Control methods for unmanned aerial vehicles (UAVs), electronic equipment, UAVs and vehicles

Abstract

This application discloses a control method, electronic device, drone, and vehicle for a drone, belonging to the field of drone control. The method includes: acquiring first road information of the first vehicle when its status signal meets preset triggering conditions; and controlling the drone to place an indicator object on the road based on the first road information. This method can quickly acquire the first road information of the first vehicle even when its driving state is abnormal, and determine a placement scheme matching the first road information, thereby controlling the drone to perform the task of placing the indicator object. It requires no manual intervention, has a fast placement speed, and a high safety factor.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) control technology, and particularly relates to a control method for a UAV, electronic equipment, a UAV, and a vehicle. Background Technology

[0002] In the event of a vehicle accident that requires the vehicle to be stopped for processing or is unable to continue driving, the driver must place a warning triangle at a certain distance behind the vehicle to warn oncoming vehicles.

[0003] However, in real-world road conditions, road conditions are complex, and manually placing warning triangles is slow and poses safety risks. Furthermore, if the accident is serious, the driver may be injured or trapped inside the vehicle, making it impossible to place the warning triangle in time, thus increasing the risk of collisions with subsequent vehicles. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a control method, electronic equipment, drone, and vehicle for unmanned aerial vehicles (UAVs), which requires no human intervention, has a fast deployment speed, and a high safety factor.

[0005] In a first aspect, this application provides a method for controlling an unmanned aerial vehicle (UAV), the method comprising: When the status signal of the first vehicle meets the preset triggering conditions, the first road information of the first vehicle is obtained; Based on the first road information, the drone is controlled to place indicator objects on the road.

[0006] According to the drone control method provided in the embodiments of this application, by acquiring status signals and setting preset trigger conditions, first road information reflecting the current road conditions can be quickly acquired when the driving status of the first vehicle is abnormal. Based on the first road information, a placement scheme matching the first road information is determined, thereby controlling the drone to perform the task of placing the indicator object. This method does not require manual intervention, has a fast placement speed, and a high safety factor.

[0007] According to one embodiment of this application, controlling the drone to place a pointer object on the road based on the first road information includes: Based on the first road information, determine the placement location of the indicator object; The drone is controlled to place the indicated object at the designated location.

[0008] According to one embodiment of this application, the first road information includes the road length information of the first vehicle; The placement location includes a first location, and the road length between the first location and the current vehicle position of the first vehicle is greater than or equal to a first preset distance.

[0009] According to one embodiment of this application, the first road information further includes a first road curvature, wherein the first road curvature is the road curvature within the first preset distance from the location of the first vehicle; If the curvature of the first road is greater than a preset curvature threshold, the placement position also includes a second position, the distance between the second position and the inflection point where the first vehicle has left is less than or equal to a second preset distance, and the second position is located between the current vehicle body position and the first position.

[0010] According to one embodiment of this application, the preset triggering conditions include the rate of change of the brake pedal opening being greater than a threshold for the rate of change of the opening, and the rate of change of the driving speed being greater than a threshold for the rate of change of the speed. And / or, the preset triggering conditions include the rate of change of the steering wheel angle being greater than the rate of change threshold, and the vehicle body posture information exceeding the preset posture range.

[0011] According to one embodiment of this application, the method further includes: Get the first input; Based on the first input, the second vehicle is determined; Obtain the second road information of the second vehicle; Based on the second road information, the drone is controlled to place the indicator object on the road. According to one embodiment of this application, the preset triggering conditions include that the rate of change of the steering wheel angle is greater than a threshold value, and that the vehicle body pose information satisfies a preset pose template.

[0012] According to one embodiment of this application, the first input is at least one of camera data, license plate data, and distress signal.

[0013] According to one embodiment of this application, controlling the drone to place a pointer object on the road includes: Output a first prompt message, which is used to indicate that the placement task of the indicated object has been started; If no second user input is received within a preset time period, the drone is controlled to place an indicator object on the road. The second user input is used to indicate that the task of placing the indicator object is canceled.

[0014] According to one embodiment of this application, the method further includes: Obtain third-party user input; Based on the input from the third user, the drone is controlled to retrieve the indicated object on the road.

[0015] In a second aspect, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the program to implement the drone control method as described in the first aspect.

[0016] According to the electronic device provided in the embodiments of this application, by acquiring status signals and setting preset trigger conditions, it can quickly acquire first road information reflecting the current road conditions when the driving status of the first vehicle is abnormal, and determine a placement scheme that matches the first road information through the first road information, thereby controlling the drone to perform the task of placing the indicator object. This electronic device does not require manual intervention, has a fast placement speed, and a high safety factor.

[0017] Thirdly, this application provides a drone, which includes: The electronic device as described in the second aspect.

[0018] According to the drone provided in the embodiments of this application, by acquiring status signals and setting preset trigger conditions, it can quickly acquire first road information reflecting the current road conditions when the driving status of the first vehicle is abnormal, and determine a placement scheme that matches the first road information through the first road information, thereby controlling the drone to perform the task of placing the indicated object. The drone does not require human intervention, has a fast placement speed, and a high safety factor.

[0019] Fourthly, this application provides a vehicle comprising: Electronic devices as described in the second aspect or drones as described in the third aspect.

[0020] According to the vehicle provided in the embodiments of this application, by acquiring status signals and setting preset trigger conditions, it can quickly acquire first road information reflecting the current road conditions when the driving status of the first vehicle is abnormal, and determine a placement scheme that matches the first road information through the first road information, thereby controlling the drone to perform the task of placing the indicator object. The vehicle does not require human intervention, has a fast placement speed, and a high safety factor.

