Vehicle guiding method and device, unmanned aerial vehicle and computer readable storage medium
By equiping drones in vehicles and using drones to record and transmit vehicle driving route information, the problem of vehicles being unable to meet in outdoor environments with poor network signals is solved, and information interaction and effective meeting between vehicles are realized.
Patent Information
- Application Number
- CN202310980560.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-04
- Publication Date
- 2025-02-18
AI Technical Summary
In an outdoor environment with poor network signals, it is difficult for multiple vehicles to communicate and navigate effectively, resulting in the problem of inability to meet.
By equiping a drone in the vehicle, recording the driving route information of the first vehicle, and when triggering the search conditions, the drone uses the drone to search for the second vehicle according to the route information, and guides it to search for the first vehicle, so as to realize the traffic between vehicles Information interaction and rendezvous.
In an outdoor environment with poor network signals, rescue of distressed vehicles in the fleet, searching for dispersed vehicles, and rendezvous vehicles, and rendezvous vehicles are realized, improving the information interaction efficiency between vehicles.
Smart Images
Figure CN119472625A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle communication technology, and more specifically, to a vehicle guidance method, device, drone and computer-readable storage medium in the field of vehicle communication technology. Background Art
[0002] Generally, the network signal in outdoor environments with poor terrain (such as forests, valleys, etc.) is poor or even nonexistent. When multiple vehicles are operating in an outdoor environment with poor terrain, the vehicles often cannot communicate with each other or the navigation map cannot be used due to network signal problems. If a vehicle is far away from other vehicles, it will not be able to meet up with other vehicles due to communication problems, navigation map problems, etc. Therefore, when multiple vehicles are operating in an outdoor environment with poor network signals, how to guide the vehicles to meet up becomes an urgent problem to be solved. Summary of the invention
[0003] The present application provides a vehicle guidance method, device, drone and computer-readable storage medium, which can rescue vehicles in distress in a convoy, search for lost vehicles and guide other vehicles to meet with the pathfinder vehicle in an outdoor environment with poor network signals.
[0004] In a first aspect, a vehicle guidance method is provided, the vehicle guidance method comprising: recording first driving route information of a first vehicle; when a search condition for a second vehicle is triggered, searching for the second vehicle according to the first driving route information; and when the second vehicle is found, guiding the second vehicle to search for the first vehicle.
[0005] In combination with the first aspect, in some possible implementations, when the search condition for the second vehicle is triggered, after searching for the second vehicle according to the first driving route information, the vehicle guidance method also includes: recording the search route information for searching the second vehicle; guiding the second vehicle to search for the first vehicle includes: using the search route information to update the first driving route information to obtain second driving route information; determining whether the second vehicle has communication authority with the drone; determining a target strategy from a first preset strategy and a second preset strategy based on the judgment result; wherein the first preset strategy is to control the drone to send the second driving route information to the second vehicle to guide the second vehicle to search for the first vehicle, and the second preset strategy is to control the drone to fly according to the second driving route information and output navigation prompt information to guide the second vehicle to search for the first vehicle; and executing the target strategy.
[0006] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the target strategy from the first preset strategy and the second preset strategy based on the judgment result includes: when the judgment result is that the second vehicle has the communication authority with the drone, determining the first preset strategy as the target strategy.
[0007] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the target strategy from the first preset strategy and the second preset strategy based on the judgment result includes: when the judgment result is that the second vehicle does not have the communication authority with the drone, determining the second preset strategy as the target strategy.
[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the search condition includes at least one of the following: receiving a search instruction for the second vehicle sent by the first vehicle; detecting that the second vehicle is not within a preset range of the first vehicle; and the detected current image of the first vehicle does not match the preset image.
[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining that the second vehicle has been searched includes: when the vehicle is searched, collecting first vehicle information of the vehicle; when the first vehicle information is the same as the second vehicle information of the second vehicle stored in the drone, determining that the second vehicle has been searched; and / or, sending the first vehicle information to the first vehicle; when receiving a confirmation instruction of the second vehicle sent by the first vehicle, determining that the second vehicle has been searched.
