Vehicle-mounted navigation control system and method based on unmanned aerial vehicle surveying and mapping

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and provides a vehicle-mounted navigation control method based on unmanned aerial vehicle surveying and mapping, which comprises the following steps: acquiring a road section to be navigated and controlled, and judging whether a base station matched with the navigation control road section exists or not; setting a first unmanned aerial vehicle for the to-be-navigated control road section, and obtaining real-time driving information through the first unmanned aerial vehicle; judging whether to set a second unmanned aerial vehicle based on the base station condition matched with the navigation control road section and the real-time driving information; when a second unmanned aerial vehicle is set, the second unmanned aerial vehicle serves as a mobile base station, the second unmanned aerial vehicle generates a first navigation control instruction based on the real-time driving information, otherwise, a base station matched with the navigation control road section is selected, and a second navigation control instruction is generated based on the real-time driving information through the selected base station; and when the vehicle with the vehicle-mounted navigation started enters the road section to be navigated and controlled, sending the first navigation control instruction or the second navigation control instruction to the vehicle with the vehicle-mounted navigation started. According to the invention, accurate vehicle navigation can be realized in complex environmental road sections.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a vehicle-mounted navigation control system and method based on unmanned aerial vehicle mapping. Background Art

[0002] Due to the high accuracy and high stability of the Global Positioning System (GPS) in positioning, most of the current in-vehicle navigation systems are based on GPS technology for navigation. However, in-vehicle navigation systems based on GPS technology are prone to inaccurate positioning signals in complex outdoor environments. For this reason, researchers have increased the accuracy of GPS by adding signal towers and extending the observation time. However, the increase in signal towers will obviously increase the additional hardware cost, and the conditions on many roads are complex, making it difficult to install signal towers. Extending the observation time sacrifices the real-time nature of the signal, resulting in the inability of the in-vehicle navigation system to obtain navigation signals in a timely manner.

[0003] Therefore, there is an urgent need for an in-vehicle navigation control solution that has low hardware investment cost and can ensure the real-time reception of navigation signals. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle-mounted navigation control system and method based on drone mapping, which can ensure the real-time reception of navigation control signals by the vehicle-mounted navigation system while ensuring that vehicles equipped with the vehicle-mounted navigation system can achieve accurate navigation on complex road sections while reducing the hardware investment cost as much as possible.

[0005] The present invention solves the technical problem and adopts the following technical solution:

[0006] The vehicle-mounted navigation control method based on UAV mapping includes the following steps:

[0007] Obtain the road section to be controlled by navigation, and determine whether there is a base station matching the road section to be controlled by navigation;

[0008] Setting a first drone for the road section to be navigated and controlled, and obtaining real-time driving information through the first drone;

[0009] Determining whether to set up a second drone based on the base station conditions and real-time driving information that match the navigation control section;

[0010] When the second drone is set, the second drone is used as a mobile base station, and the second drone generates a first navigation control instruction based on the real-time driving information. When the second drone is not set, a base station matching the navigation control section is selected, and the second navigation control instruction is generated based on the real-time driving information through the selected base station;

[0011] When a vehicle with onboard navigation turned on enters a road section to be controlled by navigation, a first navigation control instruction or a second navigation control instruction is sent to the vehicle with onboard navigation turned on.

[0012] As a further optimization, the obtaining of the control section to be navigated refers to:

[0013] Setting a signal detection vehicle, wherein the signal detection vehicle is a signal detection vehicle configured with GPS-based navigation;

[0014] The onboard GPS navigation of the signal detection vehicle is always activated, and the GPS signal of each detection section is obtained in real time through the signal detection vehicle;

[0015] The sections to be navigated are divided based on the GPS signal conditions of each detected section.