[0021] According to one embodiment of this application, the vehicle further includes: The data acquisition device is communicatively connected to the electronic device, and the data acquisition device is used to acquire road information and the status signals of the vehicle.

[0022] According to one embodiment of this application, the vehicle further includes: An interactive device is communicatively connected to the electronic device. The interactive device is used to output a first prompt message, which is used to indicate that the placement task of the indicated object has been started. And / or, the interactive device is further configured to receive a second user input, the second user input being used to instruct the cancellation of the placement of the indicated object; And / or, the electronic device is used to control the drone to place an indicator object on the road when the interactive device outputs the first prompt information and no second user input is received within a preset time period.

[0023] And / or, the interactive device is also configured to receive input from a third user; And / or, the electronic device is also used to control the drone to retrieve the indicated object on the road based on the third user input.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is one of the flowcharts illustrating the control method for a drone provided in this application embodiment; Figure 2 This is a second schematic flowchart of the drone control method provided in the embodiments of this application; Figure 3 This is one of the schematic diagrams showing the placement of the indicator object provided in the embodiments of this application; Figure 4 This is a second schematic diagram of the placement position of the indicator object provided in the embodiments of this application; Figure 5 This is the third schematic diagram of the placement position of the indicator object provided in the embodiments of this application; Figure 6 This is the fourth schematic diagram of the placement position of the indicator object provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the control device for the unmanned aerial vehicle provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0026] Figure label: Acquisition module 710, Processing module 720, Electronic device 800, processor 801, memory 802. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where the application is located, and with authorization from the owner of the relevant device.

[0030] The following description, in conjunction with the accompanying drawings, details the control method, control device, drone, and vehicle provided in this application through specific embodiments and application scenarios.

[0031] like Figure 1 As shown, the control method for the drone includes steps 110 and 120.

[0032] Step 110: If the status signal of the first vehicle meets the preset triggering conditions, obtain the first road information of the first vehicle.

[0033] The first vehicle refers to the target vehicle that can be monitored or interacted with by the drone control method.

[0034] The status signal can be a parameter that reflects the current driving status of the first vehicle, such as vehicle speed, acceleration, or steering angle.

[0035] In actual implementation, the status signals of the first vehicle can be acquired through various sensors installed on the first vehicle. In addition, the status signals of the first vehicle can be continuously acquired at a certain frequency to achieve real-time monitoring of the status signals of the first vehicle, thereby improving the response speed. When the status signals of the first vehicle meet the preset trigger conditions, the first road information of the first vehicle can be quickly acquired.

[0036] In this step, the preset trigger condition is a pre-set logical judgment rule. If the status signal of the first vehicle meets the pre-set logical judgment rule, it indicates that the first vehicle is driving abnormally and may have a collision, sudden braking or other accident.

[0037] For example, the preset trigger condition can be the speed change trend of the first vehicle. If the speed of the first vehicle decreases rapidly in a short period of time, satisfying the preset trigger condition, it indicates that the first vehicle is driving abnormally.

[0038] For example, the preset trigger condition can be the trend of the steering angle change of the first vehicle. If the steering angle of the first vehicle changes abruptly and meets the preset trigger condition, it indicates that the first vehicle is driving abnormally.

[0039] In actual implementation, the preset triggering condition can also be other suitable conditions, or a combination of multiple conditions. The specific design and adjustment can be made according to actual needs, and this application embodiment does not limit it.

[0040] In this step, the first road information can be road data located within a certain range of the first vehicle. The first road information may include road type, road location, road curvature, and road length, etc.

[0041] In actual implementation, the first road information can be obtained through a collection device such as a camera or radar. The collection device can be set on the first vehicle, on the road, or on other vehicles. This application embodiment does not limit this.

[0042] In this step, by acquiring a status signal and determining whether the status signal meets the preset triggering conditions, the driving status of the first vehicle can be determined, so that in the event of a collision, sudden braking or other accident involving the first vehicle, an automatic response can be made to quickly acquire the first road information of the first vehicle.

[0043] Step 120: Based on the first road information, control the drone to place indicator objects on the road.

[0044] Among them, the drone can be an unmanned aerial vehicle capable of performing flight missions. The drone can respond quickly based on vehicle status signals and road information, and place the indicator on the road to warn the first vehicle of abnormal driving conditions.

[0045] In practice, drones can be vehicle-mounted drones installed on the first vehicle, or public drones installed on roads, such as near intersections with high accident rates.

[0046] In this step, the indicator object can be an object placed on the road by the drone to guide or warn other vehicles.

[0047] In practice, the indicating objects include, but are not limited to, triangular warning signs, reflective cones, or luminous signs.

[0048] In this step, the first road information can reflect the road conditions, such as whether there are curves or intersections in the direction of oncoming traffic on the road described by the first vehicle. Through the first road information, the placement plan corresponding to the indicator object can be determined, thereby controlling the drone to automatically perform the task of placing the indicator object, so as to warn the first vehicle of abnormal driving conditions.

[0049] The following is a specific example.

[0050] The status signal of the first vehicle is its speed. When the first vehicle collides with the vehicle in front, the vehicle's status signal is detected to change abruptly from 50km / h to 0km / h, which meets the preset triggering conditions. At this time, the first road information of the first vehicle is obtained through the vehicle radar.