[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the search condition for the second vehicle is triggered, after searching for the second vehicle according to the first driving route information, the vehicle guidance method also includes: when the second vehicle is not found, returning to the first vehicle according to the first driving route information to charge the drone.
[0011] In a second aspect, a vehicle guiding device is provided, the vehicle guiding device comprising:
[0012] A first control module, used to record first driving route information of a first vehicle;
[0013] a second control module, configured to search for the second vehicle according to the first driving route information when a search condition for the second vehicle is triggered;
[0014] The third control module is used to guide the second vehicle to search for the first vehicle when the second vehicle is found.
[0015] In conjunction with the second aspect, in some possible implementations, the vehicle guidance device further includes:
[0016] a route recording unit, used to record search route information for searching for the second vehicle;
[0017] The second control module includes:
[0018] an updating unit, configured to update the first driving route information using the search route information to obtain second driving route information;
[0019] A determination unit, configured to determine whether the second vehicle has the communication authority with the drone;
[0020] a determination unit, configured to determine a target strategy from a first preset strategy and a second preset strategy according to a judgment result; wherein the first preset strategy is to control the drone to send the second driving route information to the second vehicle to guide the second vehicle to search for the first vehicle, and the second preset strategy is to control the drone to fly according to the second driving route information and output navigation prompt information to guide the second vehicle to search for the first vehicle;
[0021] An execution unit is used to execute the target strategy.
[0022] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining unit includes:
[0023] The first determining subunit is used to determine the first preset strategy as the target strategy when the judgment result is that the second vehicle has the communication authority with the drone.
[0024] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining unit further includes:
[0025] The second determining subunit is used to determine the second preset strategy as the target strategy when the judgment result is that the second vehicle does not have the communication authority with the drone.
[0026] In combination with the second aspect and the above implementation, in some possible implementations, the search condition includes at least one of the following:
[0027] receiving a search instruction for the second vehicle sent by the first vehicle;
[0028] detecting that the second vehicle is not within a preset range of the first vehicle;
[0029] The detected current image of the first vehicle does not match the preset image.
[0030] In combination with the second aspect and the above implementations, in some possible implementations, the vehicle guidance device further includes:
[0031] A collection unit, used for collecting first vehicle information of the vehicle when searching for the vehicle;
[0032] a comparison unit, configured to determine that the second vehicle is found when the first vehicle information is identical to the second vehicle information of the second vehicle stored in the drone;
[0033] a sending unit, configured to send the first vehicle information to the first vehicle;
[0034] The receiving unit is used to determine that the second vehicle has been searched when receiving a confirmation instruction of the second vehicle sent by the first vehicle.
[0035] In combination with the second aspect and the above implementations, in some possible implementations, the vehicle guidance device further includes:
[0036] The endurance unit is used to return to the first vehicle according to the first driving route information to charge the drone when the second vehicle is not found.
[0037] In a third aspect, a drone is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the drone executes the vehicle guidance method in the first aspect or any possible implementation of the first aspect.
[0038] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle guidance method in the first aspect or any possible implementation of the first aspect.
[0039] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle guidance method in the above-mentioned first aspect or any possible implementation of the first aspect.