[0016] As a further optimization, the division of the sections to be controlled by navigation based on the GPS signal conditions of each detected section means:

[0017] Set the first preset threshold of GPS signal strength;

[0018] The first position where the GPS signal strength of the signal detection vehicle first appears to be lower than the first preset threshold is obtained. Taking the first position as the starting point, the signal detection vehicle is traveling in the driving direction. If:

[0019] When the driving distance at which the GPS signal is first restored to the preset threshold reaches a first preset driving distance, the position of the vehicle detecting the signal at which the GPS signal is first restored to the first preset threshold is obtained and set as a second position, and the section between the first position and the second position is set as a section to be controlled by navigation;

[0020] Alternatively, if the number of GPS signal fluctuations reaches a first specified number of times and the driving distance of the signal detection vehicle reaches a second preset driving distance, the position of the signal detection vehicle where the GPS signal recovers to the first preset threshold is set as the third position, and the section between the first position and the third position is set as the section to be controlled by navigation;

[0021] The first preset driving distance is greater than the second preset driving distance.

[0022] As a further optimization, the determining whether there is a base station matching the navigation control section includes:

[0023] The signal detection vehicle is driven on the road section to be controlled by navigation;

[0024] During driving, the signal detection vehicle broadcasts a broadcast signal that can communicate with the base station every first specified time. If the signal detection vehicle can receive a reply signal from at least one base station and the number of times the reply signal from the same base station is received reaches a second specified number of times, it is determined that there is a base station that matches the navigation control section; otherwise, it is determined that there is no base station that matches the navigation control section.

[0025] As a further optimization, the obtaining of real-time driving information through the first drone refers to:

[0026] A first flight path is set for the first UAV based on the road section to be navigated and controlled. The first UAV flies according to the first flight path, and during the flight, obtains road vehicle information at second specified time intervals and uses it as real-time driving information.

[0027] As a further optimization, the determination of whether to set up a second drone based on the base station conditions matching the navigation control section and the real-time driving information refers to:

[0028] When there is a base station matching the navigation control section, real-time driving information is obtained based on the first UAV, and the number of vehicles in each lane in the real-time driving information is parsed. When the number of vehicles in any lane reaches a preset number, it is determined to set the second UAV, otherwise it is determined not to set the second UAV;

[0029] When there is no base station matching the navigation control section, it is directly determined to set the second drone.

[0030] As a further optimization, when the second drone is not set, selecting a base station matching the navigation control section means:

[0031] Acquire the number of times the signal detection vehicle receives reply signals from each base station during driving, as well as the signal strength of each reply signal;

[0032] The base stations whose reply signals reach the third specified number of times are selected as candidate base stations, and the average signal strength of the reply signals of each candidate base station is obtained, and the candidate base station with the largest average signal strength is selected as the base station selected to match the navigation control section.

[0033] As a further optimization, generating the second navigation control instruction based on the real-time driving information by the selected base station means:

[0034] When a vehicle with onboard navigation enters a section to be navigated, the destination information and lane information of the current vehicle are obtained through the selected base station. When the destination is not within the section to be navigated, the recommended lane corresponding to the first flight path node at each time node is obtained in sequence based on the road vehicle information obtained at second specified time intervals, and a second navigation control instruction is generated.

[0035] As a further optimization, when the second drone is set, the second drone is used as a mobile base station, which means:

[0036] Acquire the position information of the first UAV when it is flying under the first flight path and when it is acquiring the road vehicle information, and use the position information of the first UAV at this time as the preset flight node of the second UAV;

[0037] After lowering the height of the preset flight node by a specified height, taking the posture of the first UAV in the preset flight node as the posture of the second UAV, and obtaining the real-time flight node corresponding to each preset flight node;

[0038] Optimize the real-time flight nodes based on the real-time driving information to obtain the optimized final flight nodes;

[0039] A second flight path for the second UAV is set based on the final flight node, and the second UAV flies according to the second flight path. The second UAV acts as a mobile base station at each final flight node under the second flight path, and receives real-time driving information from the first UAV.