[0051] The first road information shows that the first vehicle is currently on a straight road, and there are no curves or intersections within 200 meters behind the first vehicle. Based on this first road information, the drone can be controlled to automatically place a warning triangle 200 meters away from the first vehicle to warn oncoming vehicles to drive carefully as an accident has occurred ahead.

[0052] Alternatively, if the first road information shows that the first vehicle is currently on a curve, and the curve point is 100 meters behind the first vehicle, based on this first road information, the drone can be controlled to automatically place a warning triangle at the curve point and another warning triangle 100 meters away from the curve point to warn oncoming vehicles to drive carefully and that an accident may occur after turning ahead.

[0053] In related technologies, after a traffic accident, the driver can operate an unmanned aerial vehicle (UAV) to place a warning triangle on the road from inside the vehicle without having to get out. However, the accident may affect the driver's ability to operate the UAV, causing the warning triangle to be placed more slowly or in a different position. In serious accidents, the driver may be unable to operate the UAV, increasing the risk of secondary accidents.

[0054] In this embodiment, by acquiring a status signal and determining whether the status signal meets a preset trigger condition, the driving status of the first vehicle can be determined. In the event of a collision, sudden braking, or other accident involving the first vehicle, an automatic response can be initiated. The system can quickly acquire first road information reflecting the current road conditions and determine a placement scheme that matches the first road information. This allows the drone to automatically place the indicator object and warn of any abnormal driving conditions of the first vehicle. This method can automatically determine the vehicle's driving status and determine the placement scheme of the indicator object based on the road information. The entire process requires no manual intervention, is fast, and has a high safety factor.

[0055] According to the drone control method provided in the embodiments of this application, by acquiring status signals and setting preset trigger conditions, first road information reflecting the current road conditions can be quickly acquired when the driving status of the first vehicle is abnormal. Based on the first road information, a placement scheme matching the first road information is determined, thereby controlling the drone to perform the task of placing the indicator object. This method does not require manual intervention, has a fast placement speed, and a high safety factor.

[0056] In some embodiments, based on first road information, controlling a drone to place a marker object on a road includes: Based on the first road information, determine the placement location of the indicator object; Control the drone to place the indicated object at the designated location.

[0057] In this embodiment, based on the first road information, the road conditions where the first vehicle is located can be determined, such as whether there are intersections or curves nearby and the length of the straight road where the first vehicle is currently located. Then, according to different road conditions, the corresponding placement position of the indicator can be determined, so that the placement position of the indicator can match the current road conditions, thereby improving the applicability of automatic placement in different scenarios, improving the warning effect, and reducing the risk of secondary accidents.

[0058] In some embodiments, the first road information includes road length information of the first vehicle; the placement location includes a first location, and the road length between the first location and the current vehicle body position is greater than or equal to a first preset distance.

[0059] The road length information may include the road length of the road where the first vehicle is located and the road length of other roads connected to the road where the first vehicle is located.

[0060] In this embodiment, such as Figure 3 and Figure 4 As shown, the placement positions include the first position P1, the first position P1, and the current vehicle body position of the first vehicle. Figure 3 and Figure 4 The road length between the rectangles in the diagram is greater than or equal to the first preset distance L0.

[0061] Among them, such as Figure 3 As shown, if the road between the first position P1 and the current vehicle position is a straight road and there are no road inflection points, the first position P1 can be located on the straight road where the first vehicle is located. In this case, the road length between the first position P1 and the current vehicle position can be approximated as the straight-line distance between the first position P1 and the current vehicle position.

[0062] like Figure 4As shown, when there is a road bend between the first position P1 and the current vehicle position, the first position P1 may not be located on the straight road where the first vehicle is located, but on another road that is about to turn into the straight road where the first vehicle is located. In this case, the length of the road between the first position P1 and the current vehicle position is the distance traveled by the vehicle from the first position P1 to the current vehicle position, which is... Figure 4 The length indicated by the double arrows is not the straight-line distance between the first position P1 and the current vehicle position.

[0063] It should be noted that a road turning point can be the exit of a curve or a road intersection, such as a crossroads or a three-way intersection.

[0064] In this embodiment, the first preset distance can be used to limit the nearest placement distance of the indicator object. Placing the indicator object at a location where the road length from the current vehicle position of the first vehicle is greater than or equal to the first preset distance, i.e., the first location, can give other vehicles enough reaction time and reduce the risk of secondary accidents.

[0065] In practice, the first preset distance, that is, the nearest placement distance of the indicator object, can be determined and adjusted according to actual traffic rules and road conditions.

[0066] It is understandable that the placement of the first position is opposite to the direction of travel of the first vehicle in its current lane.

[0067] For example, if the first vehicle is traveling forward and comes to a stop immediately after a collision, the current lane's direction of travel remains forward, and the first position is located behind the first vehicle.

[0068] For example, if the first vehicle is traveling forward and is displaced to the opposite lane after a collision, then the current lane's direction of travel is backward, and the first position is in front of the first vehicle.

[0069] It should be noted that the placement direction of the first position is determined based on the current driving direction of the lane, and is unrelated to the current orientation of the front or rear of the first vehicle.

[0070] In some embodiments, the first road information includes a first road curvature, which is the road curvature within a first preset distance from the location of the first vehicle.

[0071] The first road curvature is a parameter that describes the degree of road curvature. The smaller the first road curvature, the straighter the road is within the first preset distance of the first vehicle.

