Method, device and equipment for path prompting control based on vehicle-mounted aircraft and medium

Abstract

The application discloses a path prompting control method, device and equipment based on a vehicle-mounted aircraft and a medium, and relates to the technical field of path prompting control. The method comprises the following steps: according to a planned path and a shooting image of a vehicle-mounted aircraft, two target positions are plotted on the shooting image; according to the planned path and the two target positions, a flight path of the vehicle-mounted aircraft is determined; according to the time and speed of the vehicle-mounted aircraft on the flight path, the measured slopes of the two target positions are determined; and the measured slopes are displayed between the two target positions in a first display mode on the shooting image. The beneficial effect is that the planned path can be warned in advance, and the driver can be presented in an intuitive way, so that the effectiveness and safety of path planning are improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a path prompt control method, device, equipment and medium based on a vehicle-mounted aircraft. Background Art

[0002] More and more people are choosing to travel and sightsee by car. Cars are increasingly used on unfamiliar roads. For example, when passing through mountainous or rural areas, the judgment of passability directly affects the effectiveness of route prompts. The demand for predicting the vehicle's road passability has gradually emerged. Among them, the judgment of whether the ground line is steep enough to pass is particularly important. Currently, there is no sufficiently accurate slope judgment system and method on the market. Summary of the Invention

[0003] In view of the above-mentioned defects or improvement needs of the prior art, the object of the present invention is to provide a path prompt control method, device, equipment and medium based on a vehicle-mounted aircraft.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] In a first aspect, a path prompting control method based on a vehicle-mounted aircraft comprises the following steps:

[0006] According to the planned path and the image captured by the vehicle-mounted aircraft, two target positions are plotted on the captured image;

[0007] determining a flight path of the vehicle-mounted aerial vehicle based on the planned path and the two target positions;

[0008] determining the measured slopes of the two target locations based on the time and speed of the vehicle-mounted aircraft along the flight path;

[0009] The slope measurement result is displayed between the two target positions on the captured image in a first display manner.

[0010] In one embodiment, the step of marking two target locations on the captured image based on the planned path and the captured image of the vehicle-mounted aircraft includes:

[0011] The planned path is displayed in real time on the image captured by the vehicle-mounted aircraft.

[0012] In one embodiment, the step of marking two target locations on the captured image based on the planned path and the captured image of the vehicle-mounted aircraft further includes:

[0013] Determining two target areas with a height difference based on an image captured by the vehicle-mounted aircraft moving in a vertical direction, and marking the target areas with first marks using AR annotation technology;

[0014] Based on the image captured by the vehicle-mounted aircraft after approaching the target area, AR annotation technology is used to make second marks on the road surface where the two first marks are located. The two second marks are used as target positions respectively, and the second marks are located on the planned path.

[0015] In one embodiment, the first mark and the second mark are both set to geometric shapes with preset dynamic effects.

[0016] In one embodiment, the first mark is a 2D geometric figure, and the second mark is a 3D geometric figure, and the 3D geometric figure extends in a direction perpendicular to the ground.

[0017] In one embodiment, the step of determining the flight path of the vehicle-mounted aircraft based on the planned path and the two target positions includes:

[0018] After the vehicle-mounted aircraft approaches a first target area, adjusting a shooting angle of the vehicle-mounted aircraft so that the shooting angle is coaxial with a first 3D geometric figure corresponding to the first target area;

[0019] driving the vehicle-mounted aircraft to descend vertically to a first height above the first target area, continue to ascend vertically to a second height above the first target area, and move along the planned path on a horizontal plane at the second height to a second target area;

[0020] After the vehicle-mounted aircraft approaches the second target area, adjusting the shooting angle of the vehicle-mounted aircraft so that the shooting angle is coaxial with the second 3D geometric figure corresponding to the second target area;

[0021] The vehicle-mounted aircraft is driven to descend vertically to the first height above the second target area.

[0022] In one embodiment, when the shooting angle of the vehicle-mounted aircraft is coaxial with the first 3D geometric figure, the dynamic effect of the first 3D geometric figure is transformed into a static effect;

[0023] When the shooting angle of the vehicle-mounted aircraft is coaxial with the second 3D geometric figure, the dynamic effect of the second 3D geometric figure is transformed into a static effect.

