Control method of vehicle-mounted equipment, electronic equipment and vehicle

Abstract

The invention provides a control method of vehicle-mounted equipment, electronic equipment and a vehicle, the method is applied to a vehicle control technology, and the method comprises the following steps: determining a current driving scene of the vehicle; determining a target anchor point coordinate of the vehicle-mounted equipment in the current driving scene; determining a target script corresponding to the current driving scene; wherein the target script is used for describing a running path of the vehicle-mounted equipment based on the target anchor point coordinates; and based on the target anchor point coordinate and the target script, controlling the vehicle-mounted equipment to shoot in the current driving scene. According to the method, the following shot track of the vehicle-mounted equipment can be more flexible, so that the deep coordination of the mirror moving of the vehicle-mounted equipment and the dynamic driving track of the vehicle is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and more particularly, to a control method of a vehicle-mounted device, an electronic device and a vehicle in the technical field of vehicle control. BACKGROUND

[0002] With the continuous development of unmanned aerial vehicle technology, it has become a reality to use unmanned aerial vehicles to automatically follow and shoot vehicles in motion. At present, the mainstream follow and shoot schemes mainly include following based on absolute coordinates, shooting based on preset flight lines, and mode switching based on simple logic (for example, front follow, rear follow, left front oblique angle follow, etc.). However, in the process of unmanned aerial vehicle follow and shoot, the above follow and shoot schemes are relatively fixed, and therefore the common problem of "rigid shooting effect" exists. Therefore, how to make the follow and shoot track of the unmanned aerial vehicle more flexible has become a key problem to be solved at present. SUMMARY

[0003] The present application provides a control method of a vehicle-mounted device, an electronic device and a vehicle, which can make the follow and shoot track of the vehicle-mounted device more flexible, thereby realizing deep cooperation between the camera operation of the vehicle-mounted device and the dynamic driving track of the vehicle.

[0004] In a first aspect, a control method of a vehicle-mounted device is provided, which includes: determining a current driving scene of a vehicle; determining a target anchor point coordinate of the vehicle-mounted device in the current driving scene; determining a target script corresponding to the current driving scene; wherein the target script is used to describe a running path of the vehicle-mounted device based on the target anchor point coordinate; and controlling the vehicle-mounted device to shoot in the current driving scene based on the target anchor point coordinate and the target script.

[0005] The above technical solution first determines the current driving scene of the vehicle and the target anchor point coordinate of the vehicle-mounted device in the current driving scene, which will serve as a key reference point for the running of the vehicle-mounted device. Then, the target script corresponding to the current driving scene is determined, which describes in detail the running path of the vehicle-mounted device based on the target anchor point coordinate. Finally, the vehicle-mounted device is precisely controlled to shoot in the current driving scene based on the target anchor point coordinate and the target script. This method enables the vehicle-mounted device to flexibly adjust its running path according to different driving scenes, making the follow and shoot track of the vehicle-mounted device more flexible, thereby realizing deep cooperation between the camera operation of the vehicle-mounted device and the dynamic driving track of the vehicle, and further improving the adaptability and practicality of the vehicle-mounted device shooting.

[0006] With reference to the first aspect, in some possible implementation manners, the target anchor point coordinate of the vehicle-mounted device in the current driving scene is determined, including: obtaining an initial anchor point coordinate of the vehicle-mounted device in the current driving scene; obtaining a driving state parameter of the vehicle in the current driving scene; and correcting the initial anchor point coordinate based on the driving state parameter to obtain the target anchor point coordinate of the vehicle-mounted device in the current driving scene.

[0007] The above technical solution first obtains the initial anchor point coordinate of the vehicle-mounted device in the current driving scene, then obtains the driving state parameter of the vehicle in the current driving scene, which can reflect the dynamic situation of the vehicle at the moment, and then corrects the initial anchor point coordinate based on the driving state parameter. Through this dynamic adjustment manner, the target anchor point coordinate of the vehicle-mounted device in the current driving scene is more accurate and reasonable, so as to better adapt to the actual driving condition of the vehicle, and thus improve the subsequent shooting effect of the vehicle-mounted device.

[0008] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the driving state parameter includes a current speed, a steering wheel rotation angle, a yaw angular velocity, a lateral acceleration, and a turning radius; the initial anchor point coordinate is corrected based on the driving state parameter to obtain the target anchor point coordinate of the vehicle-mounted device in the current driving scene, including: in a case where the current driving scene is a first driving scene, the initial anchor point coordinate is corrected based on the turning radius, the current speed, the steering wheel rotation angle, and the lateral acceleration to obtain the target anchor point coordinate of the vehicle-mounted device in the first driving scene; in a case where the current driving scene is a second driving scene, the initial anchor point coordinate is corrected based on a bumping feature of the vehicle in the second driving scene to obtain the target anchor point coordinate of the vehicle-mounted device in the second driving scene; in a case where the current driving scene is a third driving scene, the initial anchor point coordinate is corrected based on the yaw angular velocity to obtain the target anchor point coordinate of the vehicle-mounted device in the third driving scene; and in a case where the current driving scene is a fourth driving scene, the initial anchor point coordinate is corrected based on the current speed to obtain the target anchor point coordinate of the vehicle-mounted device in the fourth driving scene.

[0009] The technical solution is characterized in that, for different driving scenes, the driving state parameters suitable for the scenes are used to correct the initial anchor point coordinates to obtain accurate target anchor point coordinates of the vehicle-mounted device. In the first driving scene, the key parameters such as the turning radius, the current speed, the steering wheel rotation angle, and the lateral acceleration are comprehensively considered to accurately reflect the dynamic characteristics of the vehicle when turning, and the initial anchor point coordinates are corrected based on the above parameters, which can ensure that the vehicle-mounted device can accurately position to the appropriate position in the first driving scene and avoid position deviation caused by vehicle turning. In the off-road sand driving scene, the initial anchor point coordinates are corrected according to the bumping characteristics of the vehicle in the scene, and the influence of the violent shaking of the vehicle on the positioning of the vehicle-mounted device when off-road sand driving is fully considered, so that the vehicle-mounted device can still accurately find the target position in the complex bumping environment. In the third driving scene, the yaw rate is used as the correction basis, which can well capture the attitude change of the vehicle when drifting, thereby accurately adjusting the target anchor point coordinates of the vehicle-mounted device. In the fourth driving scene, the correction is based on the current speed, which meets the requirement of fine-tuning the position of the vehicle-mounted device according to the current speed under the condition that the vehicle is relatively stable when driving at high speed. Through the above method of distinguishing scenes and correcting the initial anchor point coordinates according to different key parameters, the accuracy of the target anchor point coordinates of the vehicle-mounted device in different driving scenes can be improved, thereby improving the subsequent shooting effect of the vehicle-mounted device.

[0010] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the initial anchor point coordinates include initial anchor point coordinates corresponding to an X direction, a Y direction and a Z direction in a vehicle coordinate system respectively; the target anchor point coordinates include target anchor point coordinates corresponding to the X direction, the Y direction and the Z direction in the vehicle coordinate system respectively; the target anchor point coordinates of the vehicle-mounted device in the first driving scene are determined in the following manner: the initial anchor point coordinates of the X direction are corrected based on the current speed to obtain target anchor point coordinates of the X direction of the vehicle-mounted device in the first driving scene; the initial anchor point coordinates of the Y direction are corrected based on the steering wheel rotation angle and the turning radius to obtain target anchor point coordinates of the Y direction of the vehicle-mounted device in the first driving scene; and the initial anchor point coordinates of the Z direction are corrected based on the lateral acceleration to obtain target anchor point coordinates of the Z direction of the vehicle-mounted device in the first driving scene; or the target anchor point coordinates of the vehicle-mounted device in the second driving scene are determined in the following manner: the initial anchor point coordinates of the Z direction are corrected based on the jolt feature of the vehicle in the second driving scene to obtain target anchor point coordinates of the Z direction of the vehicle-mounted device in the second driving scene; the initial anchor point coordinates of the X direction are taken as target anchor point coordinates of the X direction, and the initial anchor point coordinates of the Y direction are taken as target anchor point coordinates of the Y direction; or the target anchor point coordinates of the vehicle-mounted device in the third driving scene are determined in the following manner: the initial anchor point coordinates of the Y direction are corrected based on the yaw rate to obtain target anchor point coordinates of the Y direction of the vehicle-mounted device in the third driving scene; the initial anchor point coordinates of the X direction are taken as target anchor point coordinates of the X direction, and the initial anchor point coordinates of the Z direction are taken as target anchor point coordinates of the Z direction; or the target anchor point coordinates of the vehicle-mounted device in the fourth driving scene are determined in the following manner: the initial anchor point coordinates of the X direction are corrected based on the current speed to obtain target anchor point coordinates of the X direction of the vehicle-mounted device in the fourth driving scene; the initial anchor point coordinates of the Y direction are taken as target anchor point coordinates of the Y direction, and the initial anchor point coordinates of the Z direction are taken as target anchor point coordinates of the Z direction.

[0011] The technical solution is characterized in that, for different driving scenes, specific parameters are used to correct the initial anchor point coordinates of the vehicle-mounted device in each direction respectively to determine accurate target anchor point coordinates. In the first driving scene, the initial anchor point coordinates in the X, Y and Z directions are corrected by comprehensively considering the key factors of the current speed, steering wheel rotation angle, turning radius and lateral acceleration. Specifically, the current speed affects the longitudinal position change of the vehicle during turning, the steering wheel rotation angle and the turning radius determine the turning trajectory of the vehicle and then affect the lateral position, and the lateral acceleration reflects the lateral force condition of the vehicle during turning and affects the height direction position. The correction of these parameters can ensure accurate positioning of the vehicle-mounted device in three-dimensional space during turning. In the second driving scene, the initial anchor point coordinates in the Z direction are corrected mainly according to the vehicle bouncing characteristics. Because the vehicle bouncing mainly affects the height direction position of the vehicle-mounted device during off-road driving, and the X and Y directions are less affected by the bouncing, the initial anchor point coordinates are directly used to ensure the accuracy of the height positioning of the vehicle-mounted device in a complex bouncing environment. In the third driving scene, the initial anchor point coordinates in the Y direction are corrected based on the yaw rate. The yaw rate can well reflect the lateral attitude change of the vehicle during drifting, and the X and Z directions are less affected by the drifting, so the initial anchor point coordinates are directly used to ensure accurate lateral positioning of the vehicle-mounted device in the drifting scene. In the fourth driving scene, the initial anchor point coordinates in the X direction are corrected according to the current speed. The longitudinal position change of the vehicle is related to the speed at high speed, and the Y and Z directions are relatively stable, so the initial anchor point coordinates are directly used to determine the accuracy of the longitudinal positioning of the vehicle-mounted device during high-speed cruising. Through the above scene-based and direction-based accurate correction method, the accuracy of the target anchor point coordinates of the vehicle-mounted device in different driving scenes can be improved, thereby improving the subsequent shooting effect of the vehicle-mounted device.