[0072] The preset curvature threshold is a pre-set criterion for determining whether a road has curves or intersections. By using the preset curvature threshold, straight roads and curved or intersection road sections can be distinguished. If the current curvature of the first road of the first vehicle is less than or equal to the preset curvature threshold, it indicates that the road within the first preset distance range of the first vehicle is a straight road. If the current curvature of the first road of the first vehicle is greater than the preset curvature threshold, it indicates that the road within the first preset distance range of the first vehicle has inflection points, corresponding to road types such as curves and intersections.

[0073] In actual implementation, the preset curvature threshold only needs to be able to distinguish between straight roads and curved intersections. The specific value can be set and adjusted according to the area where the first vehicle is located, the road type, the weather conditions, and the relevant traffic regulations. This application embodiment does not limit this.

[0074] In this embodiment, such as Figure 4 As shown, when the curvature of the first road is greater than the preset curvature threshold, the placement position also includes a second position P2.

[0075] Wherein, the distance between the second position P2 and the point where the first vehicle has left the inflection point is less than or equal to a second preset distance. In actual execution, the second preset distance can be a small distance, for example, 5m, that is, as shown in the figure. Figure 4 As shown, the second position P2 can be set near the point where the vehicle has already left the inflection point.

[0076] In addition, the second position P2 is located at the current vehicle body position ( Figure 4 The road length between the middle rectangle and the first position P1, and between the first position P1 and the current vehicle position, is greater than or equal to the first preset distance L0.

[0077] In this embodiment, the point where the vehicle has left the inflection point can be the road inflection point most recently passed by the vehicle. The point where the vehicle has left the inflection point can be the exit of the curve most recently passed by the first vehicle, or it can be the road intersection most recently passed by the first vehicle, such as a crossroads or a three-way intersection.

[0078] The distance between the first position P1 and the current vehicle position is greater than that between the second position P2 and the road length between the first position P1 and the current vehicle position is greater than or equal to the first preset distance L0, so that the second position P2 is located between the current vehicle position and the first position P1.

[0079] In practice, the first preset distance can be the nearest place distance of the indicator object, which can be determined according to actual traffic rules and road conditions.

[0080] It should be noted that, as Figure 4As shown, the road length between the first position P1 and the current vehicle position is the distance the vehicle travels from the first position P1 to the current vehicle position, which is... Figure 4 The length indicated by the double arrows is not the straight-line distance between the first position P1 and the current vehicle position.

[0081] In practice, if the turning point has been left and is the road intersection most recently passed by the first vehicle, there can be multiple third positions, each located on a different road, to warn other vehicles on different roads that are about to enter the lane where the first vehicle is located.

[0082] For example, roads A, B, and C intersect to form a three-way intersection. The first vehicle turns from road A into road C and collides with another vehicle after traveling straight for 100 meters. The second preset distance is 200 meters, meaning the first vehicle is not far enough away on the straight road. Therefore, the drone can be controlled to place indicator objects at the second and third positions. The second position is near the intersection of the roads, and the third position is 100 meters away from the intersection of roads A and B.

[0083] In this embodiment, if the curvature of the first road within a first preset distance range of the first vehicle is greater than a preset curvature threshold, it indicates that there is a curve or intersection within the first preset distance range of the road where the first vehicle is currently located, and other vehicles may not have enough reaction time. At this time, an indicator is placed at the first position and the second position respectively. The indicator at the first position can make other vehicles see the indicator before turning into the lane where the first vehicle is located, allowing sufficient time for deceleration and adjustment. The indicator at the second position can warn vehicles that have just turned into the lane where the first vehicle is located again. Through the coordinated warning of the indicator at the first position and the second position, the risk of secondary accidents can be effectively reduced when the straight length of the road where the first vehicle is located is insufficient.

[0084] In some embodiments, the road length between the second position and the current vehicle position includes the turning arc length.

[0085] In practice, the turning arc length can be determined based on the road curvature and the turning radius, that is, L=(π / 180)*k*R, where L is the turning arc length, k is the road curvature, and R is the turning radius.

[0086] In this embodiment, such as Figure 5 As shown, Figure 5 The road outline has been omitted. The rectangle represents the current position of the first vehicle. The first vehicle first goes straight to the left along the solid line, then turns along the arc and goes straight up. D0 is the distance between the second position and the current vehicle position. If the sum of D0 and L is greater than or equal to the first preset distance, then the first position P1 can be located at the entrance of the curve.

[0087] like Figure 6 As shown, Figure 6 The road outline has been omitted. The rectangle represents the current position of the first vehicle. The first vehicle first goes straight to the left along the solid line, then turns along the arc and goes straight up. If the sum of D0 and L is less than the first preset distance, the first position P1 can be located at a certain distance D1 before the curve, so that the sum of D0, L and D1 is greater than or equal to the first preset distance.

[0088] In some embodiments, the status signal includes at least one of the following: brake pedal opening, driving speed, steering wheel angle, vehicle position information, and collision signal of the first vehicle.

[0089] Among them, the brake pedal opening can be the depth or angle at which the driver presses the brake pedal. The brake pedal opening can reflect the braking intensity of the vehicle. The larger the brake pedal opening, the greater the depth to which the driver presses the brake.

[0090] The driving speed can be the current instantaneous speed of the first vehicle. The driving speed can reflect the speed change of the vehicle. If the driving speed of the first vehicle decreases rapidly in a short period of time, it indicates that the first vehicle may be involved in a collision or sudden braking.

[0091] The steering wheel angle is the angle at which the driver rotates the steering wheel. The steering wheel angle can reflect the vehicle's steering intention. If the steering wheel angle of the first vehicle suddenly deviates to a large angle, it indicates that the first vehicle may be involved in a collision or make a sharp turn.