[0040] As a further optimization, the second UAV generates the first navigation control instruction based on the real-time driving information, which means:

[0041] When a vehicle with onboard navigation enters a section to be navigated and controlled, the destination information and lane information of the current vehicle are obtained through the second UAV. When the destination is not within the section to be navigated and controlled, the recommended lane corresponding to the first flight path node at each time node is obtained in sequence based on the road vehicle information obtained at second specified time intervals, and a first navigation control instruction is generated.

[0042] The beneficial effects of the present invention are as follows: through the above-mentioned vehicle-mounted navigation control method based on drone mapping, first, the section to be navigated and controlled is obtained, and it is determined whether there is a base station matching the navigation control section. Here, the navigation control section is a section where the signal is poor due to conventional GPS navigation, so it is necessary to first screen out the sections used for navigation using the navigation control method of the present invention, and not all sections can be connected and matched with suitable base stations, so it is also necessary to match existing base stations; secondly, a first drone is set for the section to be navigated and controlled, and real-time driving information is obtained through the first drone, wherein the first drone can be used to obtain the actual driving conditions of the section to be navigated and controlled, so as to subsequently generate control instructions.

[0043] Then, based on the base station situation matching the navigation control section and the real-time driving information, it is determined whether to set up a second drone. When the second drone is set up, the second drone is used as a mobile base station, and the second drone generates a first navigation control instruction based on the real-time driving information. When the second drone is not set up, a base station matching the navigation control section is selected, and the second navigation control instruction is generated based on the real-time driving information through the selected base station. Here, if the section to be navigated and controlled can be matched with the base station, the base station can be directly used to send the navigation control instruction. If the base station cannot be matched, the navigation control instruction can be sent through the second drone; finally, when a vehicle with on-board navigation turned on enters the section to be navigated and controlled, the first navigation control instruction or the second navigation control instruction is sent to the vehicle with on-board navigation turned on. Therefore, the present invention does not use GPS for navigation control for vehicles in the section to be navigated and controlled, but uses a base station or a second drone for precise navigation control. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The present invention is a flowchart of a vehicle navigation control method based on UAV mapping in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0046] Example

[0047] This embodiment provides a vehicle-mounted navigation control method based on UAV mapping, and its flow chart is shown in Figure 1 , wherein the method comprises the following steps:

[0048] S1. Obtain a road section to be controlled by navigation, and determine whether there is a base station matching the road section to be controlled by navigation;

[0049] S2. Setting a first drone for the road section to be navigated and controlled, and obtaining real-time driving information through the first drone;

[0050] S3, judging whether to set up a second drone based on the base station conditions matching the navigation control section and the real-time driving information;

[0051] S4. When a second drone is set, the second drone is used as a mobile base station, and the second drone generates a first navigation control instruction based on the real-time driving information. When the second drone is not set, a base station matching the navigation control section is selected, and the second navigation control instruction is generated based on the real-time driving information through the selected base station;

[0052] S5. When the vehicle with the onboard navigation system turned on enters the road section to be controlled by navigation, the first navigation control instruction or the second navigation control instruction is sent to the vehicle with the onboard navigation system turned on.

[0053] In this embodiment, the selection of the road section to be navigated and controlled is determined based on the surrounding environment conditions. Generally speaking, since GPS navigation is based on satellite signals to achieve navigation, for complex conditions, vehicles that cannot be equipped with on-board navigation may not be able to receive satellite signals or there may be a large delay in receiving satellite signals. Therefore, accurate navigation cannot be achieved using GPS navigation on such road sections. Therefore, in this embodiment, for vehicles traveling on the road section to be navigated and controlled, a first unmanned aerial vehicle is used to assist in obtaining real-time driving information of the entire road section to be navigated and controlled, and when a suitable base station can be matched, the base station is used as a generating device for navigation control instructions, and when a suitable base station cannot be matched, a second unmanned aerial vehicle is used as a mobile base station and as a generating device for navigation control instructions, and finally the navigation control instructions are sent to each vehicle equipped with navigation control software to achieve accurate control of vehicle navigation, so as to prevent these complex environment sections from being further aggravated due to the inability to receive reasonable control instructions in time when congestion occurs, and even may miss operations such as turning due to untimely reception of navigation control instructions.