[0012] In combination with the first aspect and the above implementation manner, in some possible implementation manners, based on the target anchor point coordinates and the target script, the vehicle-mounted device is controlled to shoot in the current driving scene, including: based on the target anchor point coordinates and the target script, determining actual motion coordinates of the vehicle-mounted device; and based on the actual motion coordinates, controlling the vehicle-mounted device to shoot in the current driving scene.

[0013] The technical solution above determines the actual motion coordinates of the vehicle-mounted device through the coordination of the target anchor point coordinates and the target script, thereby accurately controlling the shooting action of the vehicle-mounted device in the current driving scene. The target anchor point coordinates provide a clear spatial positioning reference for the vehicle-mounted device, which comprehensively considers various dynamic factors in different driving scenes, ensuring that the vehicle-mounted device can accurately reach the predetermined shooting position in a complex and variable driving environment. The target script describes in detail the running path of the vehicle-mounted device based on the target anchor point coordinates. Based on the target anchor point coordinates and the target script, the actual motion coordinates are determined, which enables the vehicle-mounted device to accurately move along the planned path, thereby ensuring that the follow-up trajectory of the vehicle-mounted device is more consistent with the dynamic driving trajectory of the vehicle.

[0014] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the target script includes a determination rule of a target offset relative to the target anchor point coordinates in the current driving scene; and determining the actual motion coordinates of the vehicle-mounted device based on the target anchor point coordinates and the target script includes: determining the target offset relative to the target anchor point coordinates based on the determination rule in the target script; and determining the actual motion coordinates of the vehicle-mounted device according to the target anchor point coordinates and the target offset.

[0015] The technical solution above determines the target offset based on the determination rule in the target script, and then determines the actual motion coordinates of the vehicle-mounted device in combination with the target anchor point coordinates. The target offset determination rule included in the target script is carefully designed for different driving scenes, so that the determined target offset can accurately reflect the position change of the vehicle-mounted device relative to the target anchor point coordinates in the current driving scene. Based on the target script, the target offset is first determined, and then the actual motion coordinates are determined according to the target anchor point coordinates and the target offset. The target anchor point coordinates provide a basic positioning for the vehicle-mounted device, and the target offset is accurately adjusted based on this. The combination of the two ensures the accuracy of the actual motion coordinates. The above method of determining the actual motion coordinates enables the vehicle-mounted device to quickly and accurately reach the ideal shooting position in different driving scenes, thereby improving the shooting effect of the vehicle-mounted device.

[0016] In combination with the first aspect and the above implementation manners, in some possible implementation manners, determining the target offset relative to the target anchor point coordinates based on the determination rule in the target script includes: obtaining a target parameter; wherein the target parameter includes a preset driving parameter of the vehicle-mounted device or a driving state parameter of the vehicle; and determining the target offset based on the target parameter and the determination rule in the target script.

[0017] The technical solution can improve the accuracy of determining the target offset by obtaining the target parameter and determining the target offset relative to the target anchor point coordinate based on the target parameter and the target script. The obtained target parameter is the key starting point of the entire process. The preset driving parameters of the vehicle-mounted device are pre-set, which provides a data basis for the flight of the vehicle-mounted device. The driving state parameters of the vehicle reflect the dynamic information of the vehicle during driving in real time, which can accurately capture the changes in the driving state of the vehicle. The target offset is determined based on the target parameter and the determination rules in the target script, which can fully consider the actual operation of the vehicle and the vehicle-mounted device, so that the target offset can accurately adapt to different scene requirements, thereby improving the shooting effect of the vehicle-mounted device.

[0018] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the preset driving parameters include a preset orbit radius, a preset orbit angular velocity, a preset ascending velocity, and a preset forward velocity; the driving state parameters include a yaw angular velocity and a lateral acceleration; the target offset includes target offsets corresponding to an X direction, a Y direction, and a Z direction in a world coordinate system respectively; and the target offset is determined based on the target parameter and the determination rules in the target script, including: in a case where the current driving scene is a first driving scene, determining the target offset of the X direction and the target offset of the Y direction based on the preset orbit radius and the preset orbit angular velocity, and determining the target offset of the Z direction based on the preset ascending velocity; in a case where the current driving scene is a second driving scene, determining the target offset of the X direction and the target offset of the Y direction based on the preset orbit radius and the preset orbit angular velocity, and determining the target offset of the Z direction based on the preset ascending velocity; in a case where the current driving scene is a third driving scene, determining the target offset of the X direction based on the yaw angular velocity, determining the target offset of the Z direction based on the lateral acceleration, and determining a first preset offset as the target offset of the Y direction; and in a case where the current driving scene is a fourth driving scene, determining the target offset of the X direction based on the preset forward velocity, determining a second preset offset as the target offset of the Y direction, and determining a third preset offset as the target offset of the Z direction.

[0019] The technical solution is characterized in that, for different current driving scenes, accurate and detailed target offset determination strategies are formulated respectively to accurately determine the target offset. In the first driving scene and the second driving scene, a similar determination method is adopted to determine the target offset in the X direction and the Y direction based on a preset wrap-around radius and a preset wrap-around angular velocity. The preset parameters can simulate the influence of the vehicle driving track on the position of the vehicle-mounted device, ensure that the vehicle-mounted device can stably wrap around the vehicle, and determine the target offset in the Z direction based on a preset ascending velocity to ensure that the vehicle-mounted device maintains a proper height difference with the vehicle in the vertical direction, thereby avoiding affecting the shooting effect due to improper height. In the third driving scene, the target offset in the X direction is determined according to the yaw rate, which can accurately capture the dynamic changes of the lateral swing of the vehicle body when the vehicle drifts. The target offset in the Z direction is determined based on the lateral acceleration, which takes into account the influence of the lateral impact force generated when the vehicle drifts on the height of the vehicle-mounted device to ensure that the vehicle-mounted device flies stably. The first preset offset is determined as the target offset in the Y direction, which provides a stable reference value for the lateral position of the vehicle-mounted device during the vehicle drifting process. In the fourth driving scene, the target offset in the X direction is determined according to the preset forward speed, so that the vehicle-mounted device can advance synchronously with the vehicle to avoid being pulled away due to speed difference. The second preset offset and the third preset offset are determined as the target offsets in the Y direction and the Z direction, respectively, which can ensure the stability of the shooting picture. The above method of determining the target offset according to different driving scenes enables the vehicle-mounted device to accurately adjust its position in various complex and variable scenes, thereby improving the shooting effect of the vehicle-mounted device.

[0020] In a second aspect, a control device of a vehicle-mounted device is provided, which includes: a first determination module configured to determine a current driving scene of a vehicle; a second determination module configured to determine a target anchor point coordinate of the vehicle-mounted device in the current driving scene; a third determination module configured to determine a target script corresponding to the current driving scene, wherein the target script is used to describe a running path of the vehicle-mounted device based on the target anchor point coordinate; and a control module configured to control the vehicle-mounted device to shoot in the current driving scene based on the target anchor point coordinate and the target script.

[0021] In a third aspect, an electronic device is provided, which includes a memory and a processor. The memory is configured to store executable program code, and the processor is configured to call and run the executable program code from the memory, so that the electronic device executes the method in the first aspect or any possible implementation manner of the first aspect.

[0022] In a fourth aspect, a vehicle is provided, which includes an electronic device configured to execute any of the above methods.

[0023] In a fifth aspect, a vehicle-mounted device is provided, which includes an electronic device for performing any of the above methods.

[0024] In a sixth aspect, a computer program product is provided, which includes computer program code, which, when executed on a computer, causes the computer to perform the method of the first aspect or any of the possible implementation manners of the first aspect.

[0025] In a seventh aspect, a computer-readable storage medium is provided, which stores computer program code, which, when executed on a computer, causes the computer to perform the method of the first aspect or any of the possible implementation manners of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic flowchart of a control method of a vehicle-mounted device provided by an embodiment of the present application.

[0027] Figure 2 is a schematic flowchart of a control method of a vehicle-mounted unmanned aerial vehicle provided by an embodiment of the present application.

[0028] Figure 3 is a structural schematic diagram of a control device of a vehicle-mounted device provided by an embodiment of the present application.

[0029] Figure 4 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0031] Hereinafter, the terms "first", "second" are only used for description purposes, and cannot be understood as implying or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features.

[0032] With the continuous development of unmanned aerial vehicle technology, it has become a reality to use unmanned aerial vehicles to automatically follow and shoot vehicles in motion. At present, the main follow-up shooting schemes mainly include follow-up shooting based on absolute coordinates, shooting based on preset flight lines, and mode switching based on simple logic (for example, front follow-up shooting, rear follow-up shooting, left front oblique angle follow-up shooting, etc.). However, during the follow-up shooting of the unmanned aerial vehicle, the above-mentioned follow-up shooting schemes are relatively fixed, so there is a common problem of "rigid shooting effect". Therefore, how to make the follow-up shooting track of the unmanned aerial vehicle more flexible has become a key problem to be solved at present.

