Vehicle intelligent driving control method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle intelligent driving control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a running route of a vehicle through an unmanned aerial vehicle according to first obstacle information and first environment information of the vehicle, and second obstacle information, second traffic information and second environment information of the unmanned aerial vehicle, the unmanned aerial vehicle sends the operation instruction of the operation route to the vehicle, and the vehicle can complete intelligent driving according to the operation instruction, so that a control part for planning the route and making a decision is configured on the unmanned aerial vehicle in the intelligent driving technology, and the vehicle only needs to execute the instruction sent by the unmanned aerial vehicle; the technical effect of improving the configuration flexibility of the intelligent driving system is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and more particularly to a control method and device for intelligent driving of a vehicle, an electronic device, and a storage medium. BACKGROUND

[0002] Intelligent driving, especially high-level intelligent driving, is increasingly attracting the attention of users, and relevant regulations have been introduced in some regions and cities, allowing high-level intelligent driving vehicles to be on the road. There are mainly two kinds of current intelligent driving solutions. One is single-vehicle intelligence, which is a technology that perceives, decides, and executes the surrounding environment through sensors installed on the vehicle itself. It mainly relies on the vehicle's own camera, laser radar, and other sensors to perceive, analyze, and decide the vehicle's surrounding environment through complex algorithms. The other is networked automatic driving, which integrates vehicle-mounted sensors, computing platforms, network communication technologies, and vehicle-road cooperation systems to realize seamless information interaction and sharing between vehicles.

[0003] With the development of unmanned aerial vehicle technology in recent years, interaction between unmanned aerial vehicles and vehicles has become possible. In the intelligent driving of vehicles, it is common to perceive the environment through unmanned aerial vehicles to reduce the visual blind area of intelligent driving vehicles, thereby improving the safety of intelligent driving. Unmanned aerial vehicles as an auxiliary system cooperate with the intelligent driving of vehicles, which has the problems of strong binding between unmanned aerial vehicles and vehicles or high cost due to the need for vehicle hardware pre-burying.

[0004] Therefore, how to improve the configuration flexibility of unmanned aerial vehicles and vehicles in intelligent driving technology while reducing the cost of vehicles has become a problem to be solved. SUMMARY

[0005] Therefore, the embodiments of the present application propose a control method and device for intelligent driving of a vehicle, an electronic device, and a storage medium, which can solve the problem of low flexibility of vehicle configuration intelligent driving system by setting the planning and decision-making part of intelligent driving in an unmanned aerial vehicle as an external independent system of the vehicle, supporting the selection of intelligent driving systems of different models of vehicles and unmanned aerial vehicles.

[0006] The present application adopts the following technical solutions.

[0007] In a first aspect, the embodiments of the present application provide a control method for intelligent driving of a vehicle, applied to a vehicle, the vehicle being in wireless communication with an unmanned aerial vehicle, and the control method comprising: The system acquires first obstacle information and first environmental information of the vehicle; wherein the first obstacle information is the road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle acquired by the vehicle's camera system; the system sends the first obstacle information and the first environmental information to the drone; the system receives the operation instructions sent by the drone; the operation instructions are used to instruct the vehicle to drive according to the operation route; and the system controls the driving behavior of the vehicle according to the operation instructions based on the first obstacle information and the first environmental information.

[0008] In some embodiments, the vehicle and the drone are wirelessly charged, and the vehicle is equipped with a drone docking system, the method including: Receive the drone's operating status from the drone; if the drone is in a non-operating state, perform contact wireless charging at the drone docking system location; if the drone is in an operating state, perform non-contact wireless charging at a first interval away from the drone docking system.

[0009] In some embodiments, based on the drone's operating state as a working state, the drone performs contactless wireless charging at a position a first interval away from the drone docking system, the method including: Receive the drone's battery level from the drone; if the drone is fully charged, stop contactless wireless charging; if the drone is not fully charged, start contactless wireless charging.

[0010] In some embodiments, after controlling the driving behavior of the vehicle according to an operating instruction based on first obstacle information and first environmental information, the method includes: Obtain the vehicle's first status information; the first status information is used to indicate the status of the hardware devices that execute the vehicle's operating commands; send the first status information to the drone.

[0011] According to a second aspect of the embodiments of this application, a control method for intelligent driving of a vehicle is provided, applied to an unmanned aerial vehicle (UAV), wherein the UAV and the vehicle communicate wirelessly, and the method includes: The system receives first obstacle information and first environmental information of the vehicle; wherein the first obstacle information is the road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle acquired by the vehicle's camera system; it also receives second obstacle information, second traffic information, and second environmental information of the drone; wherein the second obstacle information is the road infrastructure around the drone acquired by the drone's ultrasonic system, the second traffic information is the traffic vehicles around the vehicle acquired by the drone's lidar system, and the second environmental information is the traffic signs around the vehicle acquired by the drone's camera system; based on the vehicle's first obstacle information and first environmental information, and the drone's second obstacle information, second traffic information, and second environmental information, it obtains the vehicle's operating route; and sends operating instructions to the vehicle based on the operating route; the operating instructions are used to instruct the vehicle to travel according to the operating route.

[0012] In some embodiments, the method further includes obtaining the vehicle's operating route based on the vehicle's first obstacle information and first environmental information, the drone's second obstacle information, second traffic information, and second environmental information; Receive the destination and the vehicle's first location sent by the vehicle; obtain the second location of the UAV; based on the destination, the first location, the second location, the vehicle's first obstacle information and first environmental information, and the UAV's second obstacle information, second traffic information, and second environmental information, obtain the vehicle's operating route.

