A control method for vehicle-mounted unmanned aerial vehicle and related equipment

Abstract

The embodiment of the present application provides a control method for a vehicle-mounted drone, including: obtaining the take-off and landing positions of the vehicle-mounted drone and the position information of each entrance and exit of the vehicle; obtaining the distance of the standard flight path from the take-off and landing positions of the vehicle-mounted drone to each entrance and exit of the vehicle; obtaining the obstacle information on the standard flight path; based on the distance of the standard flight path and the obstacle information on the standard flight path, determining the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands. In this way, by planning the standard flight path from the take-off and landing positions of the drone to each entrance and exit in advance, determining the distance of each standard flight path, and determining the entrance and exit of the drone based on the obstacle information on the standard flight path before the actual take-off and landing, collisions with passengers and objects in the vehicle can be avoided, thereby improving driving safety.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a control method and related equipment for a vehicle-mounted unmanned aerial vehicle. Background Art

[0002] As drone technology matures, drone functions are becoming more comprehensive, and application scenarios are becoming more diverse. Vehicle-mounted drones that are combined with vehicle driving have emerged. Vehicle-mounted drones can fly out of the vehicle under the control of the driver and operate according to the driver's needs. However, for small family vehicles, it takes too much space to assemble a drone landing platform or hangar outside the vehicle. Therefore, current vehicle-mounted drones are usually placed inside the vehicle. However, when the drone completes the take-off and landing process inside the vehicle and flies out through the various entrances and exits of the vehicle, it may hit the passengers and items in the vehicle, which is easy to cause danger and even affect the driver's safe driving. Summary of the invention

[0003] The present invention provides a control method and related equipment for a vehicle-mounted UAV, so as to solve the problem that a vehicle-mounted UAV is likely to collide with passengers and articles in the vehicle when taking off in the vehicle, causing danger and affecting the driver's safe driving.

[0004] In a first aspect, the present invention provides a method for controlling a vehicle-mounted drone, comprising:

[0005] Obtain the take-off and landing locations of vehicle-mounted drones and the location information of each vehicle entrance and exit;

[0006] Obtaining the distances of the take-off and landing positions of the vehicle-mounted UAV to the standard flight paths of each entrance and exit of the vehicle;

[0007] Obtaining obstacle information on the standard flight path;

[0008] Based on the distance of the standard flight path and the obstacle information on the standard flight path, the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands are determined.

[0009] Optionally, determining the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands based on the distance of the standard flight path and the obstacle information on the standard flight path includes:

[0010] Determining the priority of the standard flight path based on obstacle information on the standard flight path;

[0011] Determining a destination flight path of the vehicle-mounted UAV based on the priority of the standard flight path and the distance of the standard flight path;

[0012] Based on the destination flight path of the vehicle-mounted drone, the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands are determined.

[0013] Optionally, the control method of the vehicle-mounted drone further includes:

[0014] Before the vehicle-mounted UAV lands, obtaining status information of the vehicle;

[0015] Based on the status information of the vehicle, the distance of the standard flight path and the obstacle information on the standard flight path, the entrance information of the vehicle where the vehicle-mounted drone lands is determined.

[0016] Optionally, the acquisition of the vehicle status information includes: road environment information of the vehicle, vehicle head direction information and vehicle speed information.

[0017] Optionally, the control method of the vehicle-mounted drone further includes:

[0018] Before the vehicle-mounted UAV takes off, obtaining flight requirement information of the vehicle-mounted UAV;

[0019] Based on the flight requirement information of the vehicle-mounted drone, the distance of the standard flight path and the obstacle information on the standard flight path, the exit information of the vehicle from which the vehicle-mounted drone takes off is determined.

[0020] Optionally, the acquiring of the flight requirement information of the vehicle-mounted drone includes flight direction information of the vehicle-mounted drone.

[0021] Optionally, the obtaining of obstacle information on the standard flight path includes type information, location information and shape information of the obstacles on the standard flight path.