[0092] Vehicle posture information can be gyroscope data of the first vehicle, including parameters such as pitch angle, yaw angle and roll angle. Vehicle posture information can reflect the three-dimensional parameters of the first vehicle. Through vehicle posture information, it can be determined whether the first vehicle has rolled over or overhead.

[0093] A collision signal can be an electrical signal triggered by relevant sensors installed on a vehicle when the vehicle suddenly decelerates or experiences an impact. The collision signal can be used to determine whether a collision has occurred between the first and second vehicles.

[0094] In actual operation, status signals can be collected by various sensors installed on the first vehicle, such as vehicle speed sensor, brake pedal sensor, gyroscope, and steering wheel angle sensor.

[0095] In this embodiment, the status signal may include the brake pedal opening, driving speed, steering wheel angle and vehicle body position information of the first vehicle. Through the status signal, the current driving status of the first vehicle can be accurately identified, so that the drone can be quickly activated to place the indicator object when the first vehicle is involved in an accident.

[0096] In some embodiments, the preset triggering conditions include a brake pedal opening rate of change greater than an opening rate of change threshold and a driving speed rate of change greater than a speed rate of change threshold.

[0097] Among them, the opening change rate threshold is a pre-set judgment standard for the rate of change of brake pedal opening, and the speed change rate threshold is a pre-set judgment standard for the change of vehicle speed. The opening change rate threshold and the speed change rate threshold are used to determine whether the first vehicle has undergone emergency braking.

[0098] In actual operation, if the rate of change of the brake pedal opening is greater than the threshold for the rate of change of the opening, and the rate of change of the driving speed is greater than the threshold for the rate of change of the speed, it indicates that the first vehicle has braked suddenly, and there may be a collision or other emergency.

[0099] In this embodiment, the preset triggering conditions include the rate of change of the brake pedal opening being greater than the opening rate of change threshold and the rate of change of the driving speed being greater than the speed rate of change threshold. By coordinating the determination of the opening rate of change threshold and the speed rate of change threshold, the probability of misjudging an accident can be reduced and the judgment result can be accurate.

[0100] In some embodiments, the preset triggering conditions include the rate of change of the steering wheel angle being greater than the rate of change threshold, and the vehicle body posture information exceeding the preset posture range.

[0101] Among them, the steering angle change rate threshold is a pre-set criterion for judging the steering wheel rotation speed. Abnormal steering behavior can be identified by using the steering angle change rate threshold.

[0102] In practice, if the rate of change of steering wheel angle is greater than the threshold for the rate of change of steering wheel angle, it indicates that the driver has turned the steering wheel significantly in a short period of time, and the first vehicle may be involved in a collision or other emergency.

[0103] In this embodiment, the preset pose range is the range of changes in the attitude data (including but not limited to the pitch angle, yaw angle, and roll angle of the first vehicle) during normal driving.

[0104] In actual operation, if the vehicle position information exceeds the preset position range, it indicates that at least one of the pitch angle, yaw angle and roll angle of the first vehicle is at an abnormal angle, and the first vehicle may be in the event of a collision or other emergency.

[0105] For example, the preset range of pitch angle in the preset pose range is -30° to 30°, while the yaw angle in the first vehicle body pose information is 50°, which exceeds the preset range, indicating that the first vehicle may be involved in a collision or other emergencies.

[0106] In this embodiment, if the rate of change of the steering wheel angle is greater than the rate of change threshold and the vehicle body position information exceeds the preset position range, the probability of misjudging an accident can be reduced and the judgment result can be accurate through the coordinated determination of the rate of change threshold and the preset position range.

[0107] In some embodiments, the control method for the drone further includes: Get the first input; Based on the first input, determine the second vehicle; Obtain the second road information for the second vehicle; Based on the second road information, the drone is controlled to place indicator objects on the road.

[0108] The first input is used to indicate the target vehicle where the indicated object needs to be placed, i.e., the second vehicle.

[0109] It should be noted that the first vehicle is the vehicle that can trigger the drone placement task through its own status signal, while the second vehicle is the vehicle that can only be determined by the first input and requires the drone to perform the placement task.

[0110] In practice, the first vehicle can be a vehicle carrying a drone, and the second vehicle can be another vehicle near the first vehicle.

[0111] In this embodiment, by acquiring the second road information of the second vehicle, the corresponding placement scheme of the indicator object can be determined according to the road conditions where the second vehicle is located, and the drone can be controlled to place the indicator object on the road for the second vehicle. This can be achieved in scenarios where the vehicle is normal but other vehicles are in abnormal condition, such as a collision accident in an adjacent lane. The first user can input the target of the drone placement task to complete the placement of the indicator object in various scenarios, thus making it highly applicable.

[0112] In some embodiments, the first input is at least one of camera data, license plate data, and distress signal.

[0113] Among them, camera data can be image or video data of the area where the vehicle or equipment carrying the drone is located, captured by the camera. The location of the vehicle involved in the accident in the area where the vehicle or equipment carrying the drone is located can be determined through camera data, that is, the location of the second vehicle.

[0114] The license plate data can be the license plate number of a second vehicle entered by the user of a vehicle or device equipped with a drone via text or voice input. The location of the second vehicle can be searched and determined based on the license plate data.

[0115] The distress signal can be an electrical signal sent by the second vehicle to the vehicle or equipment carrying the drone. The distress signal is used to indicate that the vehicle has been involved in an accident or other situation that requires the placement of an indicator object. The vehicle or equipment carrying the drone can use the distress signal to locate the second vehicle and determine its position.

