Vehicle moving system, vehicle moving method, storage medium, vehicle and unmanned aerial vehicle

Abstract

The invention discloses a vehicle moving system, a vehicle moving method, a storage medium, a vehicle and an unmanned aerial vehicle. The vehicle moving system comprises the unmanned aerial vehicle and a moved vehicle in communication connection with the unmanned aerial vehicle. The unmanned aerial vehicle is suitable for being in communication connection with the mobile terminal and used for receiving vehicle moving information sent by the mobile terminal, the vehicle moving information comprises a vehicle moving target position, and a vehicle moving path is generated based on the vehicle moving target position in the vehicle moving information, the initial position of a moved vehicle and aerial view picture information around the moved vehicle; sending the vehicle moving path to the moved vehicle; and the moved vehicle is used for receiving the vehicle moving path sent by the unmanned aerial vehicle and controlling the vehicle to run to the vehicle moving target position. Visibly, the vehicle moving path can be planned through the unmanned aerial vehicle according to the vehicle moving position determined by the user at the mobile terminal, the initial position of the moved vehicle and the aerial view picture information around the moved vehicle, so that the moved vehicle is guided to execute vehicle moving operation according to the vehicle moving path, a vehicle owner does not need to rush to the scene to move the vehicle personally, the vehicle moving efficiency is improved, and the user experience is improved. And the privacy leakage risk caused by exposure of a mobile phone number in a traditional car moving mode is also avoided.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicle technology, and in particular to a vehicle relocation system, a vehicle relocation method, a storage medium, a vehicle, and an unmanned aerial vehicle. Background Technology

[0002] With the continuous improvement of residents' quality of life, private cars have become increasingly common, becoming a standard feature for many families. However, while the surge in the number of vehicles has brought convenience to travel, it has also brought severe challenges to urban traffic management and parking resources. In areas lacking standardized parking management, the problem of "difficulty in finding parking" is particularly prominent: it is common to see vehicles parked haphazardly, obstructing the passage of other vehicles, and blocking the entrances of businesses, affecting their normal operations. Currently, the most common solution is for car owners to place a sign with their personal mobile phone number in a conspicuous location inside their vehicles so that they can be contacted promptly when the car needs to be moved. However, this traditional approach has obvious drawbacks: on the one hand, after receiving a notice to move the car, the car owner has to interrupt their current work and rush to the scene as soon as possible, which not only wastes time and energy but may also disrupt their original work plans; on the other hand, personal information such as mobile phone numbers is directly exposed, posing a risk of being obtained and used by criminals, and bringing potential security risks to the car owner. Summary of the Invention

[0003] This application provides a vehicle relocation system, a vehicle relocation method, a storage medium, a vehicle, and a drone. The drone can plan a relocation path based on the vehicle location determined by the user on a mobile terminal and the overhead image information around the vehicle to be moved, so as to guide the vehicle to be moved to perform the relocation operation according to the relocation path. The car owner does not need to go to the site to move the car in person, which improves the efficiency of vehicle relocation and avoids the privacy leakage risk caused by exposing mobile phone numbers in traditional vehicle relocation methods.

[0004] To address the aforementioned technical problems, the first aspect of this application discloses a vehicle relocation system, the system comprising: a drone and a vehicle to be relocated that is communicatively connected to the drone;

[0005] The drone is adapted to communicate with a mobile terminal and is used to receive vehicle relocation information sent by the mobile terminal, the vehicle relocation information including the target location of the vehicle to be moved; based on the target location of the vehicle to be moved, the initial location of the vehicle to be moved, and the overhead view information around the vehicle to be moved, a vehicle relocation path is generated; and the vehicle relocation path is sent to the vehicle to be moved.

[0006] The vehicle to be moved is used to receive the moving path sent by the drone and control the vehicle to drive to the target moving location.

[0007] Optionally, the overhead images of the area around the moved vehicle are taken by the drone during flight;

[0008] The drone is also used to send a vehicle relocation suggestion and / or overhead image information to the mobile terminal so that the vehicle owner can determine whether to agree to move the vehicle, wherein the vehicle relocation suggestion is generated based on the overhead image information.

[0009] Optionally, the overhead images of the area around the moved vehicle are taken by the drone during flight;

[0010] The drone is also used to fly to a preset altitude in response to a flight command sent by a mobile terminal before taking aerial photos of the area around the moved vehicle.

[0011] Optionally, the system further includes a mobile terminal that is communicatively connected to the drone;

[0012] The drone is also used to send a vehicle relocation request to the mobile terminal when it detects the word "move vehicle".