[0024] In one embodiment, if the measured slope is greater than a preset safety slope, the result of the measured slope is displayed between the two target positions in a second display manner.

[0025] In a second aspect, a path prompt control device based on a vehicle-mounted aircraft comprises:

[0026] a target location module, configured to plot two target locations on the captured image based on the planned path and the captured image of the vehicle-mounted aircraft;

[0027] a flight path module, configured to determine a flight path of the vehicle-mounted aircraft based on the planned path and the two target positions;

[0028] a slope measurement module, configured to determine the measured slopes of the two target locations based on the time and speed of the vehicle-mounted aircraft in the flight path;

[0029] The display module is configured to display the slope measurement result between the two target positions on the captured image in a first display manner.

[0030] According to a third aspect, an electronic device includes a processor and a memory, wherein the processor and the memory are connected to each other;

[0031] The memory is used to store computer programs;

[0032] The processor is configured to execute the above-mentioned path prompting control method based on the vehicle-mounted aircraft when calling the computer program.

[0033] In a fourth aspect, a computer-readable storage medium stores a computer program, wherein the computer program is executed by a processor to implement the above-mentioned path prompting control method based on a vehicle-mounted aircraft.

[0034] Beneficial effects of the present invention:

[0035] In a path prompt control method based on a vehicle-mounted aircraft, two target locations are plotted on a planned path and a captured image of the vehicle-mounted aircraft; a flight path of the vehicle-mounted aircraft is determined based on the planned path and the two target locations; a measured slope at the two target locations is determined based on the time and speed of the vehicle-mounted aircraft along the flight path; and the measured slope is displayed in a first display mode between the two target locations on the captured image. This allows for an early slope warning of the planned path and presents it to the driver in an intuitive manner, thereby improving the effectiveness and safety of path planning.

[0036] A path prompt control device based on a vehicle-mounted aircraft plots two target locations on a planned path and a captured image of the vehicle-mounted aircraft. A flight path for the vehicle-mounted aircraft is determined based on the planned path and the two target locations. A measured slope at the two target locations is determined based on the time and speed of the vehicle-mounted aircraft along the flight path. The measured slope is displayed in a first display mode between the two target locations on the captured image. This allows for an early slope warning of the planned path and presents it to the driver in an intuitive manner, thereby improving the effectiveness and safety of path planning.

[0037] For an electronic device, two target positions are plotted on a planned path and a captured image of a vehicle-mounted aircraft; a flight path of the vehicle-mounted aircraft is determined based on the planned path and the two target positions; a measured slope of the two target positions is determined based on the time and speed of the vehicle-mounted aircraft along the flight path; and the measured slope is displayed in a first display mode between the two target positions on the captured image. This allows for an early slope warning of the planned path and presents it to the driver in an intuitive manner, thereby improving the effectiveness and safety of path planning.

[0038] For a computer storage medium, two target locations are plotted on the captured image based on the planned path and the vehicle-mounted aircraft; a flight path of the vehicle-mounted aircraft is determined based on the planned path and the two target locations; a measured slope at the two target locations is determined based on the time and speed of the vehicle-mounted aircraft along the flight path; and the measured slope is displayed in a first display mode between the two target locations on the captured image. This allows for an early slope warning of the planned path and presents it to the driver in an intuitive manner, thereby improving the effectiveness and safety of path planning.

[0039] Additional aspects and advantages of the present application will be given in part in the following description, which will become apparent from the following description, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0041] Figure 1 This is a path prompt control method based on a vehicle-mounted aircraft provided in this embodiment;

[0042] Figure 2 It is a schematic diagram showing the planned path after the original image captured by the vehicle-mounted aircraft;

[0043] Figure 3 is Figure 2Schematic diagram of determining a target area and making a first mark on a captured image shown;

[0044] Figure 4 is Figure 3 Schematic diagram of determining a target area and making a second mark on a captured image shown;

[0045] Figure 5 is a schematic structural diagram of a path prompt control device based on a vehicle-mounted aircraft provided in this embodiment;

[0046] Figure 6 It is a schematic structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0048] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0049] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0050] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless specifically defined as in the examples of this application.

[0051] This embodiment provides a path prompting control method based on a vehicle-mounted aerial vehicle, which is applied to a vehicle equipped with a vehicle-mounted aerial vehicle.