[0013] In some embodiments, after sending a running instruction to the vehicle based on the running route, the method further includes: Receive first status information sent by the vehicle, which indicates the status of the hardware device that executes the vehicle's operating instructions; adjust the vehicle's operating instructions based on the first status information.

[0014] According to a third aspect of the embodiments of this application, a control device for intelligent driving of a vehicle is provided, applied to a vehicle, wherein the vehicle wirelessly communicates with an unmanned aerial vehicle, the device comprising: The first acquisition module is used to acquire first obstacle information and first environmental information of the vehicle; wherein, the first obstacle information is the road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle acquired by the vehicle's camera system; the first transmission module is used to transmit the first obstacle information and the first environmental information to the drone; the first receiving module is used to receive the operation instructions transmitted by the drone; the operation instructions are used to instruct the vehicle to drive according to the operation route; the first control module is used to control the driving behavior of the vehicle based on the first obstacle information and the first environmental information and according to the operation instructions.

[0015] According to a fourth aspect of the embodiments of this application, a control device for intelligent driving of a vehicle is provided, applied to a drone, wherein the drone and the vehicle communicate wirelessly, and the device includes: The second acquisition module is used to receive the vehicle's first obstacle information and first environmental information; wherein, the first obstacle information is the road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle acquired by the vehicle's camera system; the second receiving module is used to acquire the drone's second obstacle information, second traffic information, and second environmental information; wherein, the second obstacle information is the road infrastructure around the drone acquired by the drone's ultrasonic system, the second traffic information is the traffic vehicles around the vehicle acquired by the drone's lidar system, and the second environmental information is the traffic signs around the vehicle acquired by the drone's camera system; the second control module is used to acquire the vehicle's operating route based on the vehicle's first obstacle information and first environmental information, the drone's second obstacle information, second traffic information, and second environmental information; the second sending module is used to send operating instructions to the vehicle based on the operating route; the operating instructions are used to instruct the vehicle to travel according to the operating route.

[0016] According to a fifth aspect of the embodiments of this application, an electronic device is provided, the electronic device comprising: a processor; and a memory storing computer-readable instructions, wherein when the computer-readable instructions are executed by the processor, the above-described vehicle intelligent driving control method is implemented.

[0017] According to a sixth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which computer-readable instructions are stored, which, when executed by a processor or electronic device, implement the above-mentioned vehicle intelligent driving control method.

[0018] In this application's solution, firstly, information is synchronized between the vehicle and the drone. The synchronized information includes the road infrastructure and traffic signs around the vehicle, the road infrastructure around the drone, and the traffic vehicles and traffic signs around the vehicle obtained from the drone. Secondly, the drone plans the autonomous driving route of the vehicle using the synchronized information and sends driving instructions to the vehicle for execution. This achieves the independence of the planning and decision-making part from the vehicle in intelligent driving technology, making it an independent drone-based system that can be externally connected. Finally, the vehicle executes autonomous driving tasks according to the driving instructions received from the drone. The vehicle does not need to pre-install hardware; it can achieve autonomous driving using only the vehicle's existing hardware. This achieves complete independence between the drone-based autonomous driving system and the vehicle. At the same time, the same vehicle can choose different brands of intelligent driving systems, and vehicles purchased early can also achieve autonomous driving by later matching intelligent driving systems, increasing the flexibility of user choices.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0021] Figure 1 This is a schematic diagram of a control method for intelligent driving of a vehicle provided in an embodiment of this application.

[0022] Figure 2 This is a flowchart illustrating a control method for intelligent driving of a vehicle, provided in an embodiment of this application.

[0023] Figure 3 This is a flowchart illustrating a method for controlling wireless charging of a drone by a vehicle, as provided in an embodiment of this application.

[0024] Figure 4 This is a flowchart illustrating a control method for acquiring vehicle status information provided in an embodiment of this application.

[0025] Figure 5 This is a flowchart illustrating a control method for intelligent driving of unmanned vehicles provided in an embodiment of this application.

[0026] Figure 6 This is a flowchart illustrating a control method for obtaining a vehicle's running route, provided in an embodiment of this application.

[0027] Figure 7 This is a schematic diagram of the structure of a vehicle intelligent driving control device provided in an embodiment of this application.

[0028] Figure 8 This is a schematic diagram of another vehicle intelligent driving control device provided in an embodiment of this application.

[0029] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0030] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through specific embodiments. Detailed Implementation

[0031] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0032] In current technology, the maturity of advanced single-vehicle intelligence is not high. It's generally only configured on high-end versions of vehicles, but actual user adoption is low, or it's merely pre-installed in the hardware and requires later upgrades to function. For users, pre-installed intelligent driving functions increase purchase costs and may not be effective during the vehicle's actual lifespan. Connected autonomous driving relies on infrastructure construction, which has high construction and maintenance costs, and its future is currently uncertain. Vehicle-road-drone fusion solutions, essentially like connected autonomous driving, rely on infrastructure development. Tethered drone systems require wires to transmit information and power, limiting their applicability to low-speed conditions such as residential areas and busy city streets. At higher speeds, the drone needs to be retrieved, restricting its application scenarios.

[0033] The vehicle intelligent driving control method provided in this application aims to solve the above-mentioned technical problems of the prior art.

