A control method of a vehicle-mounted unmanned aerial vehicle and related equipment

Abstract

The embodiment of the application provides a kind of control method of vehicle-mounted unmanned plane, comprising: in response to opening instruction, the visibility threshold of driver is acquired;The distance between vehicle-mounted unmanned plane and vehicle is controlled based on the visibility threshold of the driver;The road condition information of the road section where the vehicle is currently located is obtained by controlling the vehicle-mounted unmanned plane.This way, by obtaining the visibility threshold of the driver, the flight position of vehicle-mounted unmanned plane is controlled based on the above-mentioned visibility threshold, and image information outside the flight position is obtained, the field of view of the driver is supplemented and the range of view is enhanced, the quality of information is improved, so that the information processing amount of the driver can be reduced, the operation of the driver is simplified, and the safety in the process of driving can be improved.

Description

TECHNICAL FIELD

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

[0002] With the development of unmanned aerial vehicle technology, the imaging technology of unmanned aerial vehicles is widely applied to various fields. In the current application of unmanned aerial vehicles in combination with vehicles, the unmanned aerial vehicle is usually controlled to fly around the vehicle for image acquisition, or the unmanned aerial vehicle is controlled to perform image acquisition at a certain position based on the control instruction of the driver. However, the observation ability of the driver is affected by multiple factors, and therefore, in the current image acquisition method of the unmanned aerial vehicle, the acquisition range of the unmanned aerial vehicle may not be adapted to the observation range of the driver. For example, the acquisition range of the unmanned aerial vehicle may overlap with the observation range of the driver, so that the acquired image information may contain useless information, or the acquisition range of the unmanned aerial vehicle may exceed the observation range of the driver, so that the driver has a blind area, which affects the assistance effect of the unmanned aerial vehicle on driving and increases the operation difficulty of the driver. SUMMARY

[0003] The present application provides a control method for a vehicle-mounted unmanned aerial vehicle and related equipment to solve the problem that the distance between the unmanned aerial vehicle and the vehicle cannot be automatically adjusted based on the actual needs of the driver when the unmanned aerial vehicle performs image acquisition, which affects the assistance effect of the unmanned aerial vehicle on driving.

[0004] In a first aspect, the present application provides a control method for a vehicle-mounted unmanned aerial vehicle, comprising:

[0005] In response to an opening instruction, obtaining a visibility threshold of a driver;

[0006] Based on the visibility threshold of the driver, controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle;

[0007] Controlling the vehicle-mounted unmanned aerial vehicle to obtain the road condition information of the road section currently occupied by the vehicle.

[0008] Optionally, in response to the opening instruction, the visibility threshold of the driver is obtained, comprising:

[0009] Obtaining the position information of the road section currently occupied by the vehicle;

[0010] Based on the position information, obtaining meteorological information of the road section currently occupied by the vehicle, the meteorological information including weather information and / or visibility information;

[0011] Based on the meteorological information of the road section currently occupied by the vehicle, determining the visibility threshold of the driver.

[0012] Optionally, the controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle based on the visibility threshold of the driver comprises:

[0013] In a case where the target driving route of the vehicle is acquired, the vehicle-mounted unmanned aerial vehicle is controlled to be in front of the vehicle on the target driving route of the vehicle;

[0014] The distance between the vehicle-mounted unmanned aerial vehicle and the vehicle is controlled to be not greater than the visibility threshold of the driver based on the visibility threshold of the driver;

[0015] In a case where the target driving route of the vehicle is not acquired, the vehicle-mounted unmanned aerial vehicle is controlled to follow the vehicle.

[0016] Optionally, the acquiring the visibility threshold of the driver in response to the starting instruction comprises:

[0017] The vehicle-mounted unmanned aerial vehicle is controlled to be in front of the vehicle on the target driving route of the vehicle;

[0018] The distance between the vehicle-mounted unmanned aerial vehicle and the vehicle is gradually increased;

[0019] In a case where the driver cannot see the vehicle-mounted unmanned aerial vehicle, the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle is determined to be the visibility threshold of the driver.