[0022] In a second aspect, the present invention further provides a control device for a vehicle-mounted drone, comprising:

[0023] The first acquisition module is used to obtain the take-off and landing positions of the vehicle-mounted drone and the location information of each entrance and exit of the vehicle;

[0024] A second acquisition module is used to obtain the distances of the take-off and landing positions of the vehicle-mounted drone to the standard flight paths of the various entrances and exits of the vehicle;

[0025] A collection module, used to obtain obstacle information on the standard flight path;

[0026] A determination module is used to determine the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle for which the vehicle-mounted drone lands based on the distance of the standard flight path and the obstacle information on the standard flight path.

[0027] In a third aspect, the present invention further provides an electronic device, comprising a memory and a processor, wherein the processor is used to implement the steps of the method for controlling a vehicle-mounted drone as described in any one of the first aspects above when executing a computer program stored in the memory.

[0028] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method for controlling a vehicle-mounted drone as described in any one of the first aspects are implemented.

[0029] It can be seen from the above technical solutions that the embodiment of the present application provides a control method for a vehicle-mounted drone, including: obtaining the take-off and landing positions of the vehicle-mounted drone and the position information of each entrance and exit of the vehicle; obtaining the distance from the take-off and landing positions of the vehicle-mounted drone to the standard flight path of each entrance and exit of the vehicle;

[0030] Obtain obstacle information on the standard flight path; based on the distance of the standard flight path and the obstacle information on the standard flight path, determine the exit information of the vehicle for the vehicle-mounted drone to take off and the entrance information of the vehicle for the vehicle-mounted drone to land. Current vehicle-mounted drones are usually difficult to control when taking off and landing inside a vehicle, and are prone to collision with passengers and objects in the vehicle, causing danger and even affecting the driver's safe driving. The embodiment of the present application plans the standard flight paths from the take-off and landing positions of the drone to each entrance and exit in advance, determines the distance of each standard flight path, and determines the entrance and exit for the take-off and landing of the drone based on the obstacle information on the standard flight path before the actual take-off and landing, thereby avoiding collisions with passengers and objects in the vehicle and improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 A schematic flow chart of a control method for a vehicle-mounted drone provided in an embodiment of the present application;

[0033] Figure 2 A schematic structural diagram of a control device for a vehicle-mounted drone provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of an electronic device provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The embodiments will be described in detail below, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following embodiments do not represent all implementation methods consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims. In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways, and the device embodiments described below are merely exemplary.

[0037] The present application provides a control method for a vehicle-mounted drone, such as Figure 1 As shown, including:

[0038] Step S110: Obtain the take-off and landing positions of the vehicle-mounted drone and the location information of each entrance and exit of the vehicle.

[0039] Exemplarily, the parking position of the vehicle-mounted drone in the vehicle can be determined by the positioning system of the vehicle-mounted drone, and the parking position can be determined as the take-off position of the vehicle-mounted drone. The driver can independently select the landing position of the vehicle-mounted drone in the vehicle on the control system of the vehicle-mounted drone. The location information of each entrance and exit of the vehicle can be determined by the vehicle model information. The driver can also independently set the available entrances and exits on the control system of the vehicle-mounted drone, and determine the location information of each entrance and exit of the vehicle in combination with the vehicle model information.

[0040] Step S120: Obtain the distances from the take-off and landing positions of the vehicle-mounted drone to the standard flight paths of the vehicle entrances and exits.

[0041] Exemplarily, the standard flight path refers to the path that the vehicle-mounted drone flies to each entrance and exit of the vehicle at the take-off and landing positions of the vehicle-mounted drone when the vehicle is empty. The distance of the standard flight path can be measured by performing a test flight on the standard flight path in advance using the distance measurement function of the vehicle-mounted drone, or by scanning the standard flight path using the infrared scanning technology of the vehicle-mounted drone to obtain the distance of the standard flight path.

[0042] Step S130: Obtain obstacle information on the above standard flight path.

[0043] Exemplarily, the obstacles may include passengers and items in the vehicle. The infrared thermal imaging technology of the vehicle-mounted drone may be used to identify whether there are passengers on the standard flight path, and the image acquisition technology of the vehicle-mounted drone may be used to collect information about obstacles on the standard flight path.