[0013] The mobile terminal is also used to receive the vehicle relocation request sent by the drone and generate a prompt message for the vehicle owner to confirm whether they agree to the drone taking off.

[0014] Optionally, the system further includes a mobile terminal that is communicatively connected to the drone; the overhead image information of the area around the moved vehicle is taken by the drone during flight;

[0015] The drone is also used to generate map information marked with parking areas based on overhead images of the area around the moved vehicle; and to send the map information marked with parking areas to a mobile terminal.

[0016] The mobile terminal is also used to receive map information marked with parking areas sent by the drone, and in response to the user's operation, determine the target location of the vehicle to be moved within the parking area.

[0017] Optionally, the drone is also used to generate a moving path based on the target location of the vehicle to be moved, the initial location of the vehicle to be moved, and the map information.

[0018] Optionally, the map information includes at least map information within a preset range centered on the moved vehicle.

[0019] Optionally, the vehicle to be moved is further configured to divide the moving path into at least two road segments; when there are obstacles in the divided paths, the path is replanned according to the location of the obstacles in each path to avoid the obstacles.

[0020] Optionally, the system further includes a mobile terminal that is communicatively connected to the moved vehicle;

[0021] The vehicle being moved is used to transmit video of the vehicle being moved in real time to a mobile terminal via a communication link during the moving process.

[0022] Optionally, the system further includes a mobile terminal that is communicatively connected to the moved vehicle;

[0023] The moved vehicle is also used to control the vehicle to shut off in response to a stop-moving command sent by the vehicle owner's mobile terminal, and / or to send a landing command to the drone in response to a stop-moving command sent by the vehicle owner's mobile terminal, so that the drone can land.

[0024] A second aspect of this application discloses a method for moving a vehicle, applied to a vehicle that has been moved, the method comprising:

[0025] The system receives a relocation path sent by a drone that is communicatively connected to the vehicle to be moved, and controls the vehicle to drive to the target relocation location. The drone is adapted to communicate with a mobile terminal, and the relocation path is generated by the drone based on the target relocation location, the initial position of the vehicle to be moved, and the overhead view information around the vehicle to be moved, which are sent by the mobile terminal.

[0026] A third aspect of this application discloses a method for moving a vehicle, applied to a drone, the method comprising:

[0027] Receive vehicle relocation information sent by a mobile terminal, the vehicle relocation information including the target location of the vehicle; generate a vehicle relocation path based on the target location of the vehicle relocation information, the initial location of the vehicle to be moved, and the overhead view information around the vehicle to be moved;

[0028] The relocation route is sent to the vehicle to be relocated, so that the vehicle can drive to the target relocation location.

[0029] The fourth aspect of this application discloses a computer storage medium storing at least one instruction or at least one program, characterized in that the at least one instruction or the at least one program is loaded and executed by a processor to implement some or all of the steps in a vehicle relocation method disclosed in the second or third aspect of this application.

[0030] A fifth aspect of this application discloses an electronic device, the electronic device comprising:

[0031] A processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement some or all of the steps in the vehicle relocation method disclosed in the second or third aspect of this application.

[0032] The sixth aspect of this application discloses a computer program product, which includes a computer program or instructions, and the computer program or instructions are executed by a processor to implement some or all of the steps in a vehicle relocation method disclosed in the second or third aspect of this application.

[0033] The seventh aspect of this application discloses a vehicle equipped with a drone, which is configured to perform some or all of the steps in the vehicle relocation method disclosed in the second aspect of this application.

[0034] The eighth aspect of this application discloses an unmanned aerial vehicle (UAV) mounted on a vehicle to be moved, the UAV being configured to perform some or all of the steps in a vehicle relocation method disclosed in the third aspect of this application.

[0035] Compared with the prior art, this application has the following beneficial effects:

[0036] In this application, the vehicle relocation system includes: a drone and a vehicle to be relocated that is communicatively connected to the drone; the drone, adapted to communicate with a mobile terminal, is used to receive vehicle relocation information sent by the mobile terminal, the vehicle relocation information including a target location for relocation; based on the target location for relocation in the vehicle relocation information, the initial location of the vehicle to be relocated, and overhead view information around the vehicle to be relocated, a vehicle relocation path is generated; the vehicle relocation path is sent to the vehicle to be relocated; the vehicle to be relocated is used to receive the vehicle relocation path sent by the drone and control the vehicle to drive to the target location for relocation. Therefore, this application can use a drone to plan a vehicle relocation path based on the vehicle relocation location determined by the user on the mobile terminal, the initial location of the vehicle to be relocated, and overhead view information around the vehicle to be relocated, so as to guide the vehicle to be relocated to perform the relocation operation according to the relocation path, without requiring the car owner to go to the site to move the car in person, improving the efficiency of vehicle relocation and avoiding the privacy leakage risk caused by exposing mobile phone numbers in traditional vehicle relocation methods. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of a car relocation system disclosed in an embodiment of this application;