[0033] To at least solve the above problems, the embodiments of the present application provide a control method of a vehicle-mounted device, applied to a controller, the controller including a vehicle controller and a vehicle-mounted device controller. In the embodiments of the present application, the vehicle-mounted device can be understood as a vehicle-mounted unmanned aerial vehicle, and the vehicle-mounted device controller can be understood as a vehicle-mounted unmanned aerial vehicle controller. The method can make the follow-up shooting track of the vehicle-mounted unmanned aerial vehicle more flexible, thereby realizing deep cooperation between the lens movement of the vehicle-mounted unmanned aerial vehicle and the dynamic driving track of the vehicle.

[0034] Figure 1 FIG. 1 is a schematic flowchart of a control method of a vehicle-mounted device provided by an embodiment of the present application.

[0035] As shown in FIG. 1, the method 100 includes: Figure 1 Step 101, determining a current driving scene of a vehicle.

[0036] Step 102, determining a target anchor point coordinate of the vehicle-mounted device in the current driving scene.

[0037] Step 103, determining a target script corresponding to the current driving scene; wherein the target script is used to describe a running path of the vehicle-mounted device based on the target anchor point coordinate.

[0038] Step 104, controlling the vehicle-mounted device to shoot in the current driving scene based on the target anchor point coordinate and the target script.

[0039] ​In the embodiments of the present application, by first determining the current driving scene in which the vehicle is located, and determining the target anchor point coordinate of the vehicle-mounted device in the current driving scene, the target anchor point coordinate will serve as a key reference point for the operation of the vehicle-mounted device, then, determining the target script corresponding to the current driving scene, the target script describes in detail the operation path of the vehicle-mounted device based on the target anchor point coordinate, finally, based on the target anchor point coordinate and the target script, the vehicle-mounted device is precisely controlled to shoot in the current driving scene. This method enables the vehicle-mounted device to flexibly adjust its operation path according to different driving scenes, making the follow-up shooting track of the vehicle-mounted device more flexible, thereby realizing the deep cooperation between the operation of the vehicle-mounted device and the dynamic driving track of the vehicle, and further improving the adaptability and practicality of the shooting of the vehicle-mounted device.

[0040] The implementation of each step of the embodiments shown in the following will be described in detail. Figure 1

[0041] For step 101, it can be understood that the above-mentioned current driving scene is used to describe the running state of the environment in which the vehicle is located during driving, specifically, the vehicle controller can determine the current driving scene of the vehicle through the driving state parameters of the vehicle.

[0042] The above-mentioned driving state parameters can include current speed, steering wheel rotation angle, yaw rate, lateral acceleration, turning radius, wheel speed, accelerator pedal stroke, and suspension stroke.

[0043] The above-mentioned driving scene can include a high-speed cruising scene, a turning scene (including a sharp turning scene and a mountain road turning scene), an off-road scene (including an off-road sand driving scene), and a vehicle drifting scene.

[0044] In some embodiments, determining the current driving scene of the vehicle includes: determining, based on the current speed, the yaw rate, the lateral acceleration, and the steering wheel rotation angle, that the current driving scene of the vehicle is a high-speed cruising scene.

[0045] Specifically, in the case where the current speed is greater than a first preset speed threshold, the absolute value of the yaw rate is less than a first preset yaw rate threshold, the absolute value of the lateral acceleration is less than a first preset lateral acceleration threshold, and the absolute value of the steering wheel rotation angle is less than a first preset steering wheel rotation angle threshold, it is determined that the current driving scene of the vehicle is a high-speed cruising scene.

[0046] It can be understood that the above-mentioned first preset speed threshold is used to determine whether the vehicle is in a high-speed driving state, and the first preset speed threshold can be pre-calibrated. Optionally, the first preset speed threshold can be pre-calibrated to 80 kph.

[0047] ​The first preset yaw rate threshold is used to determine whether the vehicle is in a straight driving state, and the first preset yaw rate threshold can be pre-calibrated. Optionally, the first preset yaw rate threshold can be pre-calibrated to 0.05 rad / s.

[0048] The first preset lateral acceleration threshold is also used to determine whether the vehicle is in a straight driving state, and the first preset lateral acceleration threshold can be pre-calibrated. Optionally, the first preset lateral acceleration threshold can be pre-calibrated to 0.5 m / s 2 .

[0049] The first preset steering wheel rotation angle threshold is also used to determine whether the vehicle is in a straight driving state, and the first preset steering wheel rotation angle threshold can be pre-calibrated. Optionally, the first preset steering wheel rotation angle threshold can be pre-calibrated to 0.087 rad.

[0050] Therefore, in the case that the current speed is greater than the first preset speed threshold, the absolute value of the yaw rate is less than the first preset yaw rate threshold, the absolute value of the lateral acceleration is less than the first preset lateral acceleration threshold, and the absolute value of the steering wheel rotation angle is less than the first preset steering wheel rotation angle threshold, it can be determined that the vehicle is in a high-speed straight driving state. The high-speed straight driving state can be understood as the vehicle state in the high-speed cruising scenario.

[0051] In some embodiments, determining the current driving scenario of the vehicle includes: determining, based on the steering wheel rotation angle, the yaw rate, and the lateral acceleration, that the current driving scenario of the vehicle is a turning scenario.

[0052] Specifically, in the case that the absolute value of the steering wheel rotation angle is greater than the second preset steering wheel rotation angle threshold, the absolute value of the yaw rate is greater than the second preset yaw rate threshold, the absolute value of the lateral acceleration is greater than the second preset lateral acceleration, and the absolute value of the difference between the lateral acceleration and the theoretical line acceleration is less than the first preset difference threshold, it is determined that the current driving scenario of the vehicle is a turning scenario.

[0053] It can be understood that the second preset steering wheel rotation angle threshold is used to determine whether the vehicle has a large degree of swing, and the second preset steering wheel rotation angle threshold can be pre-calibrated. Optionally, the second preset steering wheel rotation angle threshold can be pre-calibrated to 0.3 rad. The second preset steering wheel rotation angle threshold can also be understood as a sharp turning angle threshold.

[0054] The second preset yaw rate threshold is also used to determine whether the vehicle has a large degree of swing, and the second preset yaw rate threshold can be pre-calibrated. Optionally, the second preset yaw rate threshold can be pre-calibrated to 0.5 rad / s.

[0055] The second preset lateral acceleration threshold is used to determine whether the vehicle has a large degree of swing, and the second preset lateral acceleration threshold can be pre-calibrated. Optionally, the second preset lateral acceleration threshold can be pre-calibrated to 2.5 m / s 2 .

[0056] The theoretical linear acceleration refers to the acceleration of the vehicle in an ideal straight driving state. The first preset difference threshold is used to determine whether the vehicle is in a stable state, and the first preset difference threshold can be pre-calibrated. Optionally, the first preset difference threshold can be pre-calibrated to 1.5 m / s 2 The absolute value of the difference between the actual yaw acceleration and the theoretical acceleration can be used to describe the swing of the vehicle within a reasonable range.

[0057] Therefore, in the case that the absolute value of the steering wheel rotation angle is greater than the second preset steering wheel rotation angle threshold, the absolute value of the yaw rate is greater than the second preset yaw rate threshold, the absolute value of the lateral acceleration is greater than the second preset lateral acceleration, and the absolute value of the difference between the lateral acceleration and the theoretical linear acceleration is less than the first preset difference threshold, it can be determined that the vehicle is in a turning state. The turning state can be understood as the vehicle state in the turning scenario.

[0058] In some embodiments, determining the current driving scenario of the vehicle includes: determining, based on the current vehicle speed, the wheel speed of the vehicle, the accelerator pedal stroke, and the suspension stroke, that the current driving scenario of the vehicle is an off-road scenario.

[0059] Specifically, in the case that the current speed is greater than the second preset speed threshold, the wheel speed variance of the four wheels is greater than the preset variance threshold, the accelerator pedal stroke is greater than the preset accelerator pedal stroke threshold, the duration of the accelerator pedal stroke being greater than the preset accelerator pedal stroke threshold is greater than the preset duration threshold, the absolute value of the difference between the left suspension stroke and the right suspension stroke is greater than the second preset difference threshold, and the change rate of a single suspension stroke within a preset period is greater than the preset change rate threshold, it is determined that the current driving scenario of the vehicle is an off-road scenario.

[0060] It can be understood that the second preset speed threshold is used to determine whether the vehicle is in a driving state, and the second preset speed threshold can be pre-calibrated. Optionally, the second preset speed threshold can be pre-calibrated to 0 kph.

[0061] The preset variance threshold is used to determine whether the wheel speed of the wheel fluctuates, and the preset variance threshold can be pre-calibrated. Optionally, the preset variance threshold can be pre-calibrated to 3 kph 2 .

[0062] The preset accelerator pedal stroke threshold is used to determine whether the vehicle is in an accelerating state, and the preset accelerator pedal stroke threshold can be pre-calibrated. Optionally, the preset accelerator pedal stroke threshold can be pre-calibrated to 60%.

[0063] The preset duration threshold is used to determine whether the vehicle is continuously in an accelerating state, and the preset duration threshold can be pre-calibrated.

[0064] The second preset difference threshold is used to determine whether the vehicle is on uneven road surface (e.g., desert), and the second preset difference threshold can be pre-calibrated. Optionally, the second preset difference threshold can be pre-calibrated to 0.15 m.

[0065] The preset change rate threshold is used to determine whether the vehicle is jolting, and the preset change rate threshold can be pre-calibrated. Optionally, the preset change rate threshold can be pre-calibrated to 0.08 m / s.

[0066] Therefore, in the case that the current speed is greater than the second preset speed threshold, the wheel speed variance of the four wheels is greater than the preset variance threshold, the accelerator pedal stroke is greater than the preset accelerator pedal stroke threshold, the duration that the accelerator pedal stroke is greater than the preset accelerator pedal stroke threshold is greater than the preset duration threshold, the absolute value of the difference between the left side suspension stroke and the right side suspension stroke is greater than the second preset difference threshold, and the change rate of the single suspension stroke in the preset period is greater than the preset change rate threshold, it can be determined that the vehicle is accelerating on uneven road surface and the vehicle is jolting. The vehicle accelerating on uneven road surface and the vehicle jolting can be understood as the vehicle state in the off-road scene.

[0067] In some embodiments, determining the current driving scene of the vehicle includes: determining, based on the yaw rate and the steering wheel rotation angle, that the current driving scene of the vehicle is a vehicle drifting scene.