[0020] Optionally, the acquiring the visibility threshold of the driver in response to the starting instruction comprises:

[0021] The vehicle-mounted unmanned aerial vehicle is controlled to be in front of the vehicle on the target driving route of the vehicle and to collect images of the vehicle;

[0022] The distance between the vehicle-mounted unmanned aerial vehicle and the vehicle is gradually increased;

[0023] The distance between the vehicle-mounted unmanned aerial vehicle and the vehicle is determined to be the visibility threshold of the driver based on the clarity of the images of the vehicle collected by the vehicle-mounted unmanned aerial vehicle and a preset clarity of the images of the vehicle.

[0024] Optionally, the acquiring the visibility threshold of the driver in response to the starting instruction comprises:

[0025] The vehicle-mounted unmanned aerial vehicle is controlled to be in front of the vehicle on the target driving route of the vehicle and to collect images of the vehicle;

[0026] The distance between the vehicle-mounted unmanned aerial vehicle and the vehicle is gradually increased;

[0027] based on the clarity of the image of the vehicle collected by the vehicle-mounted UAV, in a case where the driver considers that the clarity of the image of the vehicle collected by the vehicle-mounted UAV is insufficient, determining that the distance between the vehicle-mounted UAV and the vehicle is the visibility threshold of the driver.

[0028] Optionally, before the step of controlling the distance between the vehicle-mounted UAV and the vehicle based on the visibility threshold of the driver, the method further comprises:

[0029] in a case where the speed of the vehicle-mounted UAV is less than the speed of the vehicle, determining a target acceleration time of the vehicle-mounted UAV based on the speed of the vehicle-mounted UAV and the speed of the vehicle;

[0030] determining an acceleration time threshold of the vehicle-mounted UAV based on the visibility threshold of the driver, the speed of the vehicle-mounted UAV and the speed of the vehicle;

[0031] in a case where the target acceleration time of the vehicle-mounted UAV is greater than the acceleration time threshold of the vehicle-mounted UAV, issuing an alarm information.

[0032] In a second aspect, the present application further provides a control device of a vehicle-mounted UAV, comprising:

[0033] a determining module configured to acquire a visibility threshold of a driver in response to an opening instruction;

[0034] a control module configured to control the distance between the vehicle-mounted UAV and the vehicle based on the visibility threshold of the driver;

[0035] a collecting module configured to control the vehicle-mounted UAV to acquire road condition information of a current road section of the vehicle.

[0036] In a third aspect, the present application further provides an electronic device comprising a memory and a processor, wherein the processor is configured to implement the steps of the control method of the vehicle-mounted UAV according to any one of the first aspect when executing a computer program stored in the memory.

[0037] In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is configured to implement the steps of the control method of the vehicle-mounted UAV according to any one of the first aspect when executed by a processor.

[0038] According to the technical solution, the control method of the vehicle-mounted unmanned aerial vehicle is provided, including: in response to an opening instruction, obtaining a visibility threshold of a driver; based on the visibility threshold of the driver, controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle; and controlling the vehicle-mounted unmanned aerial vehicle to obtain road condition information of a road section currently located by the vehicle. In the application of the unmanned aerial vehicle combined with the vehicle, the collection range of the unmanned aerial vehicle and the observation range of the driver may not be adapted, which affects the auxiliary effect of the unmanned aerial vehicle on driving, and increases the operation difficulty of the driver. According to the embodiment of the application, the visibility threshold of the driver is obtained, the flight position of the vehicle-mounted unmanned aerial vehicle is controlled based on the visibility threshold, and the image information outside the flight position is obtained, so as to realize the field of view supplement and the distance of view enhancement of the driver, improve the quality of information, thereby reducing the information processing amount of the driver, simplifying the operation of the driver, and further improving the safety in the driving process. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the present application, the drawings required in the embodiments will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0040] Figure 1 A schematic flow chart of the control method of the vehicle-mounted unmanned aerial vehicle provided by the embodiment of the present application is shown in the figure.