[0034] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0035] Figure 1 This is a schematic diagram illustrating a scenario for a vehicle intelligent driving control method provided in an embodiment of this application. Figure 1 As shown, the execution body of the control method provided in this application embodiment includes a first module 101 and a second module 102.

[0036] In one alternative implementation, the first module 101 refers to the vehicle.

[0037] In one alternative implementation, the second module 102 refers to a drone.

[0038] For example, the vehicle may include, but is not limited to: the vehicle's ultrasonic system 111, the vehicle's camera system 121, the drone docking system 131, the collaborative control system 142, the on-board charging system 152, the intelligent driving display system 162, the intelligent driving start-stop system 172, and the drone control system 182.

[0039] For example, the drone may include, but is not limited to: the drone's ultrasonic system 112, the drone's lidar system 122, the drone's camera system 132, the drone's millimeter-wave system 142, the drone's controller system 152, and the drone's charging system 162.

[0040] Optionally, the first module 101 and the second module 102 can communicate wirelessly. This wireless connection may include: Transmission Control Protocol / Internet Protocol (TCP / IP), Wireless Local Area Network (WLAN), or Remote Direct Memory Access (RDMA) overconverged Ethernet (RoCE) protocol, etc.

[0041] The following is combined with Figure 1 The first module 101 and the second module 102 shown here are exemplary descriptions of the vehicle intelligent driving control method provided in this application embodiment: First, the vehicle's ultrasonic system 111 obtains the road infrastructure around the vehicle, the vehicle's camera system 121 obtains the traffic signs around the vehicle, and transmits the information to the drone through a perception signal link; the drone's ultrasonic system 112 obtains the road infrastructure around the drone, the drone's lidar system 122 obtains the traffic vehicles around the vehicle, the drone's camera system 132 obtains the traffic signs around the vehicle, and the drone's millimeter wave system 142 obtains supplementary information, and transmits the information to the vehicle through a perception signal link, which can be displayed in the vehicle's intelligent driving display system 162; Secondly, based on the aforementioned information, the drone obtains the vehicle's driving route through the controller system 152 and sends driving instructions to the vehicle via the control signal link. The vehicle then transmits the driving instructions to the corresponding hardware devices through the cooperative control system 142 to execute the driving task. Simultaneously, the vehicle sends the status of the hardware devices executing the instructions to the drone via the vehicle status signal link. Finally, the on-board charging system 152 and the drone charging system 162 enable the vehicle to perform contactless wireless charging for the drone via the charging link. Combined with the drone docking system 131, the vehicle enables the vehicle to perform contact wireless charging for the drone. The vehicle's cooperative control system 142 synchronizes the precise position of the drone relative to the vehicle via the synchronization control link.

[0042] Below Figure 1Based on the first module 101 and the second module 102 shown, the control method for intelligent driving of vehicles provided in the embodiments of this application will be further described, such as... Figure 2 The diagram illustrates a control method for intelligent driving of a vehicle. In a specific embodiment, this control method can be applied to, for example... Figure 7 The first vehicle intelligent driving control device 700 shown, or as... Figure 8 The second vehicle intelligent driving control device 800 shown, and the electronic device 900 configured with the first vehicle intelligent driving control device 700 or the second vehicle intelligent driving control device 800. Figure 9 The specific process of the embodiments of this application will be described below. Of course, it is understood that this method can be executed by a cloud server with computing power.

[0043] The following will address Figure 2 The process is described in detail. When applied to vehicles, the vehicle communicates wirelessly with the drone. The control method for intelligent driving of the vehicle may specifically include the following steps 201 to 204.

[0044] Step 201: Obtain the vehicle's first obstacle information and first environmental information; wherein, the first obstacle information is the road infrastructure around the vehicle obtained by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle obtained by the vehicle's camera system.

[0045] In this embodiment of the application, the first obstacle information is the road infrastructure in the vicinity during the normal parking process of the vehicle, such as speed bumps, parking space auxiliary lines, etc.

[0046] In this embodiment of the application, the first environmental information is the traffic signs during the vehicle's driving or parking process, such as traffic lights, lane lines, etc.

[0047] For example, ultrasonic systems are common equipment in automobiles, usually located on the front and rear bumpers of the vehicle. They emit ultrasonic waves and receive the reflected ultrasonic waves, and calculate the distance based on the time difference to detect the distance of obstacles around the vehicle. Therefore, they are often used in reversing radars. In this embodiment, the vehicle's ultrasonic system is activated to acquire information about obstacles around the vehicle in real time, and transmits this information to the UAV's controller system 152 via the information perception link through the cooperative control system 142.

[0048] For example, the camera system can accurately identify objects on the road, such as traffic signs, speed limit signs, lane auxiliary lines, etc. The ultrasonic system and the camera complement each other and can establish a complete picture of the vehicle during driving or parking. In this embodiment, after the vehicle's camera system is started, it converts the information around the vehicle into image information in real time. Similarly, the image information is transmitted to the UAV's controller system 152 through the information perception link via the collaborative control system 142.

[0049] In one alternative example, after the vehicle starts, the user can activate the vehicle's intelligent driving mode through the intelligent driving start-stop system 172. At this time, the drone docking system 131 monitors the surrounding environment of the vehicle's location. When the vehicle is parked in a low-lying space, the drone is not in a condition to fly. The vehicle then receives a prompt instruction from the drone, which controls the vehicle's intelligent driving display system 162 to prompt the user that the drone cannot fly and to drive the vehicle to an open space before activating the intelligent driving mode. Once the vehicle has moved to an open space and the intelligent driving mode has been successfully activated, the drone enters working mode.