[0068] Specifically, in the case that the absolute value of the yaw rate is greater than the third preset yaw rate threshold and the absolute value of the steering wheel rotation angle is less than the third preset steering wheel rotation angle threshold, it is determined that the current driving scene of the vehicle is a vehicle drifting scene.

[0069] It can be understood that the third preset yaw rate threshold is used to determine whether the vehicle is in a maximum degree of swing, and the third preset yaw rate can be pre-calibrated. Optionally, the third preset yaw rate can be pre-calibrated to 0.8 rad / s.

[0070] The third preset steering wheel rotation angle threshold is also used to determine whether the vehicle is in a maximum degree of swing, and the third preset steering wheel rotation angle threshold can be pre-calibrated. Optionally, the third preset steering wheel rotation angle threshold can be pre-calibrated to 0.7 rad.

[0071] Therefore, in the case that the absolute value of the yaw rate is greater than the third preset yaw rate threshold value and the absolute value of the steering wheel rotation angle is less than the third preset steering wheel rotation angle threshold value, it can be determined that the vehicle has a maximum degree of yaw behavior, which can be understood as the vehicle state in the vehicle drift scenario.

[0072] Meanwhile, in the process of determining that the vehicle is in the vehicle drift scenario, in order to ensure the driving safety of the vehicle, a condition judgment of whether the ESC (Electronic Stability Control) access flag is in an activated state can also be added, that is, in the case that the ESC access flag is in the activated state, the absolute value of the yaw rate is greater than the third preset yaw rate threshold value, and the absolute value of the steering wheel rotation angle is less than the third preset steering wheel rotation angle threshold value, it can also be determined that the current driving scenario of the vehicle is the vehicle drift scenario.

[0073] In addition, if it is determined that the current driving scenario of the vehicle is not any of the above driving scenarios, it is determined that the current driving scenario of the vehicle is the fixed driving scenario.

[0074] For step 102, it can be understood that the target anchor point coordinate can be understood as a target positioning reference point of the vehicle-mounted UAV in the vehicle-mounted environment relative to the vehicle coordinate system.

[0075] In the case that the vehicle controller determines the current driving scenario of the vehicle, the vehicle controller can directly send the information of the current driving scenario of the vehicle to the vehicle-mounted UAV controller, and then the vehicle-mounted UAV controller determines the target anchor point coordinate. In addition, the vehicle controller can also determine the target anchor point coordinate of the vehicle-mounted UAV in the current driving scenario and send the target anchor point coordinate to the vehicle-mounted UAV controller.

[0076] In some embodiments, determining the target anchor point coordinate of the vehicle-mounted device in the current driving scenario includes: obtaining an initial anchor point coordinate of the vehicle-mounted device in the current driving scenario; obtaining a driving state parameter of the vehicle in the current driving scenario; and correcting the initial anchor point coordinate based on the driving state parameter to obtain the target anchor point coordinate of the vehicle-mounted device in the current driving scenario.

[0077] It can be understood that the initial anchor point coordinate can be understood as an initial positioning reference point of the vehicle-mounted UAV in the vehicle-mounted environment relative to the vehicle coordinate system, which can be pre-calibrated or set by the user.

[0078] The vehicle coordinate system can be understood as follows: taking the center of mass of the vehicle as the origin, the X direction as the forward direction of the vehicle, the Y direction as the left direction of the vehicle, and the Z direction as the upward direction of the vehicle, on this basis, the initial anchor point coordinates can include the initial anchor point coordinates corresponding to the X direction, the Y direction and the Z direction in the vehicle coordinate system, and the target anchor point coordinates can include the target anchor point coordinates corresponding to the X direction, the Y direction and the Z direction in the vehicle coordinate system.

[0079] The initial anchor point coordinates of the vehicle-mounted UAV in different driving scenarios will be illustrated below.

[0080] For example, in the case of a current driving scenario being a high-speed cruising scenario, in order to emphasize the grand picture and long shot in this scenario, the initial anchor point coordinates of the vehicle-mounted UAV in the X direction can be moved backward relative to the origin in the vehicle coordinate system, and the initial anchor point coordinates of the vehicle-mounted UAV in the Z direction can be moved upward relative to the origin in the vehicle coordinate system, so the initial anchor point coordinates of the vehicle-mounted UAV in the high-speed cruising scenario can be pre-calibrated as (-15, 0, 12), and the units of the three directions are m.

[0081] In the case of a current driving scenario being a turning scenario, in order to clearly highlight the side shift feeling of the vehicle when turning, the initial anchor point coordinates of the vehicle-mounted UAV in the X direction can be moved forward relative to the origin in the vehicle coordinate system, and the initial anchor point coordinates of the vehicle-mounted UAV in the Z direction can be moved upward relative to the origin in the vehicle coordinate system, so the initial anchor point coordinates of the vehicle-mounted UAV in the turning scenario can be pre-calibrated as (5, 0, 7), and the units of the three directions are m.

[0082] In the case of a current driving scenario being an off-road scenario, in order to more clearly capture the bumping feeling in this scenario, the initial anchor point coordinates in the X direction can be moved backward relative to the origin in the vehicle coordinate system, and the initial anchor point coordinates of the vehicle-mounted UAV in the Z direction can be moved upward relative to the origin in the vehicle coordinate system, for more comprehensive reflection of the bumping feeling of the vehicle, so the initial anchor point coordinates of the vehicle-mounted UAV in the turning scenario can be pre-calibrated as (-10, 0, 5), and the units of the three directions are m.

[0083] In the case of a current driving scenario being a vehicle drifting scenario, in order to clearly capture the drifting posture of the vehicle and capture the tire smoke of the vehicle, the initial anchor point coordinates of the vehicle-mounted UAV in the Z direction can be slightly moved upward relative to the origin in the vehicle coordinate system, so the initial anchor point coordinates of the vehicle-mounted UAV in the turning scenario can be pre-calibrated as (0, 0, 3), and the units of the three directions are m.

[0084] In the case of obtaining the initial anchor point coordinates of the vehicle-mounted UAV in the current driving scene, in order to make the tracking trajectory of the vehicle-mounted UAV more consistent with the driving trajectory of the vehicle, the initial anchor point coordinates can be corrected according to the driving state parameters of the vehicle to obtain the target anchor point coordinates of the vehicle-mounted UAV in the current driving scene. Specifically, the initial anchor point coordinates corresponding to the X direction, the Y direction and the Z direction in the vehicle coordinate system are corrected according to the driving state of the vehicle to obtain the target anchor point coordinates corresponding to the X direction, the Y direction and the Z direction in the vehicle coordinate system of the vehicle-mounted UAV in the current driving scene.

[0085] In addition, in the case that the current driving scene of the vehicle is a fixed driving scene, the initial anchor point coordinates can be calibrated to (-10, 0, 5) in advance, and the units of the three directions are m. Since the vehicle is in a fixed driving scene, there is no need to correct the initial anchor point coordinates according to the driving state parameters of the vehicle. That is, in the fixed driving scene, the initial anchor point coordinates can be further used as the target anchor point coordinates. That is, the target anchor point coordinates of the vehicle-mounted UAV in the fixed driving scene of the vehicle are (-10, 0, 5), and the units of the three directions are m.

[0086] The way of determining the target anchor point coordinates of the vehicle in different driving scenes will be described below.

[0087] In some embodiments, based on the driving state parameters, the initial anchor point coordinates are corrected to obtain the target anchor point coordinates of the vehicle-mounted device in the current driving scene, including: in the case that the current driving scene is the fourth driving scene, the initial anchor point coordinates are corrected based on the current speed to obtain the target anchor point coordinates of the vehicle-mounted device in the fourth driving scene.

[0088] It can be understood that the fourth driving scene described above in the embodiments of the present application can be understood as a high-speed cruising scene. In the case that the vehicle is in a high-speed cruising scene, in order to further ensure the long shot of the vehicle-mounted UAV in this scene, and considering the influence of the high-speed driving state of the vehicle on the vehicle-mounted UAV, the initial anchor point coordinates can be corrected according to the current speed of the vehicle to obtain the target anchor point coordinates of the vehicle-mounted UAV in the high-speed cruising scene.

[0089] Specifically, the target anchor point coordinates of the vehicle-mounted device in the fourth driving scene are determined by: correcting the initial anchor point coordinates of the X direction based on the current speed to obtain the target anchor point coordinates of the X direction of the vehicle-mounted device in the fourth driving scene; taking the initial anchor point coordinates of the Y direction as the target anchor point coordinates of the Y direction, and taking the initial anchor point coordinates of the Z direction as the target anchor point coordinates of the Z direction.

[0090] It can be understood that the controller can correct the initial anchor point coordinates in the X direction in the vehicle coordinate system based on the current speed of the vehicle to obtain target anchor point coordinates in the X direction in the vehicle coordinate system, to ensure that the shooting lens of the vehicle-mounted UAV can slowly move backward with the driving of the vehicle, so as to obtain a more magnificent long shot, while taking the initial anchor point coordinates in the Y direction in the vehicle coordinate system as the target anchor point coordinates in the Y direction in the vehicle coordinate system, and taking the initial anchor point coordinates in the Z direction in the vehicle coordinate system as the target anchor point coordinates in the Z direction in the vehicle coordinate system, to avoid the shooting fluctuation of the vehicle-mounted UAV in other directions. Therefore, the target anchor point coordinates of the vehicle-mounted UAV in the high-speed cruising scene can be set as (-15-V 0.2, 0, 12), the units of the three directions are m, where V is the current speed, the unit is kph.

[0091] In some embodiments, based on the driving state parameter, the initial anchor point coordinates are corrected to obtain target anchor point coordinates of the vehicle-mounted device in the current driving scene, including: in the case that the current driving scene is a first driving scene, the initial anchor point coordinates are corrected based on the turning radius, the current speed, the steering wheel rotation angle and the lateral acceleration to obtain target anchor point coordinates of the vehicle-mounted device in the first driving scene.