[0052] The vehicle-mounted aircraft provided in this embodiment includes a flight control module, a road condition image acquisition module, a remote control receiving module, a communication module, and an aircraft positioning module. The car provided in this embodiment includes a remote control sending module, a vehicle-mounted image display module, and a car positioning module.

[0053] The flight control module is the core control component of the aircraft, and generally realizes, but is not limited to, the aircraft performing flight maneuvers through overall coordination and comprehensive processing. The power actuator for performing flight maneuvers provided in this embodiment is a blade-type structure.

[0054] The road condition image acquisition module is used to obtain road condition images. In this embodiment, the road condition image acquisition module can use a camera such as an 8K lens, a wide-angle lens, or a panoramic lens.

[0055] Furthermore, the aircraft also includes a communication module for interacting with the vehicle-mounted image display system. The road condition image acquisition module can transmit the acquired road condition images (optionally after processing) back to the vehicle-mounted image display system via the communication module, so that a bird's-eye view of the road condition outside the vehicle appears on the vehicle-mounted image display system.

[0056] The remote control transmission module is configured as a remote control included with the aircraft, and can be implemented as a remote control handle or an app on a smart terminal. In this embodiment, the remote control transmission module is placed inside the vehicle. Preferably, the remote control transmission module can be integrated into the center console. In actual operation, the remote control transmission module and the remote control receiving device can communicate via WiFi or an improved WiFi capable of ultra-long-distance communication.

[0057] The in-vehicle image display module can include in-vehicle auxiliary devices such as navigation systems with screens, visual MP5 players, in-vehicle intelligent systems, reversing image systems, and driving recorders. The communication network between the in-vehicle image display module and the aircraft's communication module can also be via Wi-Fi, but mobile networks such as 4G / 5G are also possible. Furthermore, if the communication module utilizes a mobile network, it can interact with the navigation provider's server. The aforementioned road image acquisition module can then upload captured road images to the navigation provider's server via the communication module.

[0058] The aircraft positioning module enables the flight control module to control the aircraft to move to a specified altitude at a preset speed based on the motion parameters and position information. It should be noted that the specific altitude value is determined and limited by the aircraft's field of view, signal reception, and feedback distance.

[0059] Furthermore, the vehicle positioning module can be implemented using a GPS or other navigation device, or by combining it with image recognition captured by an aircraft. For example, it can capture a bird's-eye view image from an aircraft within a preset range and use an image recognition program to determine the current location. The bird's-eye view image of the vehicle referred to here can include only the target vehicle or multiple vehicles. Due to the near maturity of existing image recognition technology, it is entirely possible to identify the target vehicle to be followed from multiple potential targets.

[0060] Figure 1 This embodiment provides a path prompt control method based on a vehicle-mounted aircraft, such as Figure 1 As shown, the method includes steps S10 to S40.

[0061] Step S10: According to the planned path and the image captured by the vehicle-mounted aircraft, two target positions are marked on the captured image.

[0062] It should be noted that the planned route is the route that the driver plans based on the starting point and destination at the beginning or during driving. In this embodiment, the driver can obtain it through the map APP on the mobile terminal APP or the car APP.

[0063] Step S10 includes:

[0064] S100: Displaying the planned path in real time on the image captured by the vehicle-mounted aircraft.

[0065] The captured image can be displayed on the car's central control screen or on a mobile device, such as the driver's phone. Using existing technologies, such as geographic information and image fusion, the planned route can be displayed in real time on the captured image.

[0066] Figure 2 This is a schematic diagram of the planned path displayed by the original image captured by the vehicle-mounted aircraft. The images or captured images described below are all images after the planned path is combined.

[0067] like Figure 2 As shown, the captured image is a winding mountain road. Multiple arrows displayed on the mountain road represent the planned path, which means that the main vehicle will travel on the mountain road in the direction of the arrows.

[0068] Step S10 also includes: steps S101-S102.

[0069] Step S101: determining two target areas with a height difference based on an image captured by the vehicle-mounted aircraft moving in a vertical direction, and making first marks on the target areas using AR annotation technology.

[0070] As the vehicle-mounted aircraft moves vertically upward, the range of the captured image gradually increases, and the coverage area gradually expands. It is possible to see the altitude change trend of the reference object or the object in the image. It is possible to see where it is high and where it is low, as well as the trend of change from low to high or from high to low.