[0040] The vehicle guidance method, device, drone, and computer-readable storage medium provided by the embodiments of the present application have the following technical effects:
[0041] The technical solution provided in the embodiment of the present application is to equip each vehicle in the fleet with a drone, divide the vehicles in the fleet into a first vehicle and a second vehicle, and in the process of guiding the second vehicle to meet with the first vehicle, record the first driving route information of the first vehicle through the drone that communicates with the first vehicle, and when the search condition for the second vehicle is triggered, search for the second vehicle by flying according to the first driving route information through the drone, and when it is determined that the drone has found the second vehicle, guide the second vehicle to search for the first vehicle through the drone. The technical solution realizes information interaction between multiple vehicles through the drone, and can rescue vehicles in distress in the fleet, search for lost vehicles, and guide other vehicles to meet with the pathfinder vehicle in an outdoor environment with poor network signals. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] Figure 1 A schematic flow chart of a vehicle guidance method provided in an embodiment of the present application is shown;
[0043] Figure 2 An exemplary schematic diagram showing a drone searching for a second vehicle is shown;
[0044] Figure 3 Another exemplary schematic diagram showing a drone searching for a second vehicle;
[0045] Figure 4 A schematic structural diagram of a vehicle guidance device provided in an embodiment of the present application is shown;
[0046] Figure 5 A schematic structural diagram of a drone provided in an embodiment of the present application is shown. DETAILED DESCRIPTION
[0047] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.
[0048] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.
[0049] The embodiments of the present application provide a vehicle guidance method, device, drone and computer-readable storage medium, which can rescue vehicles in distress in a fleet, search for lost vehicles and guide other vehicles to meet with the pathfinder vehicle in an outdoor environment with poor network signals.
[0050] The following is an embodiment of a vehicle guidance method provided in an embodiment of the present application.
[0051] Figure 1 FIG. 1 is a schematic flow chart of a vehicle guidance method provided by an embodiment of the present application. Figure 1 As shown, the vehicle guidance method provided in the embodiment of the present application is applied to a drone, and the vehicle guidance method includes the following schemes:
[0052] S110: Recording first driving route information of the first vehicle.
[0053] In an exemplary embodiment, the multiple vehicles involved in the implementation of this application are equipped with at least one drone, and each vehicle communicates with the drone it carries. Since the drone's communication method is encrypted radio, it can be controlled and data can be transmitted back without a network. The drone obtains the target's location and records the target's moving route based on the Beidou satellite. The vehicle can be networked with the drone to achieve data interaction between vehicles. The implementation of this application uses a vehicle-mounted drone to search for vehicles and / or personnel, record routes, and exchange data between vehicles, thereby achieving route guidance, vehicle search, and rescue for vehicles.
[0054] When a convoy is operating in an outdoor environment, the convoy usually divides the vehicles in advance, for example, dividing the vehicles in the vehicle pair into pathfinder vehicles, i.e., the lead vehicle, and team vehicles, and the other vehicles in the convoy except the lead vehicle are team vehicles. When the first vehicle in the embodiment of the present application is the lead vehicle, the second vehicle is the team vehicle, or when the second vehicle in the embodiment of the present application is the lead vehicle, the first vehicle is the team vehicle. The embodiment of the present application is described by taking the first vehicle as the lead vehicle and the second vehicle as the team vehicle as an example.
[0055] When any vehicle is driving, the drone carried by the vehicle will be released, and then the drone carried by the vehicle will be controlled to record the driving route information of the vehicle in real time. The driving route information includes the vehicle position, driving path, etc. If there is a need for rescue or rendezvous, the driving route information will also carry a distress message and rendezvous notification information. For the first vehicle, while the first vehicle is driving, the drone communicating with the first vehicle is controlled to record the driving route information of the first vehicle. Similarly, while the second vehicle is driving, the drone communicating with the second vehicle is controlled to record the driving route information of the second vehicle. The driving route information of the first vehicle is called the first driving route information.
[0056] Among them, controlling the drone communicating with the first vehicle to record the first driving route information of the first vehicle can be that a member riding in the first vehicle manually controls the drone to take off and then records the driving route information of the first vehicle, or the vehicle control system of the first vehicle detects that the first vehicle starts to move, then sends a take-off command to the drone, and the drone takes off after receiving the take-off command, and then records the driving route information of the first vehicle, or the drone detects that the first vehicle starts to move, then takes off, and then records the driving route information of the first vehicle.
[0057] S120: When the search condition for the second vehicle is triggered, searching for the second vehicle according to the first driving route information.