[0044] Step S140: Based on the distance of the standard flight path and the obstacle information on the standard flight path, determine the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle for which the vehicle-mounted drone lands.

[0045] Exemplarily, when there are no obstacles on the standard flight path, the distance of the standard flight path can be compared, and based on the distance of the standard flight path and the obstacle information on the standard flight path, the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands can be determined.

[0046] According to some embodiments, based on the distance of the standard flight path and the obstacle information on the standard flight path, determining the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands includes:

[0047] Determining the priority of the standard flight path based on the obstacle information on the standard flight path;

[0048] Determining a destination flight path of the vehicle-mounted UAV based on the priority of the standard flight path and the distance of the standard flight path;

[0049] Based on the destination flight path of the vehicle-mounted drone, the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands are determined.

[0050] Exemplarily, when it is detected that there are no obstacles on the standard flight path, the priority of the standard flight path without obstacles can be determined according to the distance of the standard flight path. The shorter the distance, the higher the priority of the path. The standard path with no obstacles and the shortest path can be determined as the destination flight path of the vehicle-mounted UAV. Based on the destination flight path, the entrance and exit information for the take-off and landing of the vehicle-mounted UAV can be determined.

[0051] By first detecting obstacle information and then determining the priority of each standard flight path according to the distance of the above standard flight path, it can be ensured that the above vehicle-mounted drone can fly the shortest distance in the vehicle without colliding with the passengers and objects in the vehicle, thereby ensuring driving safety and saving the energy of the drone.

[0052] According to some embodiments, the above-mentioned method for controlling a vehicle-mounted drone further includes:

[0053] Before the vehicle-mounted UAV lands, obtaining status information of the vehicle;

[0054] Based on the status information of the vehicle, the distance of the standard flight path and the obstacle information on the standard flight path, the entrance information of the vehicle for landing the vehicle-mounted drone is determined.

[0055] Exemplarily, a preset landing time may be set, and the status information of the vehicle may be obtained within the preset landing time before the vehicle-mounted drone lands.

[0056] Obtaining the vehicle's status information can enable the drone to adjust its flight status in advance according to the vehicle's status information, avoiding collisions between the drone and the edge of the entrance when the drone flies into the vehicle, further ensuring driving safety and improving the drone's pass rate.

[0057] According to some embodiments, the above-mentioned acquisition of the vehicle status information includes: the road section environment information where the vehicle is located, the vehicle head direction information and the vehicle speed information.

[0058] Exemplarily, the road environment information where the above-mentioned vehicle is located may include whether there are obstacles outside the vehicle's entrances and exits and, if there are obstacles, whether the distance to the obstacles can be measured by a drone. The road environment information where the above-mentioned vehicle is located may be obtained through the vehicle's image acquisition system, vehicle-mounted radar system and vehicle-mounted GPS positioning system.

[0059] By using the road environment information of the above-mentioned vehicle, before the vehicle-mounted UAV lands, it can be determined whether the distance between the entrance corresponding to the target flight path and the external obstacles of the vehicle can pass the UAV. If it cannot pass, the entrance can be changed to avoid the UAV colliding with obstacles around the entrance during the process of flying to the target entrance, causing the UAV to explode.

[0060] According to some embodiments, the above-mentioned method for controlling a vehicle-mounted drone further includes:

[0061] Before the vehicle-mounted UAV takes off, obtaining flight demand information of the vehicle-mounted UAV;

[0062] Based on the flight demand information of the vehicle-mounted UAV, the distance of the standard flight path and the obstacle information on the standard flight path, the exit information of the vehicle from which the vehicle-mounted UAV takes off is determined.

[0063] For example, the flight demand information of the UAV can be used in combination with the vehicle's image acquisition system, vehicle-mounted radar system and vehicle-mounted GPS positioning system to obtain environmental information about the vehicle and determine the exit through which the UAV can fly out. Among the exits through which the UAV can fly out, the exit of the vehicle for the vehicle-mounted UAV to take off can be determined based on the distance of the standard flight path and the obstacle information on the standard flight path.