[0092] It can be understood that in the embodiments of the present application, the first driving scene can be understood as a turning scene. In the case that the vehicle is in the turning scene, in order to ensure that the vehicle-mounted UAV moves to the front of the center of the curve, the initial anchor point coordinates can be corrected according to the turning radius, the current speed and the lateral acceleration, and considering the influence of the steering wheel rotation angle of the driver on the vehicle attitude, the initial anchor point coordinates can be corrected in combination with the steering wheel rotation angle to obtain target anchor point coordinates of the vehicle-mounted UAV in the turning scene.

[0093] Specifically, the target anchor point coordinates of the vehicle-mounted device in the first driving scene are determined by: correcting the initial anchor point coordinates in the X direction based on the current speed to obtain target anchor point coordinates of the vehicle-mounted device in the X direction in the first driving scene; correcting the initial anchor point coordinates in the Y direction based on the steering wheel rotation angle and the turning radius to obtain target anchor point coordinates of the vehicle-mounted device in the Y direction in the first driving scene; and correcting the initial anchor point coordinates in the Z direction based on the lateral acceleration to obtain target anchor point coordinates of the vehicle-mounted device in the Z direction in the first driving scene.

[0094] It can be understood that the controller can correct the initial anchor point coordinates in the X direction in the vehicle coordinate system based on the current speed of the vehicle to obtain target anchor point coordinates in the X direction in the vehicle coordinate system, to ensure that the shooting lens of the vehicle-mounted UAV can slowly move forward with the driving of the vehicle, can correct the initial anchor point coordinates in the Y direction in the vehicle coordinate system based on the steering wheel rotation angle and the turning radius to obtain target anchor point coordinates in the Y direction in the vehicle coordinate system, to ensure that the shooting lens of the vehicle-mounted UAV can gradually turn with the turning amplitude of the vehicle, and can correct the initial anchor point coordinates in the Z direction in the vehicle coordinate system based on the lateral acceleration to obtain target anchor point coordinates in the Z direction in the vehicle coordinate system, to ensure that the shooting lens of the vehicle-mounted UAV can gradually move up with the turning amplitude of the vehicle, for more comprehensive follow-up shooting of the driving track of the vehicle, so that the target anchor point coordinates of the vehicle-mounted UAV in the turning scene can be set as (5+0.5V, sign ) R, 7+0.5 ), the units of the three directions are m, wherein the above V is the current speed, the unit is kph; the above is the steering wheel rotation angle, the unit is rad; the above R is the turning radius, the unit is m; the above is the lateral acceleration, the unit is m / s 2 .

[0095] The turning radius R can be determined based on the current speed and the yaw rate of the vehicle, specifically, based on the absolute value of the quotient of the current speed and the yaw rate, that is, , wherein the above is the yaw rate, the unit is rad / s.

[0096] In some embodiments, based on the driving state parameter, the initial anchor point coordinates are corrected to obtain target anchor point coordinates of the vehicle-mounted device in the current driving scene, including: in the case that the current driving scene is a second driving scene, based on the bumping characteristics of the vehicle in the second driving scene, the initial anchor point coordinates are corrected to obtain target anchor point coordinates of the vehicle-mounted device in the second driving scene.

[0097] It can be understood that in the embodiments of the present application, the above-mentioned second driving scene can be understood as an off-road scene. In the case that the vehicle is in the off-road scene, in order to further emphasize the bumping feeling in this scene, the initial anchor point coordinates can be corrected based on the bumping characteristics of the vehicle to obtain target anchor point coordinates of the vehicle-mounted UAV in the off-road scene.

[0098] Specifically, the target anchor point coordinates of the vehicle-mounted device in the second driving scene are determined in the following manner: based on the bumping feature of the vehicle in the second driving scene, the initial anchor point coordinates in the Z direction are corrected to obtain the target anchor point coordinates of the vehicle-mounted device in the Z direction in the second driving scene; the initial anchor point coordinates in the X direction are taken as the target anchor point coordinates in the X direction, and the initial anchor point coordinates in the Y direction are taken as the target anchor point coordinates in the Y direction.

[0099] It can be understood that the controller can correct the initial anchor point coordinates in the Z direction in the vehicle coordinate system based on the bumping feature of the vehicle in the off-road scene to obtain the target anchor point coordinates in the Z direction in the vehicle coordinate system, to ensure that the shooting lens of the vehicle-mounted drone can accurately capture the bumping feeling of the vehicle, while taking the initial anchor point coordinates in the X direction in the vehicle coordinate system as the target anchor point coordinates in the X direction in the vehicle coordinate system, and taking the initial anchor point coordinates in the Y direction in the vehicle coordinate system as the target anchor point coordinates in the Y direction in the vehicle coordinate system, to avoid fluctuations in the shooting of the vehicle-mounted drone in other directions. In achieving the above bumping feeling, a sine function can be used, that is, by combining the sine function and the driving time of the vehicle in the off-road scene, the function characteristics of the sine function can be used to simulate the bumping feeling of the vehicle. Therefore, the target anchor point coordinates of the vehicle-mounted drone in the off-road scene can be set to (-10, 0, 5 + sin(time accumulator 10) 0.5), the units of the three directions are m, where the running period of the above time accumulator is 0.01 s, and 0.01 s is added at each moment when the vehicle drives in the off-road scene.

[0100] In addition to using the sine function and the driving time of the vehicle in the off-road scene to simulate the bumping feeling of the vehicle, the change rate of the suspension travel of the vehicle can also be used to simulate the bumping feeling of the vehicle. Specifically, the target anchor point coordinates of the vehicle-mounted drone in the off-road scene can be set to (-10, 0, 5 + 0.2), the units of the three directions are m, where the is the change rate of the suspension travel of the vehicle, with the unit of m / s.

[0101] In some embodiments, based on the driving state parameter, the initial anchor point coordinates are corrected to obtain the target anchor point coordinates of the vehicle-mounted device in the current driving scene, including: in the case that the current driving scene is a third driving scene, based on the yaw rate, the initial anchor point coordinates are corrected to obtain the target anchor point coordinates of the vehicle-mounted device in the third driving scene.

[0102] It can be understood that in the embodiments of the present application, the third driving scene described above can be understood as a vehicle drifting scene. In the case that the vehicle is in the vehicle drifting scene, in order to further highlight the drifting feeling of the vehicle, the initial anchor point coordinates can be corrected according to the yaw angular velocity of the vehicle to obtain the target anchor point coordinates of the vehicle-mounted unmanned aerial vehicle in the vehicle drifting scene.

[0103] Specifically, the target anchor point coordinates of the vehicle-mounted device in the third driving scene are determined by the following method: based on the yaw angular velocity, the initial anchor point coordinates in the Y direction are corrected to obtain the target anchor point coordinates of the vehicle-mounted device in the Y direction in the third driving scene; the initial anchor point coordinates in the X direction are taken as the target anchor point coordinates in the X direction, and the initial anchor point coordinates in the Z direction are taken as the target anchor point coordinates in the Z direction.

[0104] It can be understood that the controller can correct the initial anchor point coordinates in the Y direction in the vehicle coordinate system based on the yaw angular velocity of the vehicle to obtain the target anchor point coordinates in the Y direction in the vehicle coordinate system, so that the vehicle-mounted unmanned aerial vehicle can quickly move to the outside of the vehicle side slip direction to ensure that the shooting lens of the vehicle-mounted unmanned aerial vehicle can show the yaw amplitude of the vehicle drifting, and the initial anchor point coordinates in the X direction in the vehicle coordinate system are taken as the target anchor point coordinates in the X direction in the vehicle coordinate system, and the initial anchor point coordinates in the Z direction in the vehicle coordinate system are taken as the target anchor point coordinates in the Z direction in the vehicle coordinate system, avoiding the shooting fluctuation of the vehicle-mounted unmanned aerial vehicle in other directions, so the target anchor point coordinates of the vehicle-mounted unmanned aerial vehicle in the vehicle drifting scene can be set as (0, -sign(yaw) * 0.5, 0). ) 12,3), the units of the three directions are m, wherein the initial anchor point coordinates in the X direction in the vehicle coordinate system are (0, 0, 0), the initial anchor point coordinates in the Y direction in the vehicle coordinate system are (0, 0, 0), and the initial anchor point coordinates in the Z direction in the vehicle coordinate system are (0, 0, 0). The yaw angular velocity is rad / s.

[0105] For step 103, it can be understood that in the case that the whole vehicle controller determines the current driving scene, the controller also needs to determine the target script corresponding to the current driving scene, which is used to determine the follow-up track of the vehicle-mounted unmanned aerial vehicle.

[0106] The target script can determine the running track of the vehicle-mounted unmanned aerial vehicle. Specifically, the target script can include a determination rule of a target offset amount of the vehicle-mounted unmanned aerial vehicle relative to the target anchor point coordinates in the current driving scene of the vehicle, and determine a running path of the vehicle-mounted unmanned aerial vehicle based on the target anchor point coordinates based on the determination rule.

[0107] For step 104, it can be understood that the vehicle-mounted unmanned aerial vehicle controller can control the vehicle-mounted unmanned aerial vehicle to shoot in the current driving scene based on the target anchor point coordinates and the target script in each scene.

[0108] In some embodiments, based on the target anchor point coordinates and the target script, the vehicle-mounted device is controlled to take a picture in the current driving scene, including: based on the target anchor point coordinates and the target script, determining actual motion coordinates of the vehicle-mounted device; and based on the actual motion coordinates, controlling the vehicle-mounted device to take a picture in the current driving scene.

[0109] It can be understood that the controller determines the actual motion coordinates of the vehicle-mounted drone in the current driving scene based on the determination rule of the target anchor point coordinates of the vehicle in the current driving scene and the target offset relative to the target anchor point coordinates.

[0110] It can be understood that the controller determines the actual motion coordinates of the vehicle-mounted drone in the current driving scene based on the determination rule of the target anchor point coordinates of the vehicle in the current driving scene and the target offset relative to the target anchor point coordinates.

[0111] In the case of determining the actual motion coordinates of the vehicle-mounted drone in the current driving scene in the world coordinate system, the actual motion coordinates are converted into control instructions of the vehicle-mounted drone, and the vehicle-mounted drone controller controls the vehicle-mounted drone to take a picture in the current driving scene based on the control instructions.