[0058] The search condition for the second vehicle can be triggered automatically or manually. Triggering the search condition for the second vehicle means that the first vehicle needs to be found by the second vehicle, and also means that some situation has occurred or been discovered by the first vehicle and / or the occupants of the first vehicle. For example, after the occupants of the first vehicle perform the pathfinding mission and find that the explored route is feasible, or the occupants of the first vehicle find that they are separated from the second vehicle, they send a search instruction for the second vehicle to the drone, and the drone performs the search mission for the second vehicle; for another example, if the drone detects that the first vehicle is in distress, it performs the search mission for the second vehicle.
[0059] In a possible implementation, the search condition includes at least one of the following:
[0060] receiving a search instruction for the second vehicle sent by the first vehicle;
[0061] detecting that the second vehicle is not within a preset range of the first vehicle;
[0062] The detected current image of the second vehicle does not match the preset image.
[0063] The drone receives the search instruction of the second vehicle sent by the first vehicle, which means that the search condition of the second vehicle is manually triggered by the occupants of the first vehicle, for example, the occupants of the first vehicle find that the explored route is feasible, find that they are separated from the second vehicle, find that they are in danger or the first vehicle fails, etc. The first vehicle sends a search instruction to the drone, and the drone receives the search instruction of the second vehicle sent by the first vehicle, which triggers the search condition of the second vehicle.
[0064] If the drone detects that the second vehicle is not within the preset range of the first vehicle, it means that the search condition for the second vehicle is automatically triggered by the drone. The preset range refers to the range covered by a circle with a preset radius and the center of the first vehicle as the center. If the drone detects that the second vehicle is not within the preset range of the first vehicle, the search condition for the second vehicle is triggered.
[0065] If the current image of the first vehicle detected by the drone does not match the preset image, it means that the search condition for the second vehicle is automatically triggered by the drone. The preset image is the appearance image of the first vehicle when it is driving normally. If the current image of the first vehicle does not match the preset image, it means that the first vehicle is in danger. For example, the current image shows that the first vehicle has overturned, or turned upside down (the chassis is facing the sky), or the first vehicle is pressed, for example, by trees, etc. If the current image of the first vehicle detected by the drone does not match the preset image, the search condition for the second vehicle is triggered.
[0066] When the search condition for the second vehicle is triggered, the first vehicle remains stationary and controls the drone to fly according to the first driving route information to search for the second vehicle, that is, the drone flies in the opposite direction of the driving path in the first driving route information to search for the second vehicle. Figure 2 As shown, Figure 2 An exemplary schematic diagram showing a drone searching for a second vehicle is shown. Figure 2 In the figure, C1 represents the first vehicle, W1 represents the drone carried by the first vehicle, communicating with the first vehicle, C2 represents the second vehicle, W2 represents the drone carried by the second vehicle, communicating with the second vehicle, L represents the driving path of the first vehicle, F represents the starting point of the first vehicle, E represents the current location of the first vehicle, and the drone flies according to EF to search for the second vehicle. The drone can search for the second vehicle by shooting video images, or by playing sound signals, etc.
[0067] S130: When the second vehicle is found, guiding the second vehicle to search for the first vehicle.
[0068] When the drone finds the second vehicle, the drone guides the second vehicle to search for the first vehicle, thereby guiding the second vehicle to the location of the first vehicle, and the second vehicle and the first vehicle meet. If the search condition for the second vehicle is triggered when the occupants of the first vehicle find that the explored route is feasible, the second vehicle and the first vehicle can meet without the first vehicle turning back to notify the second vehicle, saving time. If the search condition for the second vehicle is triggered when the first vehicle and the second vehicle are separated or the first vehicle is in distress, the second vehicle can be informed of the separation or distress of the first vehicle in a timely manner, so that the first vehicle can be quickly found or quickly escaped.