[0116] In this embodiment, the vehicle or equipment carrying the drone can be a first vehicle or a public drone device set up on the road.

[0117] In practice, the camera data can be data captured by cameras set up on the road, data captured by cameras set up on drones, or data captured by cameras set up on the first vehicle.

[0118] Furthermore, if the first input is license plate data, the first input can be obtained through the central control screen of a vehicle or device equipped with a drone.

[0119] In some embodiments, controlling a drone to place a marker object on a road includes: Output the first prompt message; If no input from the second user is received within the preset time limit, the drone is controlled to place an indicator object on the road. The second user input is used to indicate that the task of placing the indicator object is canceled.

[0120] The first prompt message indicates that the task of placing the indicated object has been started, and the second user input is used to indicate whether to cancel the task of placing the indicated object.

[0121] The preset timeout period is the input time limit for the second user. If the second user input is received within the preset timeout period, the drone placement task will be terminated. If the second user input is not received within the preset timeout period, the placement operation will be performed by default.

[0122] In practice, second user input includes, but is not limited to, click input, gesture input, and voice input.

[0123] In this embodiment, by setting an appropriate preset timeout period, a manual confirmation process can be introduced. Within the preset timeout period, users can terminate the drone placement task if a misjudgment occurs or if stopping is not required. The drone can be controlled to place the indicator object only if no second user input is received within the preset timeout period, which can improve the applicability of the solution in different scenarios.

[0124] In some embodiments, the control method for the drone further includes: Obtain third-party user input; Based on third-user input, the drone is controlled to retrieve the indicated object on the road.

[0125] In practice, third-party user input includes, but is not limited to, click input, gesture input, and voice input.

[0126] In this embodiment, the third user input is used to instruct the drone to perform the task of retrieving the indicated object. In a scenario where the accident has been dealt with and the drone can leave the current road section, the drone can be controlled to retrieve the indicated object on the road through the third user input. This eliminates the need for manual retrieval, ensuring high safety and fast retrieval speed.

[0127] The drone control method provided in this application can be executed by a drone control device. This application uses the drone control device executing the drone control method as an example to illustrate the drone control device provided in this application.

[0128] This application also provides a control device for an unmanned aerial vehicle (UAV).

[0129] like Figure 7 As shown, the control device of the UAV includes: an acquisition module 710 and a control module 720.

[0130] The acquisition module 710 is used to acquire the first road information of the first vehicle when the status signal of the first vehicle meets the preset triggering conditions.

[0131] The control module 720 is used to control the drone to place indicator objects on the road based on the first road information.

[0132] According to the drone control device provided in the embodiments of this application, by acquiring status signals and setting preset trigger conditions, the first road information of the first vehicle can be quickly acquired when the driving status of the first vehicle is abnormal. The first road information can reflect the current road conditions. Through the first road information, a placement scheme matching the first road information can be determined, thereby controlling the drone to perform the task of placing the indicated object. This device does not require manual intervention, has a fast placement speed, and a high safety factor.

[0133] In some embodiments, the control module 720 is used to control the drone to place a pointer object on the road based on first road information, including: Based on the first road information, determine the placement location of the indicator object; Control the drone to place the indicated object at the designated location.

[0134] In some embodiments, the first road information includes road length information for the first vehicle; The placement location includes a first location, and the road length between the first location and the current vehicle body position of the first vehicle is greater than or equal to a first preset distance.

[0135] In some embodiments, the first road information further includes a first road curvature, which is the road curvature within a first preset distance from the location of the first vehicle; If the curvature of the first road is greater than a preset curvature threshold, the placement position also includes a second position. The distance between the second position and the inflection point where the first vehicle has left is less than or equal to a second preset distance. The second position is located between the current vehicle body position and the first position.

[0136] In some embodiments, the status signal includes at least one of the following: brake pedal opening, driving speed, steering wheel angle, vehicle position information, and collision signal of the first vehicle.

[0137] In some embodiments, the preset triggering conditions include the rate of change of the brake pedal opening being greater than a threshold for the rate of change of the opening, and the rate of change of the driving speed being greater than a threshold for the rate of change of the speed. And / or, the preset trigger conditions include the rate of change of the steering wheel angle being greater than the rate of change threshold, and the vehicle body posture information exceeding the preset posture range.

[0138] In some embodiments, the preset triggering conditions include the rate of change of the steering wheel angle being greater than the rate of change threshold, and the vehicle body posture information satisfying the preset posture template.

[0139] In some embodiments, the control module 720 is further configured to: Get the first input; Based on the first input, determine the second vehicle; Obtain the second road information for the second vehicle; Based on the second road information, the drone is controlled to place indicator objects on the road.

[0140] In some embodiments, the first input is at least one of camera data, license plate data, and distress signal.

[0141] In some embodiments, the control module 720 is further configured to: Output the first prompt message, which indicates that the task of placing the indicated object has been started; If no input from the second user is received within the preset time limit, the drone is controlled to place an indicator object on the road. The second user input is used to indicate that the task of placing the indicator object is canceled.

[0142] In some embodiments, such as Figure 8As shown, this application embodiment also provides an electronic device 800, including a processor 801, a memory 802, and a computer program stored in the memory 802 and executable on the processor 801. When the program is executed by the processor 801, it implements the various processes of the above-described drone control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0143] It should be noted that the electronic device 800 in this application embodiment can be a terminal or other devices besides a terminal. For example, the electronic device 800 can be a vehicle-mounted electronic device 800 or a server, etc., and this application embodiment does not make specific limitations.