[0050] Step 202: Send the first obstacle information and the first environmental information to the drone.

[0051] In this embodiment of the application, the vehicle can transmit first obstacle information and first environmental information to the drone in real time through the sensing signal link between the vehicle and the drone.

[0052] For example, when the drone enters the working state, the drone takes off and is directly above the geometric center or rear axle center of the vehicle, and maintains a first position at a distance of a first interval from the drone docking system 131. The height of the first position can be set between 4m and 6m. After the drone is in place, a full system status test of the vehicle and the drone is performed to ensure that all system functions are normal.

[0053] For example, when the vehicle starts driving, the user enters the destination in the intelligent driving display system 162, obtains the vehicle's first location and the destination's navigation information based on the vehicle's GPS, and the vehicle sends the vehicle's first location and the destination's navigation information to the drone in real time through the collaborative control system 142. The drone ensures accurate synchronization of the relative position between the drone and the vehicle based on its own second location.

[0054] Step 203: Receive the operation instructions sent by the drone; the operation instructions are used to instruct the vehicle to travel according to the operation route.

[0055] In this embodiment of the application, the running instruction is an instruction used to control the vehicle to perform driving tasks according to process logic.

[0056] For example, when the vehicle is in motion, the drone processes the information and makes a decision through the drone's controller system 152 based on the first obstacle information and the first environmental information sent by the vehicle, combined with the relevant information acquired by the drone itself, to obtain the vehicle's running route and the running instructions instructing the vehicle to drive according to the running route, and sends the running instructions to the vehicle through the control signal link.

[0057] Step 204: Based on the first obstacle information and the first environmental information, control the vehicle's driving behavior according to the operation instructions.

[0058] In this embodiment of the application, the driving behavior of the vehicle includes driving and parking.

[0059] For example, when the vehicle is in motion, the vehicle's cooperative control system 142 receives the operation command and sends the operation command to the actuators of the vehicle's power system, steering system, braking system, suspension system, etc. These actuators execute the corresponding actions according to the operation command. Furthermore, the vehicle transmits the status of the actuators' actions to the UAV's controller system 152 through the cooperative control system 142 based on the vehicle status signal link, thereby realizing real-time interaction between the UAV and the vehicle.

[0060] In the first alternative example, when the vehicle issues a braking-related operating command to the braking system, the vehicle's brake lights illuminate; when the vehicle issues a steering-related operating command to the steering system, the vehicle's turn signals illuminate.

[0061] In the second alternative example, the door system should be in a deadbolted state while the vehicle is in motion to prevent accidental door lock triggering.

[0062] For example, the vehicle's collaborative control system 142 can receive second obstacle information, second traffic information, second environmental information, etc., acquired by the drone, and display this information in real time through the vehicle's intelligent driving display system 162 to show the situation around the vehicle, allowing the user to grasp a more comprehensive vehicle status.

[0063] For example, when a vehicle arrives at its destination and needs to find a parking space and park, the vehicle's intelligent driving display system 162 displays a map of the parking lot. The user issues a parking instruction to the vehicle, and the collaborative control system 142 sends the parking instruction to the vehicle's ultrasonic system 111, the vehicle's camera system 121, and the drone's controller system 152. The drone, based on the information obtained by the drone's ultrasonic system 112, the drone's lidar system 122, the drone's camera system 132, and the drone's millimeter-wave system 142, integrates and processes all the received information through the controller system 152 to find an available parking space.

[0064] Optionally, when there is ample parking space available and the parking space is not low, the drone will always be positioned above the vehicle and will perform parking according to the standard parking procedure.

[0065] Optionally, when the available parking space is low, the drone cannot maintain the first position above the vehicle; in this case, the drone starts a third position, which is directly in front of the vehicle and at the same height as the vehicle, so as to ensure that both the drone and the vehicle can observe the environment directly in front of the vehicle without obstruction, and then perform the parking process based on the information provided by the vehicle and the drone.

[0066] In this embodiment, firstly, by configuring the route planning and decision-making control components on a drone, the vehicle can perform intelligent driving without pre-installing hardware, without altering the vehicle's original architecture. This achieves separation of the vehicle and intelligent driving functions, avoiding a strong binding between the two and reducing the user's vehicle purchase cost. Secondly, the drone sends intelligent driving operation commands to the vehicle, controlling the vehicle to perform intelligent driving. The drone and vehicle are two independent products, allowing users to choose different intelligent driving products to experience. Furthermore, vehicles purchased earlier by users can also achieve intelligent driving by configuring drones, increasing the flexibility of configuration. Finally, the drone's field of view can expand the vehicle's intelligent driving perception range and relatively reduce the configuration of perception sensors in the intelligent driving vehicle.

[0067] Building upon the above, when a vehicle is equipped with a drone docking system, this application provides an optional implementation method for wireless charging between the vehicle and the drone, such as... Figure 3 The flowchart shown is a control method for wireless charging of a drone by a vehicle, which may specifically include the following steps 301 to 303.

[0068] Step 301: Receive the drone's operating status sent by the drone.

[0069] In the embodiments of this application, the operating state of the drone includes a non-working state and a working state.

[0070] In this embodiment of the application, when the drone is not powered on, or when the drone is powered on but parked in the drone docking system 131, it can be regarded as the drone being in a non-working state.