[0069] The determination that the drone has searched for the second vehicle may be manually confirmed by the occupants of the first vehicle, or may be automatically confirmed by the drone. In a possible implementation, determining that the second vehicle has been searched includes the following solutions:
[0070] When a vehicle is found, collecting first vehicle information of the vehicle;
[0071] When the first vehicle information is identical to the second vehicle information of the second vehicle stored in the drone, determining that the second vehicle has been found; and / or,
[0072] sending the first vehicle information to the first vehicle;
[0073] When a confirmation instruction of the second vehicle sent by the first vehicle is received, it is determined that the second vehicle has been searched.
[0074] When the drone searches for a vehicle, it will collect the first vehicle information of the vehicle, which includes at least one of the appearance image of the vehicle, the license plate number, and the image of the passengers in the vehicle. The drone will then compare the first vehicle information with the second vehicle information stored in the drone. If the two are the same, it is determined that the drone has searched for the second vehicle; if the two are not the same, it is determined that the vehicle searched by the drone is not the second vehicle, that is, the second vehicle has not been searched. And / or, the drone sends the first vehicle information to the first vehicle, and the passengers of the first vehicle make a judgment after seeing the first vehicle information. If the passengers of the first vehicle determine that the vehicle currently searched by the drone is the second vehicle based on the first vehicle information sent by the drone, the drone sends a confirmation instruction of the second vehicle to the drone through the first vehicle, and the drone receives the confirmation instruction of the second vehicle sent by the first vehicle, indicating that the drone has searched for the second vehicle.
[0075] In a possible implementation, in S120, when the search condition for the second vehicle is triggered, after searching for the second vehicle according to the first driving route information, the vehicle guidance method further includes:
[0076] The search route information for searching the second vehicle is recorded.
[0077] When the drone flies according to the first driving route information and searches for the second vehicle, the drone will also record its own route for searching for the second vehicle and obtain search route information. The search route information can be understood as the flight route information of the drone, which includes the driving path of the first vehicle in the first driving route information. Figure 3 As shown, Figure 3 Another exemplary schematic diagram of the drone searching for the second vehicle is shown. W1 flies according to EF to search for the second vehicle C2, and at the same time W1 records its search route information for the second vehicle, which includes the flight path of W1. Assuming that W1 searches for the second vehicle C2 at position N1, the flight path of W1 is EN1, that is, EF+FN1.
[0078] In a possible implementation, S130, guiding the second vehicle to search for the first vehicle includes:
[0079] Using the search route information to update the first driving route information to obtain second driving route information;
[0080] Determining whether the second vehicle has communication authority with the drone;
[0081] Determine a target strategy from the first preset strategy and the second preset strategy according to the judgment result; wherein the first preset strategy is to control the drone to send the second driving route information to the second vehicle to guide the second vehicle to search for the first vehicle, and the second preset strategy is to control the drone to fly according to the second driving route information and output navigation prompt information to guide the second vehicle to search for the first vehicle;
[0082] The target strategy is executed.
[0083] After the drone communicating with the first vehicle records its search route information for searching for the second vehicle, if it is determined that the searched vehicle is the second vehicle, the search route information is used to update the first driving route information to obtain the second driving route information.
[0084] Using the search route information to update the first driving route information includes: first determining whether the drone can drive on the ground path corresponding to the flight path of the second vehicle after the drone has completed its flight along the driving path of the first vehicle, and if it can drive on the ground path corresponding to the flight path of the second vehicle searched by the drone autonomously, and merging the ground path corresponding to the flight path of the second vehicle searched by the drone autonomously with the driving path of the first vehicle to generate the second driving route information; Figure 3As shown, the flight path of the second vehicle autonomously searched by the drone is FN1. If the ground path corresponding to the flight path of the second vehicle autonomously searched by the drone is not drivable, then a drivable exploration path connected to the driving path of the first vehicle is explored, such as Figure 3 As shown, FN2 represents the exploration path, and then the exploration path is merged with the driving path of the first vehicle to generate second driving route information.