[0041] Figure 2 A schematic structural diagram of the control device of the vehicle-mounted unmanned aerial vehicle provided by the embodiment of the present application is shown in the figure.

[0042] Figure 3 A schematic structural diagram of the electronic device provided by the embodiment of the present application is shown in the figure.

[0043] Figure 4 A schematic structural diagram of the computer readable storage medium provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0044] The embodiments will be described in detail below, and examples are shown in the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following embodiments do not represent all the embodiments consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as described in detail in the claims. In several embodiments provided by the embodiments of the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described below are only exemplary.

[0045] The application provides a control method of a vehicle-mounted unmanned aerial vehicle, which comprises the following steps: Figure 1 As shown in the figure, comprising:

[0046] In step S110, the visibility threshold of the driver is obtained in response to the starting instruction.

[0047] For example, the starting instruction can be actively sent by the driver through the vehicle management system or the intelligent terminal for controlling the vehicle-mounted unmanned aerial vehicle, or the driver can confirm the consent after the vehicle management system actively sends the starting instruction to the driver after monitoring the start of the vehicle.

[0048] In step S120, the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle is controlled based on the visibility threshold of the driver.

[0049] For example, when the visibility threshold of the driver is determined, the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle can be a fixed distance or a distance floating range set by the driver through the vehicle management system or the intelligent terminal for controlling the vehicle-mounted unmanned aerial vehicle based on the visibility threshold, or the distance can be automatically controlled by the vehicle management system or the intelligent terminal for controlling the vehicle-mounted unmanned aerial vehicle based on the visibility threshold.

[0050] In step S130, the vehicle-mounted unmanned aerial vehicle is controlled to obtain the road condition information of the current road section of the vehicle.

[0051] For example, the vehicle-mounted unmanned aerial vehicle can be controlled to collect images through the image collection function, and the collected image information can be transmitted to the vehicle-mounted image display device of the vehicle in real time.

[0052] According to some embodiments, the visibility threshold of the driver is obtained in response to the starting instruction, comprising:

[0053] The position information of the current road section of the vehicle is obtained;

[0054] Based on the position information, the meteorological information of the current road section of the vehicle is obtained, and the meteorological information includes weather information and / or visibility information;

[0055] Based on the meteorological information of the current road section of the vehicle, the visibility threshold of the driver is determined.

[0056] For example, the position information of the road section where the vehicle is currently located can be obtained by the vehicle's on-board GPS positioning system, the weather information of the current location of the vehicle can be queried in the real-time updated weather database by the vehicle's management system, and when the visibility information is included in the queried weather information, the minimum visibility can be taken as the visibility threshold of the driver, for example, when the visibility of the current location of the vehicle is 5-10 meters, the visibility threshold of the driver is determined to be 5 meters, or any value within the range of the visibility information can be taken as the visibility threshold of the driver, and the determination rule of the value can be preset by the driver, for example, when the visibility of the current location of the vehicle is 5-10 meters and the visibility threshold preset by the driver is 3 meters more than the minimum visibility, the visibility threshold of the driver is determined to be 8 meters, when the weather information is included in the queried weather information, the visibility level can be set based on the weather information, and the visibility threshold of the driver can be set based on different visibility levels; for example, when the weather is sunny, the visibility level is 5, when the weather is cloudy, the visibility level is 4, when the weather is moderate haze, the visibility level is 3, when the weather is heavy rain and moderate snow, the visibility level is 2, and when the weather is heavy snow, the visibility level is 1, and when the visibility is 5, the visibility threshold of the driver is 12 meters, when the visibility is 4, the visibility threshold of the driver is 9 meters, when the visibility is 3, the visibility threshold of the driver is 7 meters, when the visibility is 2, the visibility threshold of the driver is 4 meters, and when the visibility is 1, the visibility threshold of the driver is 2 meters, and when the weather information queried is cloudy, the current visibility level can be determined to be 4, and the visibility threshold of the driver is 9 meters; when the visibility information and the weather information are included in the queried weather information, the maximum visibility value can be corrected in combination with the weather information, for example, when the visibility of the current location of the vehicle is 5-10 meters and the weather is light haze, the visibility threshold of the driver is determined to be 7.5 meters.