[0144] The electronic device 800 provided in this application embodiment can realize the various processes implemented in the drone control method embodiment, and will not be described again here to avoid repetition.

[0145] This application also provides a drone, which includes the electronic device 800 as described above.

[0146] According to the drone provided in the embodiments of this application, by acquiring status signals and setting preset trigger conditions, it can quickly acquire the first road information of the first vehicle when the driving status of the first vehicle is abnormal. The first road information can reflect the current road conditions. Through the first road information, a placement scheme that matches the first road information can be determined, thereby controlling the drone to perform the task of placing the indicated object. The drone does not require human intervention, has a fast placement speed, and a high safety factor.

[0147] The drone provided in this application embodiment can realize the various processes implemented in the drone control method embodiment, and will not be repeated here to avoid repetition.

[0148] This application also provides a vehicle that includes the aforementioned electronic device 800 or the aforementioned drone.

[0149] According to the vehicle provided in the embodiments of this application, by acquiring status signals and setting preset trigger conditions, the first road information of the first vehicle can be quickly acquired when the driving status of the first vehicle is abnormal. The first road information can reflect the current road conditions. Through the first road information, a placement scheme that matches the first road information can be determined, thereby controlling the drone to perform the task of placing the indicated object. The vehicle does not require human intervention, has a fast placement speed, and a high safety factor.

[0150] In some embodiments, the vehicle further includes a data acquisition device, which is communicatively connected to an electronic device 800, and the data acquisition device is used to acquire road information and vehicle status signals.

[0151] In practice, the data collection device can be a sensor, radar, camera, or other device installed on the vehicle.

[0152] In some embodiments, the vehicle further includes an interactive device, which is communicatively connected to an electronic device 800. The interactive device is used to output a first prompt message, which indicates that the task of placing an indicated object has been initiated.

[0153] In this embodiment, the interactive device is also used to receive second user input, which is used to indicate the cancellation of the placement of the indicated object; Electronic device 800 is used to control a drone to place an indicator object on the road when the interactive device outputs a first prompt message and no second user input is received within a preset time period.

[0154] In practice, the interactive device can be the vehicle's central control screen.

[0155] In this embodiment, by setting an appropriate preset timeout period, a manual confirmation process can be introduced. Within the preset timeout period, users can terminate the drone placement task if a misjudgment occurs or if stopping is not required. The drone can be controlled to place the indicator object only if no second user input is received within the preset timeout period, which can improve the applicability of the solution in different scenarios.

[0156] In some embodiments, the second user input includes at least one of click input, gesture input, and voice input.

[0157] Among them, click input can be a user's click operation on the interactive device, such as clicking the "Cancel Placement" button that pops up on the vehicle's central control screen.

[0158] Gesture input allows users to perform gesture operations near the interactive device, such as waving their hand a specific number of times in front of the vehicle's central control screen.

[0159] Voice input can be voice commands issued by the user to the microphone of the interactive device, such as the voice command "cancel placement" issued to the vehicle's central control screen.

[0160] In this embodiment, the second user input includes click input, gesture input, and voice input, which can interact with the interactive device in multiple ways, making it highly applicable.

[0161] In some embodiments, the interactive device is also used to receive input from a third user; the electronic device 800 is also used to control the drone to retrieve the indicated object on the road based on the third user input.

[0162] In this embodiment, the third user input is used to instruct the drone to perform the task of retrieving the indicated object. In a scenario where the accident has been dealt with and the drone can leave the current road section, the drone can be controlled to retrieve the indicated object on the road through the third user input. This eliminates the need for manual retrieval, ensuring high safety and fast retrieval speed.

[0163] In some embodiments, the third user input includes at least one of click input, gesture input, and voice input.

[0164] Among them, click input can be the user's click operation on the interactive device, such as clicking the "Recycle Instruction Item" button that pops up on the vehicle's central control screen.

[0165] Gesture input allows users to perform gesture operations near the interactive device, such as waving their hand a specific number of times in front of the vehicle's central control screen.

[0166] Voice input can be voice commands issued by the user to the microphone of the interactive device, such as issuing a voice command to the vehicle's central control screen to "recycle the specified object".

[0167] In this embodiment, the third user input includes click input, gesture input, and voice input, which can interact with the interactive device in multiple ways and has strong applicability.

[0168] In some embodiments, the interactive device is used to send a second prompt message to the user when the status signal meets a preset triggering condition. The second prompt message is used to indicate that an accident has occurred in the vehicle.

[0169] In this embodiment, the second prompt information includes, but is not limited to, text information, image information, and voice information.

[0170] In some embodiments, the interactive device is used to determine the current incident level based on a status signal, and to send a second prompt message to the user based on the current incident level.

[0171] In this embodiment, the interactive device can determine the current accident level based on the status signal. The current accident level can reflect the severity of the first vehicle accident. Different prompting schemes can be set according to the current accident level. When the current accident level is low, only text information prompts are sent. When the current accident level is high, image information and voice information can be added for graded prompting.

[0172] In some embodiments, the vehicle includes a screen display unit, a voice control reminder unit, a drone unit, a warning sign attachment unit, a road perception unit, and a flight control unit.

[0173] Users can control the drone's flight through the multimedia interface on the screen display unit, and can also operate the pop-up window that actively reminds users of malfunctions.