[0085] After obtaining the second driving route information, the drone will determine whether the second vehicle has the communication authority with it. The judgment method is, for example: the drone sends an encrypted networking broadcast to the outside. If it receives a networking request carrying a decryption password sent by the second vehicle, and determines that the decryption password carried by the networking request is consistent with the encryption password of the networking broadcast, it is considered that the second vehicle has the communication authority with it, and thus establishes a communication connection with the second vehicle; if the drone does not receive the networking request sent by the second vehicle within a preset time, it is considered that the second vehicle does not have the communication authority with it.
[0086] Taking into account that the second vehicle may or may not have communication authority with the drone carried by the first vehicle, at least two preset strategies are set in advance for the drone carried by the first vehicle to guide the second vehicle to travel, for example, including a first preset strategy and a second preset strategy. The first preset strategy is to control the drone to send second driving route information to the second vehicle to guide the second vehicle to search for the first vehicle. The second preset strategy is to control the drone to fly according to the second driving route information and output navigation prompt information to guide the second vehicle to search for the first vehicle.
[0087] After determining whether the second vehicle has the communication authority with the drone, a target strategy is determined from the first preset strategy and the second preset strategy according to the determination result. The target strategy is the first preset strategy or the second preset strategy. Different determination results lead to different ways in which the subsequent drone guides the second vehicle to search for the first vehicle, thereby providing a flexible selection method for guiding the second vehicle to search for the first vehicle through the drone.
[0088] In a possible implementation, determining the target strategy from the first preset strategy and the second preset strategy according to the judgment result includes the following scheme:
[0089] When the judgment result is that the second vehicle has the communication authority with the drone, the first preset strategy is determined as the target strategy.
[0090] If the judgment result is that the second vehicle has the communication authority with the drone communicating with the first vehicle, the drone communicating with the first vehicle determines the first preset strategy as the target strategy, establishes communication with the second vehicle, and then executes the target strategy, that is, sends the second driving route information to the second vehicle. The occupants of the second vehicle can intuitively see the driving route searched for the first vehicle, and the driving path is indicated for the second vehicle, which is conducive to the second vehicle to quickly meet with the first vehicle.
[0091] In addition, the drone carrying platform of the second vehicle includes at least two helipads. After the drone of the first vehicle sends the information, the drone of the first vehicle can land on the helipad of the second vehicle to charge and ensure continuous flight.
[0092] In a possible implementation, determining the target strategy from the first preset strategy and the second preset strategy according to the judgment result includes the following scheme:
[0093] When the judgment result is that the second vehicle does not have the communication authority with the drone, the second preset strategy is determined as the target strategy.
[0094] If the result of the determination is that the second vehicle does not have the communication authority with the drone communicating with the first vehicle, the drone communicating with the first vehicle determines the second preset strategy as the target strategy, and then executes the target strategy, that is, the drone communicating with the first vehicle follows the driving path in the second driving route information (e.g. Figure 2 The UAV can fly N2E in the figure and output navigation prompt information to prompt the second vehicle how to reach the location of the first vehicle. The navigation prompt information includes prompt information such as sound and light. In this way, when the UAV cannot directly send the second driving route information to the second vehicle, the UAV can output navigation prompt information to guide the second vehicle to drive, which is conducive to ensuring that the second vehicle meets the first vehicle in time, without the need for the second vehicle to find a route to meet the first vehicle alone.
[0095] In a possible implementation, S120, when the search condition for the second vehicle is triggered, after searching for the second vehicle according to the first driving route information, the vehicle guidance method further includes the following scheme:
[0096] When the second vehicle is not found, return to the first vehicle according to the first driving route information to charge the drone.
[0097] If it is determined that the drone of the first vehicle has not found the second vehicle, the drone of the first vehicle is controlled to return to the first vehicle according to the first driving route information, that is, the drone of the first vehicle is controlled to fly back to the helipad of the first vehicle along the original route, and the drone is charged to ensure continuous flight.