[0057] The visibility threshold of the driver is determined based on the weather information of the current road section, the determination process is simple, and the visibility threshold of the driver can be updated in real time according to the change of the weather information, and the flight position of the unmanned aerial vehicle can be automatically adjusted according to the changed visibility threshold of the driver, thereby improving the quality of the image information collected by the unmanned aerial vehicle, reducing the information processing amount of the driver, simplifying the operation of the driver, and improving the safety during driving.

[0058] According to some embodiments, the distance between the vehicle and the unmanned aerial vehicle is controlled based on the visibility threshold of the driver, including:

[0059] In the case where the target driving route of the vehicle is acquired, the vehicle-mounted UAV is controlled to be in front of the vehicle on the target driving route of the vehicle;

[0060] Based on the visibility threshold of the driver, the distance between the vehicle-mounted UAV and the vehicle is controlled to be not greater than the visibility threshold of the driver;

[0061] In the case where the target driving route of the vehicle is not acquired, the vehicle-mounted UAV is controlled to follow the vehicle.

[0062] For example, the navigation information of the vehicle can be acquired by the management system of the vehicle, the target driving route of the vehicle can be acquired based on the navigation information, in the case where the target driving route of the vehicle can be determined, the driving route of the vehicle-mounted UAV can be controlled to be the target driving route of the vehicle, in the case where the target driving route of the vehicle is not acquired, the image information sent to the vehicle management system can be determined based on the visibility threshold of the driver by an image processing algorithm.

[0063] In the case where the target driving route of the vehicle can be acquired, the UAV is controlled to be in front of the vehicle on the target driving route of the vehicle, and the distance between the UAV and the vehicle is kept within the visibility threshold of the driver, the road surface condition of the road through which the vehicle will pass can be collected in advance by the UAV, the field of view of the driver can be supplemented and the visibility can be enhanced, at the same time, the collection of image information useless for auxiliary driving can be reduced, the quality of information can be improved, the information processing amount of the driver can be reduced, and the operation of the driver can be simplified, in the case where the target driving route of the vehicle is not acquired, the UAV is controlled to follow the vehicle, the road surface information of the road section currently passed by the vehicle can be collected in real time, the driver can be assisted to drive, and the safety during driving can be improved.

[0064] According to some embodiments, the visibility threshold of the driver is acquired in response to the starting instruction, including:

[0065] The vehicle-mounted UAV is controlled to be in front of the vehicle on the target driving route of the vehicle;

[0066] The distance between the vehicle-mounted UAV and the vehicle is gradually increased;

[0067] In the case where the driver cannot see the vehicle-mounted UAV, the distance between the current vehicle-mounted UAV and the vehicle is determined to be the visibility threshold of the driver.

[0068] Exemplarily, in the case that the visibility threshold of the driver is determined through the above method, the acquired visibility threshold information can be bound with the personal information of the driver through the vehicle management system or the intelligent terminal for controlling the vehicle-mounted UAV, and can be stored in the local database of the vehicle management system, or the above information can be stored in the cloud database through networking of the intelligent terminal for controlling the vehicle-mounted UAV. In the case that the driver changes the vehicle, the visibility threshold can be directly called by logging in the account of the driver through the above intelligent terminal.

[0069] By increasing the distance between the UAV and the vehicle, the UAV is observed by the driver, and the distance at which the driver considers that the UAV cannot be clearly seen is determined as the visibility threshold of the driver. The dynamic vision of different drivers can be acquired, so that the acquired visibility threshold of the driver is more subjective and more accurate, and the inaccuracy of the acquired visibility threshold due to different observation abilities of different drivers is avoided.