[0071] In this embodiment of the application, when the drone is powered on and the vehicle is in intelligent driving mode, the drone is considered to be in working condition.

[0072] In this embodiment, when the drone is powered on, the vehicle is not in intelligent driving mode. The user can switch the drone to manual control mode via the drone control system 182. In this mode, the drone is used as an independent product, such as for taking pictures of distant scenery. In manual control mode, the drone's controller can be integrated into the vehicle or a traditional handheld controller can be used.

[0073] Step 302: Based on the fact that the drone is in an inactive state, the drone performs contact wireless charging at the location of the drone docking system.

[0074] In this embodiment of the application, contact wireless charging eliminates the need for cable-based power transmission; charging can be initiated simply by placing the drone in contact with a designated charging location within the drone docking system.

[0075] For example, when the drone is not powered on, it is parked in the drone docking system 131, and the drone charging system 162 and the vehicle charging system 152 maintain a handshake state to keep the drone charging through the charging link.

[0076] Step 303: Based on the drone's operating status as working, the drone performs non-contact wireless charging at a position one interval away from the drone docking system.

[0077] In this embodiment, contactless wireless charging also eliminates the need for cable power transmission. The drone can be charged in real-time simply by maintaining it at a distance from the drone docking system at a first interval, ensuring extended flight time. This first interval can be set to 10 meters.

[0078] In this embodiment of the application, when the drone is in working condition, the drone charging system 162 maintains a handshake state with the vehicle charging system 152 through the charging link, that is, the drone's battery level can be viewed through the vehicle's intelligent driving display system 162.

[0079] In this embodiment of the application, when the drone is in the third position, the vehicle-mounted charging system disconnects from the drone charging system and stops charging.

[0080] In one possible implementation, the specific implementation method of non-contact wireless charging of the drone at a position at a first interval from the drone docking system in step 303, based on the drone's operating state as the working state, is further explained. The method includes: Step 313: Receive the drone's battery level information sent by the drone.

[0081] In this embodiment of the application, the drone can transmit its power information to the vehicle through a charging link. The vehicle's on-board charging system 152 determines whether to perform contact wireless charging or non-contact wireless charging on the drone based on the drone's operating status, and then determines whether to charge the drone based on the drone's power information.

[0082] Step 323: Based on the fact that the drone is fully charged, stop the non-contact wireless charging of the drone.

[0083] In this embodiment of the application, when the vehicle receives a fully charged drone, the drone is either in a working state or a non-working state, and the on-board charging system 152 stops charging the drone in both cases.

[0084] Step 333: Based on the fact that the drone's battery level is not fully charged, perform non-contact wireless charging on the drone.

[0085] In this embodiment of the application, when the vehicle receives a message from the drone that the drone is not fully charged, the vehicle-mounted charging system 152 charges the drone through the drone docking system 131 when the drone is in operation, and the vehicle-mounted charging system 152 charges the drone through the charging link when the drone is in operation.

[0086] For example, drones can also use their own long-endurance power systems, eliminating the need for a charging system between the vehicle and the drone. For instance, hydrogen-powered drones can be fueled directly by plug-and-play hydrogen storage tanks, with electricity provided by an onboard fuel cell system.

[0087] Building upon the above, and after controlling the vehicle's driving behavior according to the operating instructions based on the first obstacle information and the first environmental information, this application provides another optional implementation method for obtaining the vehicle's first state information, such as... Figure 4 The flowchart shown is a control method for obtaining vehicle status information, which may specifically include the following steps 401 to 402.

[0088] Step 401: Obtain the first status information of the vehicle; the first status information is used to indicate the status of the hardware devices that execute the operating instructions of the vehicle.

[0089] In this embodiment of the application, the first state information is the pose information of the vehicle's hardware device after executing the running command.

[0090] In this embodiment, pose information includes the vehicle's position, speed, and attitude, which are crucial for the realization of autonomous driving. The position information includes longitude, latitude, and altitude; the speed information includes longitudinal speed, lateral speed, and vertical speed; and the attitude information includes roll angle, pitch angle, and yaw angle.

[0091] For example, the drone transmits the operation instructions to the vehicle's collaborative control system 142. The collaborative control system 142 sends the instructions to the vehicle's vehicle controller. The vehicle controller decomposes the operation instructions into the requirements of each actuator according to the vehicle's performance requirements, and distributes the requirements to the corresponding hardware devices through the vehicle's network system, such as the controller of the power system, the controller of the steering system, the controller of the braking system, the controller of the suspension system, etc.

[0092] Step 402: Send the first status information to the drone.

[0093] In this embodiment, the vehicle sends the first status information of the hardware device executing the command to the drone via the vehicle status signal link.

[0094] For example, after each controller of the vehicle executes the operation command as required, the vehicle's sensors acquire position, speed, acceleration, heading angle and other attitude parameter information of each controller, and transmit this parameter information to the UAV through the cooperative control system 142 using the vehicle status signal link. Then, the UAV's controller system 152 enables the UAV's flight control system and power system to work together to keep the UAV and the vehicle's attitude synchronized.

[0095] Based on the above, such as Figure 5 The diagram shows a flow chart of a vehicle intelligent driving control method applied to unmanned aerial vehicles (UAVs). When applied to UAVs, the UAVs communicate with a vehicle networking platform. The vehicle intelligent driving control method may specifically include the following steps 501 to 504.