[0098] The technical solution provided in the embodiment of the present application is to equip each vehicle in the fleet with a drone, divide the vehicles in the fleet into a first vehicle and a second vehicle, and in the process of guiding the second vehicle to meet with the first vehicle, record the first driving route information of the first vehicle through the drone that communicates with the first vehicle, and when the search condition for the second vehicle is triggered, search for the second vehicle by flying according to the first driving route information through the drone, and when it is determined that the drone has found the second vehicle, guide the second vehicle to search for the first vehicle through the drone. The technical solution realizes information interaction between multiple vehicles through the drone, and can rescue vehicles in distress in the fleet, search for lost vehicles, and guide other vehicles to meet with the pathfinder vehicle in an outdoor environment with poor network signals.
[0099] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.
[0100] Figure 4 FIG. 1 shows a schematic diagram of the structure of a vehicle guidance device provided by an embodiment of the present application. Figure 4 As shown, the vehicle guiding device 400 includes:
[0101] A first control module 410 is used to record first driving route information of a first vehicle;
[0102] A second control module 420, configured to search for the second vehicle according to the first driving route information when a search condition for the second vehicle is triggered;
[0103] The third control module 430 is configured to guide the second vehicle to search for the first vehicle when the second vehicle is found.
[0104] In a possible implementation, the vehicle guidance device 400 further includes:
[0105] a route recording unit, used to record search route information for searching for the second vehicle;
[0106] The second control module 420 includes:
[0107] an updating unit, configured to update the first driving route information using the search route information to obtain second driving route information;
[0108] A determination unit, configured to determine whether the second vehicle has the communication authority with the drone;
[0109] a determination unit, configured to determine a target strategy from a first preset strategy and a second preset strategy according to a judgment result; wherein the first preset strategy is to control the drone to send the second driving route information to the second vehicle to guide the second vehicle to search for the first vehicle, and the second preset strategy is to control the drone to fly according to the second driving route information and output navigation prompt information to guide the second vehicle to search for the first vehicle;
[0110] An execution unit is used to execute the target strategy.
[0111] In a possible implementation manner, the determining unit includes:
[0112] The first determining subunit is used to determine the first preset strategy as the target strategy when the judgment result is that the second vehicle has the communication authority with the drone.
[0113] In a possible implementation manner, the determining unit further includes:
[0114] The second determining subunit is used to determine the second preset strategy as the target strategy when the judgment result is that the second vehicle does not have the communication authority with the drone.
[0115] In a possible implementation, the search condition includes at least one of the following:
[0116] receiving a search instruction for the second vehicle sent by the first vehicle;
[0117] detecting that the second vehicle is not within a preset range of the first vehicle;
[0118] The detected current image of the first vehicle does not match the preset image.
[0119] In a possible implementation, the vehicle guidance device 400 further includes:
[0120] A collection unit, used for collecting first vehicle information of the vehicle when searching for the vehicle;
[0121] a comparison unit, configured to determine that the second vehicle is found when the first vehicle information is identical to the second vehicle information of the second vehicle stored in the drone;
[0122] a sending unit, configured to send the first vehicle information to the first vehicle;
[0123] The receiving unit is used to determine that the second vehicle has been searched when receiving a confirmation instruction of the second vehicle sent by the first vehicle.
[0124] In a possible implementation, the vehicle guidance device 400 further includes:
[0125] The endurance unit is used to return to the first vehicle according to the first driving route information to charge the drone when the second vehicle is not found.
[0126] It should be noted that the vehicle guidance device provided in the above embodiment only uses the division of the above functional modules as an example when executing the vehicle guidance method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle guidance device provided in the above embodiment and the vehicle guidance method embodiment belong to the same concept. Therefore, for details not disclosed in the device embodiment of the present application, please refer to the above-mentioned vehicle guidance method embodiment of the present application, which will not be repeated here.
[0127] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.
[0128] Figure 5 A schematic structural diagram of a drone provided in an embodiment of the present application is shown.
[0129] For example, Figure 5 As shown, the drone 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a vehicle guidance method.
[0130] In this embodiment, the functional modules of the drone can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.
[0131] In the case of dividing each functional module according to each function, the drone may include: a first control module, a second control module, a third control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.