[0070] According to some embodiments, the above acquiring the visibility threshold of the driver in response to the starting instruction comprises:

[0071] The vehicle-mounted UAV is controlled to be in front of the vehicle on the target driving route of the vehicle and to collect images of the vehicle;

[0072] The distance between the vehicle-mounted UAV and the vehicle is gradually increased;

[0073] Based on the clarity of the images of the vehicle collected by the vehicle-mounted UAV and the preset clarity of the images of the vehicle, it is determined that the distance between the current vehicle-mounted UAV and the vehicle is the visibility threshold of the driver.

[0074] Exemplarily, the driver can independently set the preset clarity of the images on the vehicle management system or the intelligent terminal for controlling the vehicle-mounted UAV. In the case that the above preset clarity can be acquired, the visibility threshold of the driver under the current situation can be corrected in a preset correction period. For example, the visibility threshold of the driver is 8 meters in the initial state, the distance between the UAV and the vehicle is 8 meters, and the preset correction period is 30 minutes. Therefore, 30 minutes after the UAV is started, the vehicle image collected by the UAV at this time is sent to the vehicle management system. The clarity of the above image is determined to be lower than the preset clarity by the vehicle management system, the distance between the UAV and the vehicle is reduced, and the collected vehicle image is sent to the vehicle management system in real time until the clarity of the above image is not lower than the preset clarity, and the distance between the UAV and the vehicle at this time is determined as the corrected visibility threshold.

[0075] The unmanned aerial vehicle can automatically determine the visibility threshold of the driver, can more accurately determine the visibility threshold of the driver according to the observation ability of different drivers, and can reduce the confirmation time of the driver and improve the assistance efficiency of the unmanned aerial vehicle.

[0076] According to some embodiments, the above-mentioned response to the opening instruction, obtaining the visibility threshold of the driver, comprises:

[0077] The above-mentioned vehicle-mounted unmanned aerial vehicle is controlled to be in front of the above-mentioned vehicle on the target driving route of the above-mentioned vehicle, and the above-mentioned vehicle is image collected;

[0078] The distance between the above-mentioned vehicle-mounted unmanned aerial vehicle and the above-mentioned vehicle is gradually increased;

[0079] Based on the clarity of the image of the above-mentioned vehicle collected by the above-mentioned vehicle-mounted unmanned aerial vehicle, in the case that the driver considers that the clarity of the image of the above-mentioned vehicle collected by the above-mentioned vehicle-mounted unmanned aerial vehicle is insufficient, the distance between the current vehicle-mounted unmanned aerial vehicle and the vehicle is determined as the visibility threshold of the driver.

[0080] By observing the clarity of the vehicle image collected by the unmanned aerial vehicle by the driver, the visibility threshold of the driver based on the observation result, the visibility threshold obtained can be more accurate for different observation abilities of different drivers.

[0081] According to some embodiments, before the above-mentioned step of controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle based on the visibility threshold of the driver, further comprising:

[0082] In the case that the speed of the above-mentioned vehicle-mounted unmanned aerial vehicle is less than the speed of the above-mentioned vehicle, based on the speed of the above-mentioned vehicle-mounted unmanned aerial vehicle and the speed of the above-mentioned vehicle, the target acceleration time of the above-mentioned vehicle-mounted unmanned aerial vehicle is determined;

[0083] Based on the visibility threshold of the driver, the speed of the above-mentioned vehicle-mounted unmanned aerial vehicle and the speed of the above-mentioned vehicle, the acceleration time threshold of the above-mentioned vehicle-mounted unmanned aerial vehicle is determined;

[0084] In the case that the target acceleration time of the above-mentioned vehicle-mounted unmanned aerial vehicle is greater than the acceleration time threshold of the above-mentioned vehicle-mounted unmanned aerial vehicle, an alarm information is sent.

[0085] It should be noted that the above-mentioned target acceleration time is the acceleration time required for the unmanned aerial vehicle to catch up with the vehicle and maintain the above-mentioned distance with the vehicle, the above-mentioned acceleration time threshold can be the acceleration time determined based on the endurance of the unmanned aerial vehicle, the maximum communication distance between the unmanned aerial vehicle and the vehicle in the case that the vehicle-mounted unmanned aerial vehicle accelerates to the maximum flight speed, or the maximum acceleration time of the unmanned aerial vehicle determined based on the historical use time of the driver or the driver.