[0054] It should be pointed out that, in this embodiment, since vehicles currently equipped with navigation control software generally do not actively send signals, but more often receive control signals from navigation software operators, therefore, if the relevant instructions of vehicles normally traveling on the road are used to divide the road section to be controlled by navigation, it is still impossible to completely avoid the congestion of the road section, and each operator will use signal detection vehicles when collecting road condition information. Therefore, in this embodiment, signal detection vehicles can also be used to assist in dividing the road section to be controlled by navigation. Therefore, in this embodiment, the acquisition of the road section to be controlled by navigation may refer to:

[0055] A signal detection vehicle is provided, wherein the signal detection vehicle is a signal detection vehicle equipped with GPS-based navigation; the on-board GPS navigation of the signal detection vehicle is always started, and the GPS signal of each detection section is obtained in real time through the signal detection vehicle; and the sections to be controlled by navigation are divided based on the GPS signal conditions of each detection section.

[0056] Here, the signal detection vehicle is similar to the traditional vehicle, and both are based on GPS for navigation. In this way, the area with poor signal can be easily calculated, and for all sections with unstable or poor signal, the sections to be controlled by navigation can be divided according to the actual situation. Specifically, a preset threshold value can be set for the GPS signal strength. If the GPS signal can be maintained above the preset threshold value, it means that the relevant section does not belong to the complex environment section. At this time, normal vehicles can achieve accurate navigation using conventional GPS navigation. However, for some complex environment sections with more signal strength fluctuations or long-distance signal lengths below the preset threshold value, the use of conventional GPS navigation will result in unstable navigation signals, delays or losses. Therefore, in this embodiment, for these complex environment sections, it is necessary to use the navigation control method of this embodiment for accurate navigation.

[0057] Therefore, in this embodiment, the division of the to-be-navigated controlled road sections based on the GPS signal conditions of each detected road section refers to:

[0058] Set a first preset threshold value of GPS signal strength; obtain the first position where the GPS signal strength of the signal detection vehicle first appears to be lower than the first preset threshold value, and take the first position as the starting point, during the signal detection vehicle driving in the driving direction, if:

[0059] When the driving distance at which the GPS signal is first restored to the preset threshold reaches a first preset driving distance, the position of the vehicle detecting the signal at which the GPS signal is first restored to the first preset threshold is obtained and set as a second position, and the section between the first position and the second position is set as a section to be controlled by navigation;

[0060] Alternatively, if the number of GPS signal fluctuations reaches a first specified number of times and the driving distance of the signal detection vehicle reaches a second preset driving distance, the position of the signal detection vehicle where the GPS signal recovers to the first preset threshold is set as the third position, and the section between the first position and the third position is set as the section to be controlled by navigation;

[0061] The first preset driving distance is greater than the second preset driving distance.

[0062] Here, the first preset driving distance corresponds to the situation where the GPS signal is lower than the preset threshold. Therefore, if it is set too short, there is no need to switch the navigation mode. When there is a fluctuation in the GPS signal, the corresponding second preset driving distance will generally be smaller than the first preset driving distance. Only in this case, it is necessary to switch the navigation control mode for the divided navigation control section.

[0063] It should be pointed out that, in this embodiment, although base stations are already very popular, it is still not possible to completely guarantee that base stations have been installed near all road sections, and even if there are base stations near some road sections, it is not possible to guarantee that the base stations can be matched with the vehicles about to travel in the road section to be controlled by navigation. Therefore, in this embodiment, the determination of whether there is a base station matching the navigation control road section may include:

[0064] The signal detection vehicle is driven on the road section to be controlled by navigation;

[0065] During driving, the signal detection vehicle broadcasts a broadcast signal that can communicate with the base station every first specified time. If the signal detection vehicle can receive a reply signal from at least one base station and the number of times the reply signal from the same base station is received reaches a second specified number of times, it is determined that there is a base station that matches the navigation control section; otherwise, it is determined that there is no base station that matches the navigation control section.