[0132] The drone provided in this embodiment is used to execute the above-mentioned vehicle guidance method, and thus can achieve the same effect as the above-mentioned implementation method.
[0133] In the case of an integrated unit, the drone may include a processing module and a storage module. The processing module may be used to control and manage the actions of the drone. The storage module may be used to support the drone in executing mutual program codes and data.
[0134] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.
[0135] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle guidance method in the above-mentioned embodiment.
[0136] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle guidance method in the above-mentioned embodiment.
[0137] In addition, the drone provided in the embodiments of the present application may specifically be a chip, a component or a module, and the drone may include a connected processor and a memory; wherein the memory is used to store instructions, and when the drone is running, the processor may call and execute instructions so that the chip executes a vehicle guidance method in the above-mentioned embodiments.
[0138] Among them, the drone, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle guidance method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle guidance method provided above, and will not be repeated here.
[0139] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.
[0140] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0141] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A vehicle guidance method, characterized in that: Applied to UAV, the vehicle guidance method includes: Recording first driving route information of a first vehicle; When the search condition for the second vehicle is triggered, searching for the second vehicle according to the first driving route information; When the second vehicle is found, the second vehicle is guided to search for the first vehicle.
2. The vehicle guidance method according to claim 1, characterized in that: When the search condition for the second vehicle is triggered, after searching for the second vehicle according to the first driving route information, the vehicle guidance method further includes: Recording search route information for searching for the second vehicle; The step of guiding the second vehicle to search for the first vehicle comprises: Using the search route information to update the first driving route information to obtain second driving route information; Determining whether the second vehicle has communication authority with the drone; Determine a target strategy from the first preset strategy and the second preset strategy according to the judgment result; wherein the first preset strategy is to control the drone to send the second driving route information to the second vehicle to guide the second vehicle to search for the first vehicle, and the second preset strategy is to control the drone to fly according to the second driving route information and output navigation prompt information to guide the second vehicle to search for the first vehicle; The target strategy is executed.
3. The vehicle guidance method according to claim 2, characterized in that: Determining the target strategy from the first preset strategy and the second preset strategy according to the judgment result includes: When the judgment result is that the second vehicle has the communication authority with the drone, the first preset strategy is determined as the target strategy.
4. The vehicle guidance method according to claim 2, characterized in that: Determining the target strategy from the first preset strategy and the second preset strategy according to the judgment result includes: When the judgment result is that the second vehicle does not have the communication authority with the drone, the second preset strategy is determined as the target strategy.
5. The vehicle guidance method according to any one of claims 1 to 4, characterized in that: The search condition includes at least one of the following: receiving a search instruction for the second vehicle sent by the first vehicle; detecting that the second vehicle is not within a preset range of the first vehicle; The detected current image of the first vehicle does not match the preset image.
6. The vehicle guidance method according to any one of claims 1 to 4, characterized in that: Determining that the second vehicle is found includes: When a vehicle is found, collecting first vehicle information of the vehicle; When the first vehicle information is identical to the second vehicle information of the second vehicle stored in the drone, determining that the second vehicle has been found; and / or, sending the first vehicle information to the first vehicle; When a confirmation instruction of the second vehicle sent by the first vehicle is received, it is determined that the second vehicle has been searched.
7. The vehicle guidance method according to any one of claims 1 to 4, characterized in that: When the search condition for the second vehicle is triggered, after searching for the second vehicle according to the first driving route information, the vehicle guidance method further includes: When the second vehicle is not found, return to the first vehicle according to the first driving route information to charge the drone.
8. A vehicle guiding device, characterized in that: The vehicle guiding device comprises: A first control module, used to record first driving route information of a first vehicle; a second control module, configured to search for the second vehicle according to the first driving route information when a search condition for the second vehicle is triggered; The third control module is used to guide the second vehicle to search for the first vehicle when the second vehicle is found.
9. A drone, characterized in that: The drone comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the drone executes the vehicle guidance method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle guidance method according to any one of claims 1 to 7 is implemented.