[0096] Step 501: Receive the vehicle's first obstacle information and first environmental information; wherein, the first obstacle information is the road infrastructure around the vehicle obtained by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle obtained by the vehicle's camera system.

[0097] In this embodiment of the application, when the drone is in operation, it can receive first obstacle information and first environmental information sent by the vehicle through the signal sensing link.

[0098] In this embodiment, when the vehicle is not powered on or started, the drone is docked in the vehicle's drone docking system 131; when the vehicle is powered on and started, the vehicle's intelligent driving mode is not activated, and the drone is also docked in the vehicle's drone docking system 131. At this time, the drone will not receive the vehicle's first obstacle information, first environmental information, or first status information.

[0099] Step 502: Obtain the second obstacle information, second traffic information, and second environmental information of the drone; wherein, the second obstacle information is the road infrastructure around the drone obtained by the drone's ultrasonic system, the second traffic information is the traffic vehicles around the drone obtained by the drone's lidar system, and the second environmental information is the traffic signs around the drone obtained by the drone's camera system.

[0100] In this embodiment of the application, the second obstacle information is the road infrastructure that appears near the drone when the drone is in operation, such as the cover of the road by trees in the road green belt, traffic equipment crossbars, tunnels, bridges, etc.

[0101] In this embodiment of the application, the second traffic information refers to vehicles appearing around the vehicle from the perspective of the drone during the process of the vehicle performing a driving task according to the operating route. These vehicles include, for example, large trucks, bicycles, electric vehicles, etc.

[0102] In this embodiment of the application, the second environmental information is traffic signs detected from the perspective of the drone during the process of the vehicle performing driving tasks according to the operating route, such as traffic lights, lane lines, etc.

[0103] For example, when the vehicle is in intelligent driving mode, the drone flies normally, and the drone's ultrasonic system, lidar system, and camera system continue to work to detect information around the drone in real time, so as to ensure that the drone can maintain its first position and fly normally.

[0104] For example, when the drone's ultrasonic system detects trees obstructing the airspace above the road ahead, and determines that this will block the drone's flight path at the first position, the drone can appropriately lower its altitude and fly to the second position to ensure normal flight. The second position should ensure that the vehicle's direction-of-flight perception system is not obstructed by the drone, minimizing the need for the vehicle to actively change lanes, and preventing blind spots in the vehicle's perception system.

[0105] Step 503: Obtain the vehicle's operating route based on the vehicle's first obstacle information and first environmental information, the UAV's second obstacle information, second traffic information, and second environmental information.

[0106] In this embodiment of the application, the UAV obtains second obstacle information, second traffic information and second environmental information through its own perception system. Combined with the first obstacle information and first environmental information received from the vehicle, the controller system 152 integrates and processes all the information to plan the intelligent driving route of the vehicle.

[0107] Step 504: Send a running instruction to the vehicle based on the running route; the running instruction is used to instruct the vehicle to travel according to the running route.

[0108] In this embodiment of the application, the drone processes the vehicle's route into operating instructions for the various hardware devices of the vehicle through the controller system 152.

[0109] In this embodiment, when the drone malfunctions or the information transmission between it and the vehicle is interrupted, the vehicle's collaborative control system 142 actively sends instructions to the vehicle's overall controller. It can send an alarm through the cockpit controller's speaker system to remind the user to intervene, or it can display a text alarm through the vehicle's intelligent driving display system 162. The user can turn off the vehicle's intelligent driving mode through the intelligent driving start system 172, or regain control of the vehicle by intervening in the steering wheel, pedals, etc.

[0110] In one possible implementation, after sending the operation command to the vehicle based on the route in step 504, the specific implementation of the control method is further explained, and the method includes: Step 514: Receive first status information sent by the vehicle. The first status information is used to indicate the status of the hardware device that executes the operation command of the vehicle.

[0111] For example, after the drone issues an operating command, the vehicle's power system, steering system, braking system, etc., begin to execute the task instructed.

[0112] Step 524: Adjust the vehicle's operating instructions based on the first status information.

[0113] For example, after the vehicle's hardware devices execute as required, they can obtain the first status information of each device through sensors, and transmit this parameter information to the drone through the vehicle status signal link. The drone's controller system 152 then integrates all the received information and adjusts the vehicle's operating instructions to ensure precise synchronization between the drone and the vehicle.

[0114] Regarding how to obtain the vehicle's operating route, embodiments of this application provide an optional implementation method, such as... Figure 6 The flowchart shown is a control method for obtaining a vehicle's operating route, which may specifically include the following steps 601 to 602.

[0115] Step 601: Receive the destination and the vehicle's initial location sent by the vehicle.

[0116] In this embodiment, the destination is the destination entered by the user on the vehicle's intelligent driving display system 162 through voice interaction or touch interaction.

[0117] Step 602: Obtain the second location of the drone.

[0118] For example, to ensure accurate synchronization between the drone and the vehicle, the drone needs to acquire its second location in real time, and the drone's controller system 152 achieves real-time synchronization of the relative positions between the drone and the vehicle by referencing the vehicle's navigation information. The vehicle's first location can be obtained through onboard GPS or navigation software, while the drone's second location can be obtained through a satellite navigation system.

[0119] Step 603: Based on the destination, first positioning, second positioning, first obstacle information and first environmental information of the vehicle, and second obstacle information, second traffic information and second environmental information of the UAV, obtain the vehicle's operating route.