[0066] Here, the selection of the matching base station needs to ensure that the signal detection vehicle can send and receive signals normally, so that for general driving vehicles, the base station can be used for navigation control when driving to the section to be navigated and controlled.

[0067] It should be pointed out that, in this embodiment, the purpose of setting the first drone is to obtain the actual driving conditions of the road section to be navigated and controlled. Generally speaking, the image acquisition device set on the first drone can collect road image information and analyze which lane is congested and which lane is under maintenance. Therefore, in this embodiment, the acquisition of real-time driving information by the first drone can refer to:

[0068] A first flight path is set for the first UAV based on the road section to be navigated and controlled. The first UAV flies according to the first flight path, and during the flight, obtains road vehicle information at second specified time intervals and uses it as real-time driving information.

[0069] Here, the first UAV will also set the first flight path according to the length of the road section to be navigated and the curvature of the single road, and in the first flight path, the first UAV will obtain road vehicle information at each time node. When the first UAV obtains the road vehicle information, its position in the flight path is the various nodes in the flight path.

[0070] For the second drone, it will only be set up when the navigation control section cannot match a suitable base station. When the second drone needs to be set up, the basis for its setting not only needs to conform to the actual situation of the navigation control section, but also needs to be based on the road vehicle information obtained by each node where the first drone is located. Therefore, in this embodiment, the determination of whether to set up the second drone based on the base station situation matching the navigation control section and the real-time driving information means:

[0071] When there is a base station matching the navigation control section, real-time driving information is obtained based on the first UAV, and the number of vehicles in each lane in the real-time driving information is parsed. When the number of vehicles in any lane reaches a preset number, it is determined to set the second UAV, otherwise it is determined not to set the second UAV;

[0072] When there is no base station matching the navigation control section, it is directly determined to set the second drone.

[0073] In this embodiment, for each lane in the section to be navigated and controlled, if the number of each lane is very small and cannot reach the preset number, the generation and sending of navigation control instructions can be realized directly according to the matched base station, otherwise it is necessary to use the second UAV to complete the generation and sending of navigation control instructions; at the same time, if there is a matched base station, but the communication range of the base station is fixed and not easy to adjust, and the communication range of the base station is based on its own power. The communication range of a low-power base station is only a few hundred meters, which is more common. Although the communication range of a high-power base station can reach several kilometers, it is generally installed less. Therefore, under the premise that the power of the matched base station is not clear, if the congestion of each lane in the section to be navigated and controlled is not serious, the matched base station can be used directly. If the number of vehicles in any lane indicated in this embodiment reaches the preset number, it is determined that the matched base station can no longer meet the timeliness and stability requirements of the navigation control signal transmission, and therefore, a second UAV is needed.

[0074] Specifically, in this embodiment, when the second drone is not set, selecting a base station matching the navigation control section means:

[0075] Acquire the number of times a signal detection vehicle receives reply signals from each base station during driving, as well as the signal strength of each reply signal; select base stations whose reply signal times reach a third specified number as candidate base stations, and obtain the average signal strength of the reply signals of each candidate base station, and select the candidate base station with the largest average signal strength as the selected base station matching the navigation control section.

[0076] Generating the second navigation control instruction based on the real-time driving information by the selected base station means:

[0077] When a vehicle with onboard navigation enters a section to be navigated, the destination information and lane information of the current vehicle are obtained through the selected base station. When the destination is not within the section to be navigated, the recommended lane corresponding to the first flight path node at each time node is obtained in sequence based on the road vehicle information obtained at second specified time intervals, and a second navigation control instruction is generated.