[0064] By combining the flight demand information of the drone, before the vehicle-mounted drone takes off, it can be determined whether the distance between the exit corresponding to the target flight path and the external obstacles of the vehicle can pass the drone. If it cannot pass, the exit can be changed to prevent the drone from flying out of the target exit and colliding with obstacles around the exit when performing the mission, causing the drone to explode.

[0065] According to some embodiments, the flight requirement information of the vehicle-mounted drone includes flight direction information of the vehicle-mounted drone.

[0066] Exemplarily, the flight direction information of the vehicle-mounted drone may be obtained according to the control system of the vehicle-mounted drone, and the flight direction information of the vehicle-mounted drone may be obtained according to the application requirements of the driver.

[0067] By obtaining the flight direction information of the above-mentioned vehicle-mounted drone, the flight state of the drone can be adjusted before the vehicle-mounted drone flies out of the vehicle, combined with the determined exit information of the vehicle-mounted drone flying out of the vehicle, to avoid the need to adjust the flight direction after flying out of the vehicle, resulting in a collision with the vehicle during the adjustment process, thereby improving the flight efficiency of the drone and ensuring driving safety.

[0068] According to some embodiments, the obstacle information on the standard flight path is obtained, including type information, location information and shape information of the obstacles on the standard flight path.

[0069] Exemplarily, obstacle information on the above-mentioned standard flight path can be obtained through the image acquisition function of the vehicle-mounted drone.

[0070] Determine the obstacle type on the above-mentioned standard flight path, obtain the location information and shape information of the obstacle, and when there are obstacles on all standard flight paths, based on the above information, if the above-mentioned obstacles are immovable obstacles, combine the size information of the UAV and the height information of the vehicle's interior space to determine whether the UAV can cross the above-mentioned obstacles by changing the flight altitude. When there are obstacles on all standard flight paths, provide the UAV with a detour strategy to ensure the smooth take-off and landing of the UAV.

[0071] See also Figure 2 , Figure 2It is a schematic structural diagram of a control device for a vehicle-mounted drone provided in an embodiment of the present application.

[0072] The present application embodiment provides a control device 200 for a vehicle-mounted drone, the device comprising:

[0073] The first acquisition module 201 is used to obtain the take-off and landing positions of the vehicle-mounted drone and the position information of each entrance and exit of the vehicle;

[0074] The second acquisition module 202 is used to obtain the distances of the take-off and landing positions of the vehicle-mounted UAV to the standard flight paths of the vehicle entrances and exits;

[0075] The acquisition module 203 is used to obtain obstacle information on the above standard flight path;

[0076] The determination module 204 is used to determine the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle for which the vehicle-mounted drone lands based on the distance of the standard flight path and the obstacle information on the standard flight path.

[0077] A control device 200 for a vehicle-mounted drone can achieve Figure 1 The various processes implemented in the method embodiment are not described here in detail to avoid repetition. The control device of the vehicle-mounted UAV can determine the target flight path according to the obstacle information on the standard flight path and the distance of the standard flight path, thereby determining the entrance and exit for the vehicle-mounted UAV to take off and land, so as to avoid the vehicle-mounted UAV from colliding with the passengers and objects in the vehicle during the process of taking off and landing in the vehicle, causing danger and even affecting driving safety.

[0078] like Figure 3 As shown, Figure 3 A schematic structural diagram of an electronic device provided in an embodiment of the present application.

[0079] The embodiment of the present application provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, the following steps are implemented:

[0080] Obtain the take-off and landing locations of vehicle-mounted drones and the location information of each vehicle entrance and exit;

[0081] Obtaining the distances of the take-off and landing positions of the vehicle-mounted drone to the standard flight paths of the various entrances and exits of the vehicle;

[0082] Obtain obstacle information on the above standard flight path;

[0083] Based on the distance of the standard flight path and the obstacle information on the standard flight path, the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle for which the vehicle-mounted drone lands are determined.

[0084] Since the electronic device introduced in this embodiment is a device used to implement a device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation method of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application is within the scope of protection of this application.

[0085] like Figure 4 As shown, Figure 4 A schematic structural diagram of a computer-readable storage medium provided in an embodiment of the present application.