[0120] In this embodiment of the application, after the vehicle’s intelligent driving mode is activated, the drone takes off to the first position and keeps synchronized with the vehicle at all times; the drone transmits the information perceived by the drone within a certain distance range around the vehicle to the controller system 152, and analyzes it in combination with the vehicle’s first obstacle information, first environmental information and first state information to obtain the vehicle’s running route, which can also be displayed in the vehicle’s intelligent driving display system 182.

[0121] To achieve the functions of the above embodiments, the vehicle intelligent driving control method includes hardware structures and / or software modules corresponding to each function. Those skilled in the art should readily recognize that, based on the units and method steps described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed through hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0122] exist Figures 2 to 6 Based on the control method for intelligent driving of vehicles shown, this application further describes a control device for intelligent driving of a first vehicle, such as... Figure 7 The diagram shows a structural schematic of a vehicle intelligent driving control device, which is applied to a vehicle and enables wireless communication between the vehicle and an unmanned aerial vehicle. The first vehicle intelligent driving control device 700 includes: a first acquisition module 710, a first transmission module 720, a first receiving module 730, and a first control module 740.

[0123] The first acquisition module 710 is used to acquire first obstacle information and first environmental information of the vehicle; wherein, the first obstacle information is road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is traffic signs around the vehicle acquired by the vehicle's camera system; wherein, the first acquisition module 710 may include, for example, Figure 1The first module 101 shown includes the vehicle's ultrasonic system 111 and the vehicle's camera system 121.

[0124] The first transmitting module 720 is used to transmit first obstacle information and first environmental information to the drone.

[0125] The first receiving module 730 is used to receive the operation instructions sent by the UAV; the operation instructions are used to instruct the vehicle to travel according to the operation route.

[0126] The first control module 740 is used to control the driving behavior of the vehicle according to the operation command based on the first obstacle information and the first environmental information; wherein, the third control module 730 may include, for example, Figure 1 The first module 101 shown includes the collaborative control system 142 and the intelligent driving display system 162.

[0127] In some embodiments, the first control module 740 includes: receiving the drone's operating status sent by the drone; performing contact wireless charging at the location of the drone docking system if the drone's operating status is inactive; and performing non-contact wireless charging at a location a first interval away from the drone docking system if the drone's operating status is active.

[0128] In some embodiments, the first control module 740 further includes: receiving the drone's battery level from the drone; stopping non-contact wireless charging of the drone if the drone's battery level is full; and performing non-contact wireless charging of the drone if the drone's battery level is not full.

[0129] In some embodiments, the first control module 740 further includes: acquiring first status information of the vehicle; the first status information is used to indicate the status of the hardware device for the vehicle to execute operating instructions; and sending the first status information to the drone.

[0130] Similarly, in Figures 2 to 6 Based on the control method for intelligent driving of vehicles shown, this application further describes a second control device for intelligent driving of vehicles, such as... Figure 8 The diagram shows another type of intelligent vehicle driving control device, applied to a drone. The drone communicates wirelessly with the vehicle. The second intelligent vehicle driving control device 800 includes: a second acquisition module 810, a second receiving module 820, a second control module 830, and a second sending module 840.

[0131] The second acquisition module 810 is used to receive the vehicle's first obstacle information and first environmental information; wherein, the first obstacle information is the road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle acquired by the vehicle's camera system.

[0132] The second receiving module 820 is used to acquire second obstacle information, second traffic information, and second environmental information of the drone; wherein, the second obstacle information is road infrastructure around the drone acquired by the drone's ultrasonic system, the second traffic information is traffic vehicles around the drone acquired by the drone's lidar system, and the second environmental information is traffic signs around the drone acquired by the drone's camera system; wherein, the second processing module 820 may include, for example, Figure 1 The second module 102 shown includes the drone's ultrasonic system 112, the drone's lidar system 122, the drone's camera system 132, and the drone's millimeter-wave system 142.

[0133] The second control module 830 is used to obtain the vehicle's operating route based on the vehicle's first obstacle information and first environmental information, the UAV's second obstacle information, second traffic information, and second environmental information; wherein, the third processing module 830 may include, for example, Figure 1 The controller system 152 in the second module 102 shown.

[0134] The second sending module 840 is used to send a running instruction to the vehicle based on the running route; the running instruction is used to instruct the vehicle to travel according to the running route. In some embodiments, the second control module 830 includes: receiving a destination and a first location of the vehicle sent by the vehicle; obtaining a second location of the drone; and obtaining the vehicle's operating route based on the destination, the first location, the second location, the vehicle's first obstacle information and first environmental information, and the drone's second obstacle information, second traffic information, and second environmental information.

[0135] In some embodiments, the second control module 830 further includes: receiving first status information sent by the vehicle, the first status information being used to indicate the status of the hardware device for the vehicle to execute operating instructions; and adjusting the vehicle's operating instructions according to the first status information.

[0136] According to one aspect of the embodiments of this application, Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 9 As shown, the electronic device 900 includes a processor 910 and one or more memories 920. The one or more memories 920 are used to store program instructions executed by the processor 910. When the processor 910 executes the program instructions, it implements the above-mentioned vehicle intelligent driving control method.

[0137] Furthermore, the processor 910 may include one or more processing cores. The processor 910 runs or executes instructions, programs, code sets, or instruction sets stored in the memory 920, and retrieves data stored in the memory 920. Optionally, the processor 910 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 910 may integrate one or a combination of several of the following: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor and may be implemented using a separate communication chip.