[0071] The driver can use their subjective perception of height to identify two target areas in the captured image. This means the two target areas have a subjective height difference. AR annotation technology is then used to mark the two target areas in the captured image, creating a first mark.

[0072] It should be noted that, target areas with a predetermined height difference may also be marked based on learning of image recognition. It is understandable that, for example, two target areas with a height difference greater than or equal to 5m may be marked through learning of image recognition.

[0073] Figure 3 is Figure 2 The diagram shown is a schematic diagram of determining a target area and making a first mark on a captured image, where the first mark is an elliptical coil.

[0074] It should be noted that, in order to improve the visual conspicuity of the first mark, the first mark adopts a bright color. In this embodiment, the first mark is a blue oval coil.

[0075] Optionally, the first mark is further provided with a dynamic effect, such as the blue oval coil rotating counterclockwise or the blue oval coil flashing at a certain frequency. In this embodiment, the first mark is a blue oval coil and flashes once per second.

[0076] Step S102: Based on the image captured by the vehicle-mounted aircraft after approaching the target area, AR annotation technology is used to make second marks on the road surface where the two first marks are located. The two second marks are used as target positions respectively, and the second marks are located on the planned path.

[0077] It is understandable that when the vehicle-mounted aircraft approaches the target area, the image it captures gradually becomes clearer and can be further marked, and the second mark is located on the planned path, that is, the second mark is determined on the planned path.

[0078] Furthermore, the second mark is set as a 3D geometric figure, and the 3D geometric figure extends in a direction perpendicular to the ground. It should be noted that the ground can be identified and determined based on visual image technology.

[0079] Optionally, the second marker is a cone, a triangular pyramid or a quadrangular pyramid. In this embodiment, the second marker is set to be a cone, the bottom surface of the cone is roughly parallel to the ground, and the axial centerline of the cone is perpendicular to the ground.

[0080] Optionally, the second mark has a color, for example, the second mark is a red cone, so as to be distinguished from the blue first mark.

[0081] Optionally, the second mark also has a dynamic visual effect, such as a blue elliptical coil rotating counterclockwise or a blue elliptical coil flashing at a certain frequency. In this embodiment, for example, the second mark is a red cone structure and flashes once per second. Figure 4 is Figure 3 The diagram shows a schematic diagram of determining a target area and making a second mark on a captured image.

[0082] After step S10 , step S20 is performed: determining a flight path of the vehicle-mounted aircraft according to the planned path and the two target positions.

[0083] Step S20 is to plan a flight path for the vehicle-mounted aircraft based on step S10.

[0084] Specifically, step S20 includes steps S201-S204.

[0085] S201: After the vehicle-mounted aircraft approaches a first target area, adjust the shooting angle of the vehicle-mounted aircraft so that the shooting angle is coaxial with a first 3D geometric figure corresponding to the first target area.

[0086] The purpose of step S201 is to set the initial position of the vehicle-mounted aircraft to be directly above the first 3D geometric figure.

[0087] S202: Drive the vehicle-mounted aircraft to descend vertically to a first height above the first target area, continue to ascend vertically to a second height above the first target area, and move along the planned path on a horizontal plane at the second height to a second target area.

[0088] The purpose of step S201 is to make the vehicle-mounted aircraft descend in the vertical direction, that is, to a first height above the first 3D geometric figure. It should be noted that the first height is determined by the accuracy of the position sensor on the vehicle-mounted aircraft. For example, if the accuracy of the position sensor is within 5m, the first height is lowered to within 5m to provide higher accuracy for subsequent distance calculation.

[0089] S203: After the vehicle-mounted aircraft approaches the second target area, adjust the shooting angle of the vehicle-mounted aircraft so that the shooting angle is coaxial with the second 3D geometric figure corresponding to the second target area.

[0090] It is understandable that when the vehicle-mounted aircraft flies from above the first 3D geometric figure to above the second 3D geometric figure, the shooting angle of the vehicle-mounted aircraft is allowed to be adjusted to other angles other than vertically downward.

[0091] S204: Drive the vehicle-mounted aircraft to descend vertically to the first height above the second target area.