[0112] In some embodiments, based on the target anchor point coordinates and the target script, the actual motion coordinates of the vehicle-mounted device are determined, including: based on the determination rule in the target script, determining the target offset relative to the target anchor point coordinates; and according to the target anchor point coordinates and the target offset, determining the actual motion coordinates of the vehicle-mounted device.

[0113] It can be understood that the controller can determine the target offset of the vehicle relative to the target anchor point coordinates in the world coordinate system in the current driving scene based on the target script, and specifically, based on the determination rule of the target offset relative to the target anchor point coordinates corresponding to the X direction, the Y direction and the Z direction in the world coordinate system, the target offset relative to the target anchor point coordinates corresponding to the X direction, the Y direction and the Z direction in the world coordinate system is determined.

[0114] Based on the target anchor point coordinates corresponding to the X direction, the Y direction and the Z direction in the world coordinate system and the target offset corresponding to the X direction, the Y direction and the Z direction in the world coordinate system, the actual motion coordinates corresponding to the X direction, the Y direction and the Z direction of the vehicle-mounted drone in the world coordinate system in the current driving scene can be obtained.

[0115] In some embodiments, determining the target offset relative to the target anchor point coordinate based on the determination rule in the target script comprises: obtaining a target parameter; wherein the target parameter comprises a preset driving parameter of the vehicle-mounted device or a driving state parameter of the vehicle; and determining the target offset based on the target parameter and the determination rule in the target script.

[0116] It can be understood that the target parameter and the determination rule of the target offset of the vehicle-mounted UAV relative to the target anchor point coordinate in the world coordinate system can be combined to determine the target offset. The determination rule describes the parameters required to determine the target offset and the calculation method.

[0117] The target parameter comprises a preset driving parameter of the vehicle-mounted UAV or a driving state parameter of the vehicle, and the preset driving parameter comprises a preset orbit radius, a preset orbit angular velocity, a preset ascending velocity, and a preset forward velocity.

[0118] The preset orbit radius refers to a preset radius of the vehicle-mounted UAV during orbit movement, which can be pre-calibrated. Optionally, the preset orbit radius can be pre-calibrated to 8 m.

[0119] The preset orbit angular velocity refers to a preset angular velocity of the vehicle-mounted UAV during orbit movement, which can be pre-calibrated. Optionally, the preset orbit angular velocity can be pre-calibrated to 0.5 rad / s.

[0120] The preset ascending velocity refers to a preset velocity of the vehicle-mounted UAV during ascending movement, which can be pre-calibrated. Optionally, the preset ascending velocity can be pre-calibrated to 0.2 m / s.

[0121] The preset forward velocity refers to a preset velocity of the vehicle-mounted UAV during forward movement, which can be pre-calibrated. Optionally, the preset forward velocity can be pre-calibrated to 0.1 m / s.

[0122] The manner of determining the target offset of the vehicle in different driving scenarios will be described in detail below.

[0123] In some embodiments, determining the target offset based on the target parameter and the determination rule in the target script comprises: in the case that the current driving scenario is a fourth driving scenario, determining the target offset in the X direction based on the preset forward velocity, determining the second preset offset as the target offset in the Y direction, and determining the third preset offset as the target offset in the Z direction.

[0124] It can be understood that in the embodiments of the present application, the fourth driving scene described above can be understood as a high-speed cruising scene. In order to realize the shooting effect of slow forward propulsion of the vehicle-mounted UAV in the high-speed cruising scene, the target offset amount of the X direction in the world coordinate system can be determined based on the preset forward speed, which is used to simulate the movie opening shot.

[0125] The second preset offset amount and the third preset offset amount described above can be pre-set to 0, so as to avoid the shooting fluctuation of the vehicle-mounted UAV in other directions.

[0126] In combination with the above, the actual motion coordinates of the vehicle-mounted UAV in the high-speed cruising scene can be obtained, which are specifically as follows:

[0127]

[0128]

[0129] Among them, the above is the target offset amount of the X direction in the world coordinate system of the vehicle-mounted UAV in the high-speed cruising scene, and the above is the preset forward speed, which is 0.1 m / s; the above dt is the running period, which is usually 0.01 s, and in each running period, the controller can calculate an actual motion coordinate in the world coordinate system; at the same time, the above , , is the target anchor point coordinate in the world coordinate system of the vehicle-mounted UAV in the high-speed cruising scene, and the above , , is the actual motion coordinate in the world coordinate system of the vehicle-mounted UAV in the high-speed cruising scene.

[0130] Since the target anchor point coordinate in the world coordinate system is adjusted based on the driving state parameters of the vehicle, the above , , is dynamically changed, and considering that the running period is 0.01 s, the target offset amount in the world coordinate system is calculated once every 0.01 s, on the basis of which the above , , also needs to be calculated once every 0.01 s, so that the finally obtained , , can accurately reflect the dynamic coordinates of the vehicle-mounted UAV in the high-speed cruising scene.

[0131] In the high-speed cruising scene, is obtained based on the current speed, that is, changes with the change of the vehicle speed to achieve the purpose of the vehicle-mounted UAV following the vehicle forward, and on this basis, a negative offset is added every 0.01 s, so that the vehicle-mounted UAV can slowly move backward while following the vehicle forward, to achieve the purpose of the vehicle-mounted UAV shooting a grand long shot.

[0132] In some embodiments, based on the target parameter and the target script, the target offset is determined, including: in the case that the current driving scene is a first driving scene, determining the target offset in the X direction and the target offset in the Y direction based on a preset orbit radius and a preset orbit angular velocity, and determining the target offset in the Z direction based on a preset ascending speed.

[0133] It can be understood that in the embodiments of the present application, the above-mentioned first driving scene can be understood as a turning scene. In order to achieve the shooting effect of the vehicle-mounted UAV horizontally orbiting around the target anchor point coordinate and slowly ascending in the turning scene, the target offset in the X direction in the world coordinate system and the target offset in the Y direction in the world coordinate system can be determined based on the preset orbit radius and the preset orbit angular velocity, and at the same time, the target offset in the Z direction in the world coordinate system can be determined based on the preset ascending speed, to create a spiral ascending path, thereby reflecting the overall situation of the curve.

[0134] In combination with the above content, the actual motion coordinates of the vehicle-mounted UAV in the turning scene can be obtained, which are specifically as shown below:

[0135]

[0136]

[0137] Among them, the above-mentioned is the target offset in the X direction in the world coordinate system of the vehicle-mounted UAV in the turning scene, the above-mentioned is the target offset in the Y direction in the world coordinate system of the vehicle-mounted UAV in the turning scene, the above-mentioned is the target offset in the Z direction in the world coordinate system of the vehicle-mounted UAV in the turning scene, and the above-mentioned is a preset orbit radius, with a unit of m, which can be preset as 8 m; the above-mentioned is a preset orbit angular velocity, with a unit of rad / s, which can be preset as 0.3 rad / s; and the above-mentioned The preset ascent speed is in m / s, and can be preset to 0.15 m / s here; dt is the operating cycle, usually 0.01 s. In each operating cycle, the controller can calculate the actual motion coordinates in a world coordinate system; simultaneously, ( , , ) represents the target anchor point coordinates in the world coordinate system for a vehicle-mounted drone in a turning scenario. , , () represents the actual motion coordinates of the vehicle-mounted drone in the world coordinate system during a turning scenario.

[0138] Since the target anchor point coordinates in the world coordinate system are adjusted based on the vehicle's driving state parameters, therefore, the above ( , , The target offset in the world coordinate system is dynamically changing. Considering the running cycle is 0.01s, the target offset in the world coordinate system is calculated every 0.01s. Based on this, the above ( , , It also needs to be calculated every 0.01s to obtain the final result. , , It can accurately reflect the dynamic coordinates of vehicle-mounted drones in turning scenarios.

[0139] In a turning scenario It is based on the current speed and is corrected to achieve the goal of the vehicle-mounted drone following the vehicle's movement. It is based on corrections made to the steering wheel rotation angle and turning radius to enable the vehicle-mounted drone to follow the vehicle as it turns. It is based on lateral acceleration correction to achieve the purpose of vehicle-mounted drones capturing panoramic views. On this basis, a target offset is calculated every 0.01s, and sine and cosine functions are introduced so that the vehicle-mounted drone can spiral upward while following the vehicle forward and turning, so as to achieve the purpose of vehicle-mounted drones capturing panoramic views of turns.

[0140] In some embodiments, determining the target offset based on the target parameters and the target script includes: when the current driving scenario is the second driving scenario, determining the target offset in the X direction and the target offset in the Y direction based on the preset orbital radius and the preset orbital angular velocity, and determining the target offset in the Z direction based on the preset ascent velocity.

[0141] It can be understood that in the embodiment of the application, the second driving scene can be understood as an off-road scene. In order to realize the shooting effect of the vehicle-mounted unmanned aerial vehicle in the off-road scene, that is, the vehicle-mounted unmanned aerial vehicle performs horizontal surrounding and slow lifting around the target anchor point coordinate, it can be considered to determine the target offset amount of the X direction in the world coordinate system and the target offset amount of the Y direction in the world coordinate system based on the preset surrounding radius and the preset surrounding angular velocity, and at the same time, based on the preset lifting speed, the target offset amount of the Z direction in the world coordinate system is determined, which is used to create a spiral ascending path, so as to obtain the overall view of the current scene.

[0142] In combination with the above, the actual motion coordinates of the vehicle-mounted unmanned aerial vehicle in the off-road scene can be obtained, which are as follows:

[0143]

[0144]

[0145] The above is the target offset amount of the X direction in the world coordinate system of the vehicle-mounted unmanned aerial vehicle in the off-road scene, the above is the target offset amount of the Y direction in the world coordinate system of the vehicle-mounted unmanned aerial vehicle in the off-road scene, the above is the target offset amount of the Z direction in the world coordinate system of the vehicle-mounted unmanned aerial vehicle in the off-road scene, the above is the preset surrounding radius, and the unit is m, which can be preset as 8 m; the above is the preset surrounding angular velocity, and the unit is rad / s, which can be preset as 0.5 rad / s; the above is the preset lifting speed, and the unit is m / s, which can be preset as 0.2 m / s; the above dt is the running period, which is usually 0.01 s, and in each running period, the controller can calculate an actual motion coordinate; at the same time, the above , , is the target anchor point coordinate in the world coordinate system of the vehicle-mounted unmanned aerial vehicle in the off-road scene, and the above , , is the actual motion coordinate in the world coordinate system of the vehicle-mounted unmanned aerial vehicle in the off-road scene.