[0174] The voice control reminder unit can provide voice interaction capabilities. When an accident occurs, a reminder pop-up will be displayed along with a voice reminder. At the same time, users can perform voice operations based on the reminder content to quickly complete flight mission initiation, pause / cancellation, and final recall and recovery.

[0175] The drone unit can be used for drone storage and maintenance. The drone unit can be linked with the warning sign attachment unit. After the drone takes off, the attachment can be picked up and attached to the drone. The placement of the triangular warning sign is completed according to the landing point algorithm. After recall, the triangular warning sign can also be retrieved by the drone and the drone can be disposed of.

[0176] The warning sign hanging unit can be used to store hanging items such as triangular warning signs. The hanging item configuration of the warning sign hanging unit includes, but is not limited to, triangular warning signs, traffic cones, fences, etc.

[0177] The road perception unit can be used to perceive road condition data and acquire high-precision map data. The road perception unit can acquire high-precision map data based on high-precision positioning, and identify and monitor road conditions through perception sensors such as LiDAR, millimeter-wave radar, and cameras.

[0178] The flight control unit can be used for the flight mission control of UAVs. The flight control unit can arrange different flight missions based on road information and complete automated flight control.

[0179] The following is a specific example.

[0180] like Figure 2 As shown, the vehicle monitors status signals through a data acquisition device. When the status signal meets preset trigger conditions, the vehicle determines the current accident level based on the status signal and provides feedback to the user through an interactive device according to the current accident level. At the same time, a timer is started. If a second user input is received within the preset time period, the placement task of the indicator object is terminated, and the status signal is monitored again. If no second user input is received within the preset time period, the vehicle obtains road information through the data acquisition device and controls the drone to place the indicator object based on the road information. After the indicator object is placed, if a third user input is received, the vehicle controls the drone to retrieve the indicator object, thus completing the placement task.

[0181] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described drone control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0182] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0183] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described drone control method.

[0184] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0185] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described UAV control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0186] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0187] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0188] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0189] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0190] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0191] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method of controlling a drone, the method comprising: The method comprises: In a case where a state signal of a first vehicle satisfies a preset triggering condition, acquiring first road information of the first vehicle; Based on the first road information, controlling the unmanned aerial vehicle to place an indicating object on a road. 2.The method of claim 1, wherein, The step of controlling the unmanned aerial vehicle to place the indicating object on the road based on the first road information comprises: Based on the first road information, determining a placement position of the indicating object; Controlling the unmanned aerial vehicle to place the indicating object at the placement position. 3.The method of claim 2, wherein, The first road information comprises road length information of the first vehicle; The placement position comprises a first position, and a road length between the first position and a current vehicle body position of the first vehicle is greater than or equal to a first preset distance. 4.The method of claim 3, wherein, The first road information further comprises a first road curvature, which is a road curvature within the first preset distance from a position where the first vehicle is located; In a case where the first road curvature is greater than a preset curvature threshold, the placement position further comprises a second position, a distance between the second position and a passed inflection point of the first vehicle is less than or equal to a second preset distance, and the second position is located between the current vehicle body position of the first vehicle and the first position. 5.The method of claim 1, wherein, The state signal comprises at least one of a brake pedal opening degree, a driving speed, a steering wheel turning angle, vehicle body posture information and a collision signal of the first vehicle. 6.The method of claim 5, wherein, The preset triggering condition comprises that a change rate of the brake pedal opening degree is greater than an opening degree change rate threshold, and a change rate of the driving speed is greater than a speed change rate threshold; And / or, the preset triggering condition comprises that a change rate of the steering wheel turning angle is greater than a turning angle change rate threshold, and the vehicle body posture information is out of a preset posture range.

7. The method of claim 1-6, wherein, The method further comprises: Acquiring a first input; Based on the first input, determining a second vehicle; Acquiring second road information of the second vehicle; Based on the second road information, controlling the unmanned aerial vehicle to place the indicating object on a road. 8.The method of claim 7, wherein, The first input is at least one of camera data, license plate data and a help signal.

9. The method of claim 1-6, wherein, The step of controlling the unmanned aerial vehicle to place the indicating object on the road comprises: Outputting first prompt information, the first prompt information being used to prompt that a placement task of the indicating object has been started; In a case where a second user input for indicating cancellation of the placement task of the indicating object is not received within a preset time duration, controlling the unmanned aerial vehicle to place the indicating object on the road.

10. The control method of claim 1-6, wherein, The method further comprises: Acquiring a third user input; Based on the third user input, controlling the unmanned aerial vehicle to recycle the indicating object on the road.

11. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the control method of the unmanned aerial vehicle according to any one of claims 1-10 when executing the program.

12. A drone, characterized in that, The electronic device comprises: The electronic device according to claim 11.

13. A vehicle characterized by comprising: The electronic device according to claim 11 or the unmanned aerial vehicle according to claim 12. The method further comprises:

14. The vehicle of claim 13, wherein, A collection device in communication connection with the electronic device, the collection device being used to acquire road information and a state signal of the vehicle. The method further comprises:

15. The vehicle of claim 13, wherein, ​ An interactive device is communicatively connected to the electronic device. The interactive device is used to output a first prompt message, which is used to indicate that the placement task of the indicated object has been started. And / or, the interactive device is further configured to receive a second user input, the second user input being used to instruct the cancellation of the placement of the indicated object; And / or, the electronic device is used to control the drone to place an indicator object on the road when the interactive device outputs the first prompt information and no second user input is received within a preset time period; And / or, the interactive device is also configured to receive input from a third user; And / or, the electronic device is also used to control the drone to retrieve the indicated object on the road based on the third user input.

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