[0086] This embodiment provides a computer-readable storage medium 400, on which a computer program 411 is stored. When the computer program 411 is executed by a processor, the following steps are implemented:

[0087] Obtain the take-off and landing locations of vehicle-mounted drones and the location information of each vehicle entrance and exit;

[0088] Obtaining the distances of the take-off and landing positions of the vehicle-mounted drone to the standard flight paths of the various entrances and exits of the vehicle;

[0089] Obtain obstacle information on the above standard flight path;

[0090] Based on the distance of the standard flight path and the obstacle information on the standard flight path, the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle for which the vehicle-mounted drone lands are determined.

[0091] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0092] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0093] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0096] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 The process in the control method of the hybrid vehicle in the corresponding embodiment.

[0097] The above-mentioned computer program product includes one or more computer instructions. When the above-mentioned computer program instructions are loaded and executed on a computer, the above-mentioned process or function according to the embodiment of the present application is generated in whole or in part. The above-mentioned computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above-mentioned computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The above-mentioned computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrated. The above-mentioned available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (solid state disk, SSD)), etc.

[0098] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0099] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0100] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0101] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0102] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0103] In summary, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for a vehicle-mounted drone, characterized in that: include: Obtain the take-off and landing locations of vehicle-mounted drones and the location information of each vehicle entrance and exit; Obtaining the distances of the take-off and landing positions of the vehicle-mounted UAV to the standard flight paths of each entrance and exit of the vehicle; Obtaining obstacle information on the standard flight path; Determine the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands based on the distance of the standard flight path and the obstacle information on the standard flight path; Before the vehicle-mounted UAV lands, obtaining status information of the vehicle; Based on the status information of the vehicle, the distance of the standard flight path and the obstacle information on the standard flight path, the entrance information of the vehicle where the vehicle-mounted drone lands is determined.

2. The method according to claim 1, characterized in that Determining the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands based on the distance of the standard flight path and the obstacle information on the standard flight path includes: Determining the priority of the standard flight path based on obstacle information on the standard flight path; Determining a destination flight path of the vehicle-mounted UAV based on the priority of the standard flight path and the distance of the standard flight path; Based on the destination flight path of the vehicle-mounted drone, the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands are determined.

3. The method according to claim 1, characterized in that The obtaining of the vehicle status information includes: the road environment information of the vehicle, the vehicle head direction information and the vehicle speed information.

4. The method according to claim 1, characterized in that Also includes: Before the vehicle-mounted UAV takes off, obtaining flight requirement information of the vehicle-mounted UAV; Based on the flight requirement information of the vehicle-mounted drone, the distance of the standard flight path and the obstacle information on the standard flight path, the exit information of the vehicle from which the vehicle-mounted drone takes off is determined.

5. The method according to claim 4, characterized in that The obtaining of the flight requirement information of the vehicle-mounted UAV includes the flight direction information of the vehicle-mounted UAV.

6. The method according to claim 1, characterized in that The obtaining of obstacle information on the standard flight path includes type information, location information and shape information of the obstacles on the standard flight path.

7. A control device for a vehicle-mounted drone, characterized in that: include: The first acquisition module is used to obtain the take-off and landing positions of the vehicle-mounted drone and the location information of each entrance and exit of the vehicle; A second acquisition module is used to obtain the distances of the take-off and landing positions of the vehicle-mounted drone to the standard flight paths of the various entrances and exits of the vehicle; A collection module, used to obtain obstacle information on the standard flight path; A determination module, configured to determine the exit information of the vehicle from which the vehicle-mounted drone takes off and the entrance information of the vehicle from which the vehicle-mounted drone lands based on the distance of the standard flight path and the obstacle information on the standard flight path; Before the vehicle-mounted UAV lands, obtaining status information of the vehicle; Based on the status information of the vehicle, the distance of the standard flight path and the obstacle information on the standard flight path, the entrance information of the vehicle where the vehicle-mounted drone lands is determined.

8. An electronic device, comprising a memory and a processor, characterized in that: The processor is used to implement the steps of the control method of the vehicle-mounted drone according to any one of claims 1 to 6 when executing the computer program stored in the memory.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method of the vehicle-mounted drone according to any one of claims 1 to 6 are implemented.

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