[0146] Since the target anchor point coordinate in the world coordinate system is adjusted based on the driving state parameter of the vehicle, the above , , ) is dynamically changing, considering that the running period is 0.01 s, therefore, the target offset in the world coordinate system is calculated every 0.01 s, on this basis, the above (d) also needs to be calculated every 0.01 s, so that the final (e) can accurately reflect the dynamic coordinates of the vehicle-mounted unmanned aerial vehicle in the off-road scene. , , ) also needs to be calculated every 0.01 s, so that the final (e) can accurately reflect the dynamic coordinates of the vehicle-mounted unmanned aerial vehicle in the off-road scene. , , ) can accurately reflect the dynamic coordinates of the vehicle-mounted unmanned aerial vehicle in the off-road scene.

[0147] In the off-road scene, is calculated based on the sine function and the driving time of the vehicle in the off-road scene, in order to achieve the purpose of the vehicle-mounted unmanned aerial vehicle shooting the vehicle bouncing, on this basis, a target offset in the world coordinate system is calculated every 0.01 s, and the sine function and the cosine function are introduced, so that the vehicle-mounted unmanned aerial vehicle can spiral upward while following the vehicle up and down, in order to achieve the purpose of the vehicle-mounted unmanned aerial vehicle shooting the off-road panorama.

[0148] In some embodiments, based on the target parameter and the target script, determining the target offset includes: in the case that the current driving scene is a third driving scene, determining the target offset in the X direction based on the yaw rate, determining the target offset in the Z direction based on the lateral acceleration, and determining the first preset offset as the target offset in the Y direction.

[0149] It can be understood that in the embodiments of the present application, the above-mentioned third driving scene can be understood as a vehicle drifting scene. In order to realize the front, rear, up and down offsets of the vehicle-mounted unmanned aerial vehicle in the vehicle drifting scene, the target offset in the X direction in the world coordinate system can be determined based on the yaw rate, the target offset in the Z direction in the world coordinate system can be determined based on the lateral acceleration, and since the target anchor point coordinate in the Y direction in the vehicle coordinate system is determined according to the direction of the yaw rate of the vehicle, the target anchor point coordinate in the Y direction in the world coordinate system converted from the above-mentioned target anchor point coordinate in the Y direction in the vehicle coordinate system can realize the lateral follow-up shooting of the vehicle-mounted unmanned aerial vehicle, so the first preset offset can be determined as the target offset in the Y direction. The above-mentioned first preset offset can be pre-set to 0.

[0150] In combination with the above, the actual motion coordinates of the vehicle-mounted unmanned aerial vehicle in the vehicle drifting scene can be obtained, which are specifically as shown below:

[0151]

[0152]

[0153] wherein the target offset amount of the X direction in the world coordinate system under the vehicle drifting scenario can be determined based on the yaw rate, the target offset amount of the Y direction in the world coordinate system under the vehicle drifting scenario can be determined based on the lateral acceleration, and the target offset amount of the Z direction in the world coordinate system under the vehicle drifting scenario can be determined based on the longitudinal acceleration. is a target offset amount of the X direction in the world coordinate system under the vehicle drifting scenario, which can be determined based on the yaw rate. may be preset as -4, when it is detected that the yaw rate of the vehicle deflects, may be changed to 5, that is, from the side rear to the side front of the target anchor point coordinate, for embodying the drifting feeling of the vehicle; the target offset amount of the Y direction in the world coordinate system under the vehicle drifting scenario can be determined based on the lateral acceleration, and the target offset amount of the Z direction in the world coordinate system under the vehicle drifting scenario can be determined based on the longitudinal acceleration. is a target offset amount of the Y direction in the world coordinate system under the vehicle drifting scenario, which can be determined based on the lateral acceleration. may be preset as 0; the target offset amount of the Z direction in the world coordinate system under the vehicle drifting scenario can be determined based on the longitudinal acceleration. is a target offset amount of the Z direction in the world coordinate system under the vehicle drifting scenario, which can be determined based on the longitudinal acceleration. may be preset as 1.8, for showing the overall picture of the vehicle drifting; the target offset amount of the Y direction in the world coordinate system under the vehicle drifting scenario can be determined based on the lateral acceleration, and the target offset amount of the Z direction in the world coordinate system under the vehicle drifting scenario can be determined based on the longitudinal acceleration. is a lateral acceleration; at the same time, , , is a target anchor point coordinate in the world coordinate system under the vehicle drifting scenario, and , , is an actual motion coordinate in the world coordinate system under the vehicle drifting scenario.

[0154] In addition, when the vehicle is in a fixed driving mode, the target offset amounts of the X direction, the Y direction and the Z direction in the world coordinate system can all be set as 0, that is, the target anchor point coordinate in the world coordinate system can be directly used as the actual motion coordinate of the vehicle-mounted unmanned aerial vehicle in the world coordinate system.

[0155] The above (, , , ) and (, , , ) are dynamically changed, for accurately reflecting the dynamic coordinate of the vehicle-mounted unmanned aerial vehicle under the vehicle drifting scenario.

[0156] In actual application, different driving scenarios may be switched. In order to avoid the stiff effect of the vehicle-mounted unmanned aerial vehicle when the scene is switched, a first-order low-pass filter can be added in the process of calculating the actual motion coordinate for each driving scenario. The first-order low-pass filter can smooth the displacement of the vehicle-mounted unmanned aerial vehicle in the XYZ three directions, ensure smooth transition of the displacement change, and thus prevent the picture taken by the vehicle-mounted unmanned aerial vehicle from shaking or being discontinuous.

[0157] Figure 2This is a schematic flowchart of a control method for a vehicle-mounted unmanned aerial vehicle provided in an embodiment of this application.

[0158] For example, such as Figure 2 As shown, the method 200 includes: Step 201: Determine the current driving scenario of the vehicle.

[0159] Step 202: Obtain the initial anchor point coordinates of the vehicle in the current driving scenario and the driving state parameters of the vehicle in the current driving scenario.

[0160] Step 203: Based on the driving state parameters, correct the initial anchor point coordinates to obtain the target anchor point coordinates of the vehicle-mounted UAV in the current driving scenario.

[0161] Step 204: Determine the target script corresponding to the current driving scenario.

[0162] Step 205: Determine the target offset based on the target parameters and the target script; wherein, the target parameters include the preset driving parameters of the vehicle-mounted UAV or the driving status parameters of the vehicle.

[0163] Step 206: Determine the actual motion coordinates of the vehicle-mounted UAV based on the target anchor point coordinates and the target offset.

[0164] Step 207: Based on the actual motion coordinates, control the vehicle-mounted drone to take pictures in the current driving scenario.

[0165] In summary, the control method for a vehicle-mounted unmanned aerial vehicle provided in this application has the following beneficial effects: Firstly, the current driving scene of the vehicle is determined, and initial anchor point coordinates of the vehicle in the current driving scene and driving state parameters are obtained. The initial anchor point coordinates can provide a basic position reference for the vehicle-mounted unmanned aerial vehicle, and the driving state parameters can reflect the dynamic changes of the vehicle in real time. The initial anchor point coordinates are corrected based on the driving state parameters to obtain target anchor point coordinates, which fully considers the dynamic factors in the driving process of the vehicle, so that the target anchor point coordinates can more accurately reflect the ideal position of the vehicle-mounted unmanned aerial vehicle relative to the vehicle, avoiding the position deviation of the vehicle-mounted unmanned aerial vehicle caused by the dynamic changes of the vehicle; secondly, the target script corresponding to the current driving scene is determined, and the target offset is determined based on the target parameters (including the preset driving parameters of the vehicle-mounted unmanned aerial vehicle and the driving state parameters of the vehicle) and the target script, which can accurately calculate the distance that the unmanned aerial vehicle needs to adjust in each direction, ensuring that the unmanned aerial vehicle can flexibly adapt to the changes of different scenes and vehicle states; then, the actual motion coordinates of the vehicle-mounted unmanned aerial vehicle are determined according to the target anchor point coordinates and the target offset, which converts theoretical calculation into specific spatial position information, providing a clear target for the actual flight of the vehicle-mounted unmanned aerial vehicle; finally, the vehicle-mounted unmanned aerial vehicle is controlled to shoot in the current driving scene based on the actual motion coordinates, so that the unmanned aerial vehicle can accurately shoot according to the pre-planned path and position, effectively solving the problem of "shallow coordination level and rigid shooting effect" of the vehicle-mounted unmanned aerial vehicle in different driving scenes, so that the follow-up trajectory of the vehicle-mounted unmanned aerial vehicle is more flexible, and the shooting effect of the vehicle-mounted unmanned aerial vehicle is improved; at the same time, the method also has the ability of forward-looking prediction. Specifically, the target anchor point coordinates of the dynamic changes can be predicted according to the motion state of the vehicle, so that the vehicle-mounted unmanned aerial vehicle can reach the best shooting position in advance, effectively avoiding the potential risks of follow-up visual angle lag, ensuring the continuous stability and high quality of the shooting picture.

[0166] Figure 3 is a structural schematic diagram of a control device of a vehicle-mounted device provided by an embodiment of the present application.

[0167] For example, as shown in Figure 3 , the device 300 includes: A first determination module 301 is configured to determine the current driving scene of the vehicle.

[0168] A second determination module 302 is configured to determine the target anchor point coordinates of the vehicle-mounted device in the current driving scene.

[0169] A third determination module 303 is configured to determine the target script corresponding to the current driving scene; wherein the target script is used to describe the running path of the vehicle-mounted device based on the target anchor point coordinates.