[0092] It should be noted that step S201 further includes: when the vehicle-mounted aircraft's shooting angle is coaxial with the first 3D geometric figure, the dynamic effect of the first 3D geometric figure changes to a static effect. In this embodiment, when the vehicle-mounted aircraft's shooting angle is not coaxial with the first 3D geometric figure, the first 3D geometric figure (the red cone structure) flashes once per second. When the vehicle-mounted aircraft's shooting angle is coaxial with the first 3D geometric figure, the first 3D geometric figure stops flashing.

[0093] When the vehicle-mounted aircraft's viewing angle is coaxial with the second 3D geometric figure, the second 3D geometric figure's dynamic effect changes to a static effect. In this embodiment, when the vehicle-mounted aircraft's viewing angle is not coaxial with the second 3D geometric figure, the second 3D geometric figure (the red cone structure) flashes once per second. When the vehicle-mounted aircraft's viewing angle is coaxial with the second 3D geometric figure, the second 3D geometric figure stops flashing.

[0094] By setting the second 3D geometric figure to be transformed from a dynamic effect to a static effect, it can be used to maintain coaxial alignment during flight and to remind the aircraft operator of the current action in real time.

[0095] It should be noted that, when the vehicle-mounted aircraft is at the first altitude above the second mark, a corresponding prompt may also be issued. Of course, these prompts are not limited to changes in the form of voice or image.

[0096] After step S20, step S30 is performed to determine the measured slopes of the two target positions according to the time and speed of the vehicle-mounted aircraft in the flight path.

[0097] It is understandable that, based on the flight speed, direction, time and four altitude positions of the vehicle-mounted aircraft, the measured slopes of the two target positions can be calculated based on geometric knowledge.

[0098] After step S30 , step S40 is performed: displaying the slope measurement result between the two target positions on the captured image in a first display manner.

[0099] Specifically, the first display mode includes setting the display text, font, font size, and color of the slope measurement result. In this embodiment, the display text is "Slope 40°" in a Kaiti font, size 4, and purple color. It should be noted that the above font, font size, and color can be selected based on the font settings of the vehicle computer system.

[0100] Furthermore, the first display mode further includes: setting a font tilt angle based on the measured slope, and arranging the measured slope result relative to the horizontal line at the font tilt angle. For example, if the measured slope is 40°, then "Slope 40°" is arranged 40° relative to the bottom horizontal edge line of the display screen.

[0101] Furthermore, the first display mode further includes arranging the word order of the displayed content in the same direction as the line connecting the first and second 3D geometric figures. It is understood that the character "Slope" in "Slope 40°" is closer to the first 3D geometric figure, and the character "°" in "Slope 40°" is closer to the second 3D geometric figure.

[0102] Furthermore, if the measured slope is greater than the preset safety slope, the measured slope result is displayed in a second display mode between the two target positions. It will be understood that the preset safety slope is pre-calibrated based on the vehicle's performance. For example, in this embodiment, if the preset safety angle is 35°, then the measured slope (40°) is greater than the preset safety slope (35°), and "Slope 40°" is displayed in the second display mode.

[0103] Optionally, the second display mode is a first display mode with a dynamic effect added thereto. In this embodiment, the second display mode can be set to flash at a frequency of every two seconds in the first display mode.

[0104] The path prompt control method for a vehicle-mounted aircraft provided in this embodiment plots two target locations on a planned path and a captured image of the vehicle-mounted aircraft on the captured image; determines a flight path for the vehicle-mounted aircraft based on the planned path and the two target locations; determines measured slopes at the two target locations based on the time and speed of the vehicle-mounted aircraft along the flight path; and displays the measured slope in a first display mode between the two target locations on the captured image. This method provides an early slope warning for the planned path and presents it to the driver in an intuitive manner, thereby improving the effectiveness and safety of path planning.

[0105] This embodiment also provides a path prompt control device based on a vehicle-mounted aircraft. Figure 5 Schematic diagram of the structure of the path prompt control device based on the vehicle-mounted aircraft provided in this embodiment.

[0106] like Figure 5 As shown, the path prompt control device based on the vehicle-mounted aircraft includes a target position module 51 , a flight path module 52 , a slope measurement module 53 and a display module 54 .

[0107] The target position module is used to mark two target positions on the captured image according to the planned path and the captured image of the vehicle-mounted aircraft.

[0108] A flight path module is used to determine a flight path of the vehicle-mounted aircraft based on the planned path and the two target positions.