[0078] It should be pointed out that, in this embodiment, in the case where a second UAV needs to be set up, its flight node and flight path need to rely on the flight node and flight path of the first UAV. Since the first UAV has been tested to meet the timeliness and stability requirements of signal transmission, the posture of the second UAV can be the same as that of the first UAV. In order to ensure that there is no flight conflict between the first UAV and the second UAV, the second UAV can appropriately lower its altitude to meet the requirements of its use as a mobile base station. Therefore, in this embodiment, when the second UAV is set up, the second UAV is used as a mobile base station, which means:

[0079] Acquire the position information of the first UAV when it is flying under the first flight path and when it is acquiring the road vehicle information, and use the position information of the first UAV at this time as the preset flight node of the second UAV;

[0080] After lowering the height of the preset flight node by a specified height, taking the posture of the first UAV in the preset flight node as the posture of the second UAV, and obtaining the real-time flight node corresponding to each preset flight node;

[0081] Optimize the real-time flight nodes based on the real-time driving information to obtain the optimized final flight nodes;

[0082] A second flight path for the second UAV is set based on the final flight node, and the second UAV flies according to the second flight path. The second UAV acts as a mobile base station at each final flight node under the second flight path, and receives real-time driving information from the first UAV.

[0083] Specifically, the second UAV generates the first navigation control instruction based on the real-time driving information, which means:

[0084] When a vehicle with onboard navigation enters a section to be navigated and controlled, the destination information and lane information of the current vehicle are obtained through the second UAV. When the destination is not within the section to be navigated and controlled, the recommended lane corresponding to the first flight path node at each time node is obtained in sequence based on the road vehicle information obtained at second specified time intervals, and a first navigation control instruction is generated.

[0085] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle-mounted navigation control method based on UAV mapping, characterized in that: The steps include: Obtain the road section to be controlled by navigation, and determine whether there is a base station matching the road section to be controlled by navigation; Setting a first drone for the road section to be navigated and controlled, and obtaining real-time driving information through the first drone; Determining whether to set up a second drone based on the base station conditions and real-time driving information that match the navigation control section; When the second drone is set, the second drone is used as a mobile base station, and the second drone generates a first navigation control instruction based on the real-time driving information. When the second drone is not set, a base station matching the navigation control section is selected, and the second navigation control instruction is generated based on the real-time driving information through the selected base station; When a vehicle with onboard navigation turned on enters a road section to be controlled by navigation, a first navigation control instruction or a second navigation control instruction is sent to the vehicle with onboard navigation turned on.

2. The vehicle-mounted navigation control method based on drone mapping according to claim 1 is characterized in that: The obtaining of the control section to be navigated refers to: Setting a signal detection vehicle, wherein the signal detection vehicle is a signal detection vehicle configured with GPS-based navigation; The onboard GPS navigation of the signal detection vehicle is always activated, and the GPS signal of each detection section is obtained in real time through the signal detection vehicle; The sections to be navigated are divided based on the GPS signal conditions of each detected section.

3. The vehicle-mounted navigation control method based on drone mapping according to claim 2 is characterized in that: The division of the road sections to be controlled by navigation based on the GPS signal conditions of each detected road section refers to: Set the first preset threshold of GPS signal strength; The first position where the GPS signal strength of the signal detection vehicle first appears to be lower than the first preset threshold is obtained. Taking the first position as the starting point, the signal detection vehicle is traveling in the driving direction. If: When the driving distance at which the GPS signal is first restored to the preset threshold reaches a first preset driving distance, the position of the vehicle detecting the signal at which the GPS signal is first restored to the first preset threshold is obtained and set as a second position, and the section between the first position and the second position is set as a section to be controlled by navigation; Alternatively, if the number of GPS signal fluctuations reaches a first specified number of times and the driving distance of the signal detection vehicle reaches a second preset driving distance, the position of the signal detection vehicle where the GPS signal recovers to the first preset threshold is set as the third position, and the section between the first position and the third position is set as the section to be controlled by navigation; The first preset driving distance is greater than the second preset driving distance.