[0086] By comparing the flight speed of the drone with the driving speed of the vehicle, if the drone's flight speed is less than the vehicle's driving speed, causing the drone to be unable to collect image information outside the driver's visibility threshold, the drone needs to be accelerated. If the drone's target acceleration time exceeds the acceleration time threshold, it can be considered that the drone cannot catch up with the vehicle at its current speed. In this case, an alarm message needs to be sent to the vehicle to notify the driver, who can then decelerate or adjust the drone's control strategy and image acquisition range, thereby improving the drone's working efficiency.

[0087] like Figure 2 As shown, Figure 2 This is a schematic structural diagram of a control device for a vehicle-mounted unmanned aerial vehicle provided in an embodiment of this application.

[0088] This application provides a control device 200 for a vehicle-mounted unmanned aerial vehicle, including:

[0089] The determination module 201 is used to obtain the driver's visibility threshold in response to the activation command;

[0090] Control module 202 is used to control the distance between the vehicle-mounted drone and the vehicle based on the driver's visibility threshold mentioned above;

[0091] The data acquisition module 203 is used to control the vehicle-mounted drone to acquire road condition information of the road section where the vehicle is currently located.

[0092] A vehicle-mounted unmanned aerial vehicle (UAV) control device 200 is capable of achieving Figure 1 The various processes implemented in the method embodiments are not described in detail here to avoid repetition.

[0093] like Figure 3 As shown, Figure 3 This is a schematic structural diagram of an electronic device provided in an embodiment of this application.

[0094] This 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, it performs the following steps:

[0095] In response to the activation command, obtain the driver's visibility threshold;

[0096] Based on the driver's visibility threshold mentioned above, the distance between the vehicle-mounted drone and the vehicle is controlled;

[0097] Control the aforementioned vehicle-mounted drone to obtain road condition information of the current road section where the vehicle is located.

[0098] In a specific implementation process, when the processor 320 executes the computer program 311, the following steps can be implemented Figure 1 Any embodiment of the corresponding embodiment.

[0099] Since the electronic device introduced in the embodiment is the device used to implement the device in the embodiment of the application, based on the method introduced in the embodiment of the application, those skilled in the art can understand the specific implementation of the electronic device in the embodiment and its various forms, so how the electronic device implements the method in the embodiment of the application is not described in detail here, as long as the device used by those skilled in the art to implement the method in the embodiment of the application belongs to the scope of protection of the application.

[0100] As shown in Figure 4 , the embodiment of the application provides a schematic structural diagram of a computer readable storage medium. Figure 4

[0101] The embodiment provides a computer readable storage medium 400, and the computer readable storage medium 400 stores a computer program 411. The computer program 411 is executed by a processor to implement the following steps.

[0102] In response to the start instruction, the visibility threshold of the driver is acquired;

[0103] Based on the visibility threshold of the driver, the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle is controlled;

[0104] The vehicle-mounted unmanned aerial vehicle acquires the road condition information of the road section currently passed by the vehicle.

[0105] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in an embodiment can be referred to the related description of other embodiments.

[0106] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0107] ​The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0108] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0109] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0110] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. ​ The flow in the control method of the unmanned aerial vehicle in the corresponding embodiment.

[0111] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions described above according to the embodiments of the present application are generated wholly or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can 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 computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be stored by the computer or a data storage device such as a server, data center, etc. containing one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)) and the like.

[0112] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0113] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method 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, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0114] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0115] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0116] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in part, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods according to the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various other media that can store program codes.

