software form stored in a memory of the computer device for calling by the processor to perform the operations of each of the modules / units. Each of the modules / units can be realized as an independent component or module, or two or more modules / units can be realized as a single component or module.

[0113] In one embodiment, a computer device is provided, which includes a memory and a processor, and the memory has stored computer instructions executable by the processor, which instruct the processor to perform each step of the method of the embodiments of the present disclosure when executed by the processor. The computer device can be a server, a terminal or any other electronic device with necessary computing and / or processing capabilities in a broad sense. In one embodiment, the computer device can include a processor, a memory, a network interface, a communication interface and the like connected by a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device can include a non-volatile storage medium and an internal memory. The non-volatile storage medium or thereon can store an operating system, a computer program and the like. The internal memory can provide an environment for the running of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. The computer program is executed by the processor to perform the steps of the method of the present disclosure.

[0114] The present disclosure can be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the method of the embodiments of the present disclosure to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled via a network, such that the computer program is stored, accessed and executed by one or more computer devices or processors in a distributed manner. A single method step / operation, or two or more method steps / operations, can be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps / operations can be performed by one or more computer devices or processors, and one or more other method steps / operations can be performed by one or more other computer devices or processors. One or more computer devices or processors can perform a single method step / operation, or perform two or more method steps / operations.

[0115] It will be appreciated by those skilled in the art that the method steps of the present disclosure can be instructed by a computer program to relevant hardware such as a computer device or a processor, which can be stored in a non-transitory computer-readable storage medium, and which, when executed, causes the steps of the present disclosure to be performed. Depending on the circumstances, any reference in the present disclosure to a memory, storage, database or other medium can include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0116] The various technical features described above can be combined arbitrarily. Although all possible combinations of the technical features are not described, any combination of the technical features should be considered to be covered by the present specification, as long as such a combination does not result in a contradiction.

[0117] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, and not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for displaying a target object of an unmanned vehicle, the method comprising: determining a business state of the unmanned vehicle itself; determining a display form of the target object based on the business state, wherein the display form comprises displaying the target object in a display frame surrounding at least part of the target object, and different business states correspond to different display forms of the target object; displaying the target object in the display form when the unmanned vehicle detects the target object.

2. The method of claim 1, wherein, Different business states correspond to display frames of different sizes for displaying the target object.

3. The method of claim 1, wherein, The business state is used to represent at least one of: a position to be reached by the unmanned vehicle at a future time; a state to be entered by the unmanned vehicle at a future time.

4. The method of claim 3, wherein, Determining the display form of the target object based on the business state comprises: displaying the target object in a display frame of a first size when the unmanned vehicle is going to a target position; displaying the target object in a display frame of a second size when the unmanned vehicle is going to a non-target position; the second size is greater than the first size; or displaying the target object in a display frame of a first size when the unmanned vehicle enters a target business state; displaying the target object in a display frame of a second size when the unmanned vehicle enters a non-target business state; the second size is greater than the first size.

5. The method of claim 4, wherein, When the unmanned vehicle is on the way to the target position, the distance between the unmanned vehicle and the target object does not exceed a preset distance.

6. The method of claim 1, wherein, After determining the display form of the target object based on the business state, the method further comprises: planning a trajectory of the unmanned vehicle based on the display frame corresponding to the display form to obtain a target trajectory of the position to be reached at a future time.

7. The method of claim 4, wherein, When the unmanned vehicle is on the way from a first position to a target position, a target component of the target object maintains a specified relative pose relationship with the unmanned vehicle.

8. The method of claim 7, wherein, The method further comprises: detecting a real-time pose of the target component of the target object; switching the display frame of the first size to the display frame of the second size when the real-time pose changes.

9. The method of claim 4, wherein, Determining the display frame of the first size comprises: obtaining a length, a width, and a height of a base of the target object, the length and the width forming a first quadrilateral; obtaining a minimum circle surrounding the first quadrilateral to obtain a first circle; determining the length and the width of an inscribed first square of the first circle as the length and the width of the display frame of the first size; determining the height of the base as the height of the display frame of the first size.

10. The method of claim 4 or 9, wherein, Determining the display frame of the second size comprises: obtaining a length, a width, a height of a base of the target object, and a length of the target component, the length and the width forming a second quadrilateral; obtaining a minimum circle surrounding the second quadrilateral to obtain a second circle; determining the width of the second circle as the width of the display frame of the second size; determining the sum of the length of the target component and the radius of the second circle as the length of the display frame of the second size; determining the height of the base as the height of the display frame of the second size. 11.A display device for a target object of an unmanned vehicle, the device comprising: a business state determination module configured to determine a business state of the unmanned vehicle itself; The display form determination module is configured to determine a display form of the target object based on the service state, wherein the display form comprises displaying the target object in the form of a display frame surrounding at least part of the target object, and the target object is displayed in different display forms corresponding to different service states; The display module is configured to display the target object in the display form when the unmanned vehicle detects the target object.

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