[0170] A control module 304 is configured to control the vehicle-mounted device to shoot in the current driving scene based on the target anchor point coordinates and the target script.

[0171] It can be found that the embodiment is a virtual device embodiment corresponding to the method embodiment described above, and the embodiment can be implemented in cooperation with the method embodiment described above. The related technical details and technical effects mentioned in the method embodiment are still valid in this embodiment. In order to reduce repetition, they will not be described here.

[0172] Figure 4 Fig. 1 is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0173] For example, as shown in Fig. 4, the electronic device 400 includes a memory 401 and a processor 402, wherein the memory 401 stores executable program code 4011, and the processor 402 is configured to invoke and execute the executable program code 4011 to perform a control method of a vehicle-mounted device. Figure 4

[0174] In addition, the present application also protects a device, which can include a memory and a processor, wherein the memory stores executable program code, and the processor is configured to invoke and execute the executable program code to perform a control method of a vehicle-mounted device provided in the present application.

[0175] The embodiment can divide the device into functional modules according to the method examples described above, for example, corresponding to each functional module, or two or more functions can be integrated into one processing module, and the integrated module can be realized in the form of hardware. It should be noted that the division of modules in the embodiment is illustrative, and is only a logical functional division. In actual implementation, another division mode can be used.

[0176] In the case of dividing each functional module corresponding to each function, the device can further include a first determination module, a second determination module, a third determination module, a control module, etc. It should be noted that all related contents of each step involved in the method embodiment can be referred to the function description of the corresponding functional module, and will not be described here.

[0177] It should be understood that the device provided in the embodiment is used to perform the control method of the vehicle-mounted device described above, and therefore can achieve the same effect as the implementation method described above.

[0178] In the case of using an integrated unit, the device can include a processing module and a storage module. When the device is applied to an electronic device, the processing module can be used to control and manage the actions of the electronic device. The storage module can be used to support the electronic device to execute related program codes, etc.

[0179] ​The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules, and circuits shown in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as including one or more microprocessor combinations, digital signal processing (digital signal processing, DSP) and microprocessor combinations, etc. The storage module can be a memory.

[0180] In addition, the device provided by the embodiments of the present application can be a chip, a component or a module, the chip can include a connected processor and a memory; wherein the memory is used to store instructions, when the processor calls and executes the instructions, the chip can execute the control method of the vehicle-mounted device provided by the above embodiments.

[0181] The embodiments also provide a vehicle, which includes an electronic device for executing the control method of the device provided by the above embodiments.

[0182] The embodiments also provide a vehicle-mounted device, which includes an electronic device for executing the control method of the vehicle-mounted device provided by the above embodiments.

[0183] The embodiments also provide a computer-readable storage medium, which stores computer program codes, when the computer program codes run on a computer, the computer executes the related method steps to implement the control method of the vehicle-mounted device provided by the above embodiments.

[0184] The embodiments also provide a computer program product, when the computer program product runs on a computer, the computer executes the related steps to implement the control method of the vehicle-mounted device provided by the above embodiments.

[0185] The device, computer-readable storage medium, computer program product or chip provided by the embodiments are used to execute the corresponding method provided above, so the beneficial effects achieved by them can refer to the beneficial effects of the corresponding method provided above, which will not be repeated here.

[0186] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0187] In the embodiments of the present disclosure, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic, and the division of the modules or units is merely a logical function division. In actual implementation, another division manner can be adopted, for example, a plurality of units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or in other forms.

[0188] The above merely describes specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A control method for an on-board device, characterized in that, The method includes: Determine the current driving scenario of the vehicle; Determine the target anchor point coordinates of the on-board equipment in the current driving scenario; Determine the target script corresponding to the current driving scenario; wherein, the target script is used to describe the running path of the vehicle-mounted device based on the coordinates of the target anchor point; Based on the target anchor point coordinates and the target script, the vehicle-mounted device is controlled to take pictures in the current driving scenario.

2. The method according to claim 1, characterized in that, Determining the target anchor point coordinates of the vehicle-mounted device in the current driving scenario includes: Obtain the initial anchor point coordinates of the vehicle-mounted device in the current driving scenario; Obtain the driving status parameters of the vehicle in the current driving scenario; Based on the driving state parameters, the initial anchor point coordinates are corrected to obtain the target anchor point coordinates of the vehicle-mounted device in the current driving scenario.

3. The method according to claim 2, characterized in that, The driving status parameters include current speed, steering wheel rotation angle, yaw rate, lateral acceleration, and turning radius; The step of correcting the initial anchor point coordinates based on the driving state parameters to obtain the target anchor point coordinates of the on-board device in the current driving scenario includes: When the current driving scenario is the first driving scenario, the initial anchor point coordinates are corrected based on the turning radius, the current speed, the steering wheel rotation angle, and the lateral acceleration to obtain the target anchor point coordinates of the vehicle device in the first driving scenario; When the current driving scenario is the second driving scenario, the initial anchor point coordinates are corrected based on the bump characteristics of the vehicle in the second driving scenario to obtain the target anchor point coordinates of the vehicle-mounted device in the second driving scenario; When the current driving scenario is the third driving scenario, the initial anchor point coordinates are corrected based on the yaw rate to obtain the target anchor point coordinates of the vehicle-mounted device in the third driving scenario; When the current driving scenario is the fourth driving scenario, the initial anchor point coordinates are corrected based on the current speed to obtain the target anchor point coordinates of the vehicle-mounted device in the fourth driving scenario.

4. The method according to claim 3, characterized in that, The initial anchor point coordinates include the initial anchor point coordinates corresponding to the X, Y, and Z directions in the vehicle coordinate system; the target anchor point coordinates include the target anchor point coordinates corresponding to the X, Y, and Z directions in the vehicle coordinate system. The target anchor point coordinates of the vehicle-mounted device in the first driving scenario are determined in the following way: Based on the current speed, the initial anchor point coordinates in the X direction are corrected to obtain the target anchor point coordinates in the X direction of the vehicle-mounted device in the first driving scenario; Based on the steering wheel rotation angle and the turning radius, the initial anchor point coordinates in the Y direction are corrected to obtain the target anchor point coordinates in the Y direction of the vehicle-mounted device in the first driving scenario; Based on the lateral acceleration, the initial anchor point coordinates in the Z direction are corrected to obtain the target anchor point coordinates in the Z direction of the vehicle-mounted device in the first driving scenario; Alternatively, the target anchor point coordinates of the in-vehicle device in the second driving scenario can be determined in the following way: Based on the bump characteristics of the vehicle in the second driving scenario, the initial anchor point coordinates in the Z direction are corrected to obtain the target anchor point coordinates of the vehicle-mounted device in the Z direction in the second driving scenario. The initial anchor point coordinates in the X direction are used as the target anchor point coordinates in the X direction, and the initial anchor point coordinates in the Y direction are used as the target anchor point coordinates in the Y direction. Alternatively, the target anchor point coordinates of the on-board device in the third driving scenario are determined in the following manner: Based on the yaw rate, the initial anchor point coordinates in the Y direction are corrected to obtain the target anchor point coordinates in the Y direction of the vehicle-mounted device in the third driving scenario. The initial anchor point coordinates in the X direction are used as the target anchor point coordinates in the X direction, and the initial anchor point coordinates in the Z direction are used as the target anchor point coordinates in the Z direction. Alternatively, the target anchor point coordinates of the on-board device in the fourth driving scenario are determined in the following manner: Based on the current speed, the initial anchor point coordinates in the X direction are corrected to obtain the target anchor point coordinates in the X direction of the vehicle-mounted device in the fourth driving scenario. The initial anchor point coordinates in the Y direction are used as the target anchor point coordinates in the Y direction, and the initial anchor point coordinates in the Z direction are used as the target anchor point coordinates in the Z direction.

5. The method according to claim 1, characterized in that, The step of controlling the vehicle-mounted device to take pictures in the current driving scene based on the target anchor point coordinates and the target script includes: Based on the target anchor point coordinates and the target script, the actual motion coordinates of the vehicle-mounted equipment are determined; Based on the actual motion coordinates, the vehicle-mounted equipment is controlled to take pictures in the current driving scenario.

6. The method according to claim 5, characterized in that, The target script includes rules for determining the target offset relative to the target anchor point coordinates in the current driving scenario. Determining the actual motion coordinates of the vehicle-mounted device based on the target anchor point coordinates and the target script includes: Based on the determination rules in the target script, determine the target offset relative to the target anchor point coordinates; The actual motion coordinates of the vehicle-mounted equipment are determined based on the target anchor point coordinates and the target offset.

7. The method according to claim 6, characterized in that, Determining the target offset relative to the target anchor point coordinates based on the determination rules in the target script includes: Obtain target parameters; wherein, the target parameters include the preset driving parameters of the in-vehicle device or the driving status parameters of the vehicle; The target offset is determined based on the target parameters and the determination rules in the target script.

8. The method according to claim 7, characterized in that, The preset driving parameters include preset orbital radius, preset orbital angular velocity, preset ascent velocity, and preset forward velocity; the driving state parameters include yaw rate and lateral acceleration; the target offset includes the target offsets corresponding to the X, Y, and Z directions in the world coordinate system. Determining the target offset based on the target parameters and the determination rules in the target script includes: When the current driving scenario is the first driving scenario, the target offset in the X direction and the target offset in the Y direction are determined based on the preset orbital radius and the preset orbital angular velocity, and the target offset in the Z direction is determined based on the preset ascent velocity. When the current driving scenario is the second driving scenario, the target offset in the X direction and the target offset in the Y direction are determined based on the preset orbital radius and the preset orbital angular velocity, and the target offset in the Z direction is determined based on the preset ascent velocity. When the current driving scenario is the third driving scenario, the target offset in the X direction is determined based on the yaw rate, the target offset in the Z direction is determined based on the lateral acceleration, and the first preset offset is determined as the target offset in the Y direction; In the case that the current driving scenario is the fourth driving scenario, the target offset in the X direction is determined based on the preset forward speed, and the second preset offset is determined as the target offset in the Y direction and the third preset offset is determined as the target offset in the Z direction.

9. An electronic device, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the electronic device to perform the method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 9.

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