[0117] In summary, the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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 unmanned aerial vehicle, characterized in that, The method comprises the following steps: in response to an opening instruction, obtaining a visibility threshold of a driver; controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle based on the visibility threshold of the driver; controlling the vehicle-mounted unmanned aerial vehicle to obtain the road condition information of the road section where the vehicle is currently located; before the step of controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle based on the visibility threshold of the driver, the method further comprises the following steps: in the case that the speed of the vehicle-mounted unmanned aerial vehicle is less than the speed of the vehicle, determining the target acceleration time of the vehicle-mounted unmanned aerial vehicle based on the speed of the vehicle-mounted unmanned aerial vehicle and the speed of the vehicle; determining the acceleration time threshold of the vehicle-mounted unmanned aerial vehicle based on the visibility threshold of the driver, the speed of the vehicle-mounted unmanned aerial vehicle and the speed of the vehicle; in the case that the target acceleration time of the vehicle-mounted unmanned aerial vehicle is greater than the acceleration time threshold of the vehicle-mounted unmanned aerial vehicle, issuing an alarm information.

2. The method of claim 1, wherein, The step of obtaining the visibility threshold of the driver in response to the opening instruction comprises the following steps: obtaining the position information of the road section where the vehicle is currently located; obtaining the meteorological information of the road section where the vehicle is currently located based on the position information, the meteorological information comprising weather information and / or visibility information; determining the visibility threshold of the driver based on the meteorological information of the road section where the vehicle is currently located.

3. The method of claim 1, wherein, The step of controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle based on the visibility threshold of the driver comprises the following steps: in the case that the target driving route of the vehicle is obtained, controlling the vehicle-mounted unmanned aerial vehicle to be in front of the vehicle on the target driving route of the vehicle; controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle to be not greater than the visibility threshold of the driver based on the visibility threshold of the driver; in the case that the target driving route of the vehicle is not obtained, controlling the vehicle-mounted unmanned aerial vehicle to follow the vehicle.

4. The method of claim 1, wherein, The step of obtaining the visibility threshold of the driver in response to the opening instruction comprises the following steps: controlling the vehicle-mounted unmanned aerial vehicle to be in front of the vehicle on the target driving route of the vehicle; controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle to gradually increase; in the case that the driver cannot see the vehicle-mounted unmanned aerial vehicle, determining the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle as the visibility threshold of the driver.

5. The method of claim 4, wherein, The step of obtaining the visibility threshold of the driver in response to the opening instruction comprises the following steps: controlling the vehicle-mounted unmanned aerial vehicle to be in front of the vehicle on the target driving route of the vehicle and to collect images of the vehicle; controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle to gradually increase; determining the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle as the visibility threshold of the driver based on the definition of the images collected by the vehicle-mounted unmanned aerial vehicle and the preset definition of the images of the vehicle.

6. The method of claim 5, wherein, The step of obtaining the visibility threshold of the driver in response to the opening instruction comprises the following steps: controlling the vehicle-mounted unmanned aerial vehicle to be in front of the vehicle on the target driving route of the vehicle and to collect images of the vehicle; controlling the distance between the vehicle-mounted unmanned aerial vehicle and the vehicle to gradually increase; In response to the driver considering that the clarity of the image of the vehicle collected by the vehicle-mounted UAV is insufficient, it is determined that the distance between the vehicle-mounted UAV and the vehicle is the visibility threshold of the driver.

7. A control device of a vehicle-mounted drone, characterized by comprising: The method comprises the steps of: determining the visibility threshold of the driver in response to an opening instruction; controlling the distance between the vehicle-mounted UAV and the vehicle based on the visibility threshold of the driver; acquiring the road condition information of the road section where the vehicle is currently located by the vehicle-mounted UAV; Before the step of controlling the distance between the vehicle-mounted UAV and the vehicle based on the visibility threshold of the driver, the device is further configured to: determining the target acceleration time of the vehicle-mounted UAV based on the speed of the vehicle-mounted UAV and the speed of the vehicle in the case that the speed of the vehicle-mounted UAV is less than the speed of the vehicle; determining the acceleration time threshold of the vehicle-mounted UAV based on the visibility threshold of the driver, the speed of the vehicle-mounted UAV and the speed of the vehicle; issuing an alarm information in the case that the target acceleration time of the vehicle-mounted UAV is greater than the acceleration time threshold of the vehicle-mounted UAV.

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

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