4. The vehicle-mounted navigation control method based on UAV mapping according to claim 2 is characterized in that: The determining whether there is a base station matching the navigation control section includes: The signal detection vehicle is driven on the road section to be controlled by navigation; During driving, the signal detection vehicle broadcasts a broadcast signal that can communicate with the base station every first specified time. If the signal detection vehicle can receive a reply signal from at least one base station and the number of times the reply signal from the same base station is received reaches a second specified number of times, it is determined that there is a base station that matches the navigation control section; otherwise, it is determined that there is no base station that matches the navigation control section.

5. The vehicle-mounted navigation control method based on UAV mapping according to claim 1 is characterized in that: The obtaining of real-time driving information through the first drone refers to: A first flight path is set for the first UAV based on the road section to be navigated and controlled. The first UAV flies according to the first flight path, and during the flight, obtains road vehicle information at second specified time intervals and uses it as real-time driving information.

6. The vehicle-mounted navigation control method based on UAV mapping according to claim 5 is characterized in that: The determining whether to set up a second drone based on the base station conditions matching the navigation control section and the real-time driving information refers to: When there is a base station matching the navigation control section, real-time driving information is obtained based on the first UAV, and the number of vehicles in each lane in the real-time driving information is parsed. When the number of vehicles in any lane reaches a preset number, it is determined to set the second UAV, otherwise it is determined not to set the second UAV; When there is no base station matching the navigation control section, it is directly determined to set the second drone.

7. The vehicle-mounted navigation control method based on UAV mapping according to claim 6 is characterized in that: When the second drone is not set, selecting a base station matching the navigation control section means: Acquire the number of times the signal detection vehicle receives reply signals from each base station during driving, as well as the signal strength of each reply signal; The base stations whose reply signals reach the third specified number of times are selected as candidate base stations, and the average signal strength of the reply signals of each candidate base station is obtained, and the candidate base station with the largest average signal strength is selected as the base station selected to match the navigation control section.

8. The vehicle-mounted navigation control method based on UAV mapping according to claim 7 is characterized in that: Generating the second navigation control instruction based on the real-time driving information by the selected base station means: When a vehicle with onboard navigation enters a section to be navigated, the destination information and lane information of the current vehicle are obtained through the selected base station. When the destination is not within the section to be navigated, the recommended lane corresponding to the first flight path node at each time node is obtained in sequence based on the road vehicle information obtained at second specified time intervals, and a second navigation control instruction is generated.

9. The vehicle-mounted navigation control method based on UAV mapping according to claim 5 is characterized in that: When the second drone is set up, the second drone is used as a mobile base station, which means: Acquire the position information of the first UAV when it is flying under the first flight path and when it is acquiring the road vehicle information, and use the position information of the first UAV at this time as the preset flight node of the second UAV; After lowering the height of the preset flight node by a specified height, taking the posture of the first UAV in the preset flight node as the posture of the second UAV, and obtaining the real-time flight node corresponding to each preset flight node; Optimize the real-time flight nodes based on the real-time driving information to obtain the optimized final flight nodes; A second flight path for the second UAV is set based on the final flight node, and the second UAV flies according to the second flight path. The second UAV acts as a mobile base station at each final flight node under the second flight path, and receives real-time driving information from the first UAV.

10. The vehicle-mounted navigation control method based on UAV mapping according to claim 9 is characterized in that: The second UAV generates the first navigation control instruction based on the real-time driving information, which means: When a vehicle with onboard navigation enters a section to be navigated and controlled, the destination information and lane information of the current vehicle are obtained through the second UAV. When the destination is not within the section to be navigated and controlled, the recommended lane corresponding to the first flight path node at each time node is obtained in sequence based on the road vehicle information obtained at second specified time intervals, and a first navigation control instruction is generated.

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