[0138] According to one aspect of this application, a computer-readable storage medium is also provided, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable storage medium carries computer-readable instructions that, when executed by a processor, implement the methods in any of the above embodiments.

[0139] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0140] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0141] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0142] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0143] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method for intelligent driving of a vehicle, characterized in that, Applied to a vehicle, wherein the vehicle wirelessly communicates with a drone, the method includes: The vehicle acquires first obstacle information and first environmental information; wherein, the first obstacle information is the road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle acquired by the vehicle's camera system. Send the first obstacle information and the first environmental information to the drone; Receive the operation instructions sent by the drone; the operation instructions are used to instruct the vehicle to travel according to the operation route; Based on the first obstacle information and the first environmental information, the driving behavior of the vehicle is controlled according to the operating instructions.

2. The method according to claim 1, characterized in that, The vehicle and the drone are wirelessly charged, the vehicle is equipped with a drone docking system, and the method includes: Receive the operating status of the drone sent by the drone; If the drone is in a non-working state, the drone will be wirelessly charged via contact at the location of the drone docking system. Based on the drone's operating status being in working condition, the drone performs non-contact wireless charging at a position a first interval away from the drone docking system.

3. The method according to claim 2, characterized in that, The method involves, based on the drone's operating state, determining it to be in a working state, and having the drone perform contactless wireless charging at a first interval away from the drone docking system. The method includes: Receive the drone's battery level information sent by the drone; If the drone is fully charged, stop the non-contact wireless charging of the drone. The drone is not fully charged, so non-contact wireless charging is performed on the drone.

4. The method according to claim 1, characterized in that, After controlling the vehicle's driving behavior according to the operating instructions based on the first obstacle information and the first environmental information, the method further includes: Acquire first status information of the vehicle; the first status information is used to indicate the status of the hardware device of the vehicle executing the operating command. The first status information is sent to the drone.

5. A control method for intelligent driving of a vehicle, characterized in that, Applied to a drone, wherein the drone communicates wirelessly with a vehicle, the method includes: The vehicle receives first obstacle information and first environmental information; wherein, the first obstacle information is the road infrastructure around the vehicle obtained by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle obtained by the vehicle's camera system. The drone acquires second obstacle information, second traffic information, and second environmental information; wherein, the second obstacle information is the road infrastructure around the drone acquired by the drone's ultrasonic system, the second traffic information is the traffic vehicles around the drone acquired by the drone's lidar system, and the second environmental information is the traffic signs around the drone acquired by the drone's camera system. The vehicle's operating route is obtained based on the vehicle's first obstacle information and first environmental information, the drone's second obstacle information, second traffic information, and second environmental information; The system sends a running instruction to the vehicle based on the running route; the running instruction is used to instruct the vehicle to travel according to the running route.

6. The method according to claim 5, characterized in that, The step of obtaining the vehicle's operating route based on the vehicle's first obstacle information and first environmental information, the drone's second obstacle information, second traffic information, and second environmental information includes: Receive the destination and the vehicle's first location sent by the vehicle; Obtain the second location of the drone; Based on the destination and first location, second location, first obstacle information and first environmental information of the vehicle, and second obstacle information, second traffic information and second environmental information of the UAV, the operating route of the vehicle is obtained.

7. The method according to claim 5, characterized in that, After sending the operation command to the vehicle based on the operation route, the method further includes: Receive first status information sent by the vehicle, the first status information being used to indicate the status of the hardware device of the vehicle executing the operating command; Based on the first status information, the operating instructions of the vehicle are adjusted.

8. A control device for intelligent driving of a vehicle, characterized in that, Applied to a vehicle, the vehicle wirelessly communicating with a drone, the device includes: The first acquisition module is used to acquire first obstacle information and first environmental information of the vehicle; wherein, the first obstacle information is the road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle acquired by the vehicle's camera system. The first transmitting module is used to transmit the first obstacle information and the first environmental information to the drone; The first receiving module is used to receive the operation instructions sent by the drone; the operation instructions are used to instruct the vehicle to travel according to the operation route; The first control module is used to control the driving behavior of the vehicle according to the running instructions based on the first obstacle information and the first environmental information.

9. A control device for intelligent driving of a vehicle, characterized in that, Applied to a drone, wherein the drone communicates wirelessly with a vehicle, the device includes: The second acquisition module is used to receive the vehicle's first obstacle information and first environmental information; wherein, the first obstacle information is the road infrastructure around the vehicle acquired by the vehicle's ultrasonic system, and the first environmental information is the traffic signs around the vehicle acquired by the vehicle's camera system. The second receiving module is used to acquire the second obstacle information, the second traffic information, and the second environmental information of the UAV; wherein, the second obstacle information is the road infrastructure around the UAV acquired by the ultrasonic system of the UAV, the second traffic information is the traffic vehicles around the UAV acquired by the lidar system of the UAV, and the second environmental information is the traffic signs around the UAV acquired by the camera system of the UAV. The second control module is used to obtain the vehicle's operating route based on the vehicle's first obstacle information and first environmental information, the drone's second obstacle information, second traffic information, and second environmental information; The second sending module is used to send a running instruction to the vehicle based on the running route; the running instruction is used to instruct the vehicle to travel according to the running route.

10. A computer device, characterized in that, The computer device includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the control method as described in any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code that can be invoked by a processor or electronic device to execute the control method as described in any one of claims 1 to 7.

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