[0109] The slope measurement module is used to determine the measured slopes of the two target positions according to the time and speed of the vehicle-mounted aircraft in the flight path.

[0110] The display module is configured to display the slope measurement result between the two target positions on the captured image in a first display manner.

[0111] It should be noted that the path prompt control device based on the vehicle-mounted aircraft provided in this embodiment can also be a computer program (including program code) running in a computer device. For example, the path prompt control device based on the vehicle-mounted aircraft is an application program that can be used to execute the corresponding steps in the above method provided in the embodiment of the present application.

[0112] In some feasible implementations, the path prompt control device based on a vehicle-mounted aircraft provided in this embodiment can be implemented in a combination of software and hardware. As an example, the path prompt control device based on a vehicle-mounted aircraft in the embodiment of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the path prompt control method based on a vehicle-mounted aircraft provided in the embodiment of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0113] In some feasible implementations, the path prompt control device based on the vehicle-mounted aircraft provided in this embodiment can be implemented in software, which can be software in the form of programs and plug-ins, and include a series of modules to implement the control method provided in the embodiment of the present invention.

[0114] The path prompt control device for a vehicle-mounted aircraft provided in this embodiment plots two target locations on a planned path and a captured image of the vehicle-mounted aircraft; determines a flight path for the vehicle-mounted aircraft based on the planned path and the two target locations; determines measured slopes at the two target locations based on the time and speed of the vehicle-mounted aircraft along the flight path; and displays the measured slope in a first display mode between the two target locations on the captured image. This device provides an early slope warning for the planned path and presents it to the driver in an intuitive manner, thereby improving the effectiveness and safety of path planning.

[0115] The embodiment of the present application also provides an electronic device, Figure 6 is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 6 As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004 and a memory 1005. In addition, the above-mentioned electronic device 1000 may also include: a user interface 1003, and at least one communication bus 1002. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 6 As shown, the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a device control application.

[0116] like Figure 6 In the electronic device 1000 shown, the network interface 1004 can provide network communication functions; the user interface 1003 is mainly used to provide an interface for user input; and the processor 1001 can be used to call the device control application stored in the memory 1005 to achieve:

[0117] According to the planned path and the image captured by the vehicle-mounted aircraft, two target positions are plotted on the captured image;

[0118] determining a flight path of the vehicle-mounted aerial vehicle based on the planned path and the two target positions;

[0119] determining the measured slopes of the two target locations based on the time and speed of the vehicle-mounted aircraft along the flight path;

[0120] The measured slope is displayed between the two target positions in a first display manner on the captured image.

[0121] It should be understood that in some feasible embodiments, the processor 1001 may be a central processing unit (CPU). The processor may also be another general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The general-purpose processor may be a microprocessor or any conventional processor. The memory may include a read-only memory and a random access memory, and provides instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store device type information.

[0122] In a specific implementation, the electronic device 1000 can execute the implementation methods provided by the various steps of the above control method through its built-in functional modules. For details, please refer to the implementation methods provided by the above steps, which will not be repeated here.

[0123] The electronic device provided in this embodiment plots two target locations on a captured image of a planned path and a vehicle-mounted aircraft; determines a flight path of the vehicle-mounted aircraft based on the planned path and the two target locations; determines measured slopes at the two target locations based on the time and speed of the vehicle-mounted aircraft along the flight path; and displays the measured slope in a first display mode between the two target locations on the captured image. This provides an early warning of the slope of the planned path and presents it to the driver in an intuitive manner, thereby improving the effectiveness and safety of path planning.

[0124] An embodiment of the present application further provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the various steps of the path prompting control method based on a vehicle-mounted aircraft in the above-mentioned embodiment. For details, please refer to the implementation methods provided in the above-mentioned steps, which will not be repeated here.

[0125] An embodiment of the present application further provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the various steps of the path prompting control method based on a vehicle-mounted aircraft in the above-mentioned embodiment. For details, please refer to the implementation methods provided in the above-mentioned steps, which will not be repeated here.

[0126] The computer-readable storage medium provided in this embodiment plots two target locations on a captured image of a planned path and a vehicle-mounted aircraft; determines a flight path of the vehicle-mounted aircraft based on the planned path and the two target locations; determines measured slopes at the two target locations based on the time and speed of the vehicle-mounted aircraft along the flight path; and displays the measured slope in a first display mode between the two target locations on the captured image. This provides an early warning of the slope of the planned path and presents it to the driver in an intuitive manner, thereby improving the effectiveness and safety of path planning.

[0127] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0128] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A path prompt control method based on a vehicle-mounted aircraft, characterized in that: The following steps are involved: According to the planned path and the image captured by the vehicle-mounted aircraft, two target positions are plotted on the captured image; determining a flight path of the vehicle-mounted aerial vehicle based on the planned path and the two target positions; determining the measured slopes of the two target locations based on the time and speed of the vehicle-mounted aircraft along the flight path; The slope measurement result is displayed between the two target positions on the captured image in a first display manner.

2. The path prompt control method based on a vehicle-mounted aircraft according to claim 1, characterized in that: The step of marking two target positions on the captured image based on the planned path and the captured image of the vehicle-mounted aircraft includes: The planned path is displayed in real time on the image captured by the vehicle-mounted aircraft.

3. The path prompt control method based on a vehicle-mounted aircraft according to claim 2, characterized in that: The step of marking two target positions on the captured image based on the planned path and the captured image of the vehicle-mounted aircraft further includes: Determining two target areas with a height difference based on an image captured by the vehicle-mounted aircraft moving in a vertical direction, and marking the target areas with first marks using AR annotation technology; Based on the image captured by the vehicle-mounted aircraft after approaching the target area, AR annotation technology is used to make second marks on the road surface where the two first marks are located. The two second marks are used as target positions respectively, and the second marks are located on the planned path.

4. The path prompt control method based on a vehicle-mounted aircraft according to claim 3, characterized in that: The first mark and the second mark are both set to geometric shapes with preset dynamic effects.

5. The path prompt control method based on a vehicle-mounted aircraft according to claim 4, characterized in that: The first marker is a 2D geometric figure, and the second marker is a 3D geometric figure, and the 3D geometric figure extends in a direction perpendicular to the ground.

6. The path prompt control method based on a vehicle-mounted aircraft according to claim 5, characterized in that: The step of determining the flight path of the vehicle-mounted aircraft according to the planned path and the two target positions includes: After the vehicle-mounted aircraft approaches a first target area, adjusting a shooting angle of the vehicle-mounted aircraft so that the shooting angle is coaxial with a first 3D geometric figure corresponding to the first target area; driving the vehicle-mounted aircraft to descend vertically to a first height above the first target area, continue to ascend vertically to a second height above the first target area, and move along the planned path on a horizontal plane at the second height to a second target area; After the vehicle-mounted aircraft approaches the second target area, adjusting the shooting angle of the vehicle-mounted aircraft so that the shooting angle is coaxial with the second 3D geometric figure corresponding to the second target area; The vehicle-mounted aircraft is driven to descend vertically to the first height above the second target area.

7. The path prompt control method based on a vehicle-mounted aircraft according to claim 6, characterized in that: When the shooting angle of the vehicle-mounted aircraft is coaxial with the first 3D geometric figure, the dynamic effect of the first 3D geometric figure is transformed into a static effect; When the shooting angle of the vehicle-mounted aircraft is coaxial with the second 3D geometric figure, the dynamic effect of the second 3D geometric figure is transformed into a static effect.

8. The path prompt control method based on a vehicle-mounted aircraft according to claim 1, characterized in that: If the measured slope is greater than the preset safety slope, the result of the measured slope is displayed between the two target positions in a second display manner.

9. A path prompt control device based on a vehicle-mounted aircraft, characterized in that: include: a target location module, configured to plot two target locations on the captured image based on the planned path and the captured image of the vehicle-mounted aircraft; a flight path module, configured to determine a flight path of the vehicle-mounted aircraft based on the planned path and the two target positions; a slope measurement module, configured to determine the measured slopes of the two target locations based on the time and speed of the vehicle-mounted aircraft in the flight path; The display module is configured to display the slope measurement result between the two target positions on the captured image in a first display manner.

10. An electronic device, characterized in that: comprising a processor and a memory, wherein the processor and the memory are connected to each other; The memory is used to store computer programs; The processor is configured to execute the path prompt control method based on a vehicle-mounted aircraft according to any one of claims 1 to 8 when calling the computer program.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the path prompt control method based on a vehicle-mounted aircraft according to any one of claims 1 to 8.

Images