[0039] Figure 2 This is a schematic diagram of another vehicle relocation system disclosed in the embodiments of this application;

[0040] Figure 3 This is a flowchart of a method for moving a car disclosed in an embodiment of this application;

[0041] Figure 4 This is a flowchart of yet another method for moving a car disclosed in an embodiment of this application;

[0042] Figure 5This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0044] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0045] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0046] This application discloses a car-moving system, a car-moving method, a storage medium, a vehicle, and a drone. The car-moving system includes: a drone and a vehicle to be moved that is communicatively connected to the drone; the drone, adapted to communicate with a mobile terminal, is used to receive car-moving information sent by the mobile terminal, the car-moving information including a target location; a car-moving path is generated based on the target location, the initial location of the vehicle to be moved, and an overhead view of the surrounding area of ​​the vehicle to be moved; the car-moving path is sent to the vehicle to be moved; the vehicle to be moved receives the car-moving path sent by the drone and controls itself to move to the target location. As can be seen, this application can use a drone to plan a car-moving path based on the car-moving location determined by the user on a mobile terminal, the initial location of the vehicle to be moved, and an overhead view of the surrounding area of ​​the vehicle to be moved, guiding the vehicle to perform the car-moving operation according to the path, eliminating the need for the car owner to go to the site to move the car, improving the efficiency of car-moving, and avoiding the privacy risks associated with exposing mobile phone numbers in traditional car-moving methods. Detailed descriptions follow.

[0047] More and more car models are now equipped with drones. A drone can be paired with a vehicle, establish a communication connection, and park on the vehicle even when not in operation. The drone can be parked on the roof or inside the vehicle, depending on the specific application; this application does not limit the specific location. Users can operate the drone via the vehicle's infotainment screen or by voice command to launch and take photos. After takeoff, the drone can also track the vehicle in real time using visual recognition of rooftop features or GPS signals. This application discloses a system and method for using drones to assist users in moving their vehicles, improving efficiency. The drone can also establish a communication connection with a mobile terminal. The mobile terminal can be a mobile phone, a peripheral device for controlling the drone, or other devices that communicate with the drone. The peripheral device can be a drone controller. The communication connection can be established via wireless transmission methods such as Bluetooth, 4G / 5G, etc.; this application does not limit the specific communication connection method. Long-distance communication can also be achieved using base stations or ground stations to improve the strength of communication signals between devices.

[0048] Example 1

[0049] Please see Figure 1 , Figure 1 This is a schematic diagram of a car relocation system disclosed in an embodiment of this application. Figure 1 As shown, the vehicle relocation system 100 includes: a drone 10 and a vehicle 30 to be relocated that is communicatively connected to the drone; the drone 10 is adapted to communicate with a mobile terminal 20 and is used to receive vehicle relocation information sent by the mobile terminal 20, the vehicle relocation information including the target location of the vehicle; based on the target location of the vehicle in the vehicle relocation information, the initial position of the vehicle 30 to be relocated, and the overhead view information around the vehicle to be relocated, a vehicle relocation path is generated; the vehicle relocation path is sent to the vehicle 30 to be relocated; the vehicle 30 to be relocated is used to receive the vehicle relocation path sent by the drone 10 and control the vehicle to drive to the target location of the vehicle to be relocated.

[0050] In this embodiment, a drone 10 serves as a communication and planning node, communicating with a mobile terminal 20 and a vehicle 30 via its own communication equipment. The communication between the drone 10, mobile terminal 20, and vehicle 30 can be via wireless transmission methods such as Bluetooth, 4G / 5G. Here, vehicle 30 refers to the target vehicle to be moved, i.e., the vehicle being moved. For example, mobile terminal 20 can establish a communication connection with drone 10 and transmit data with it; drone 10 can also communicate with vehicle 30 and transmit data with it. Alternatively, mobile terminal 20 can also communicate with vehicle 30 and transmit data between them. Communication between mobile terminal 20, drone 10, and vehicle 30 can also be achieved via a cloud server, thus improving work efficiency. Mobile terminal 20 can be a mobile device such as a mobile phone, tablet, laptop, or remote control. Taking a mobile phone as an example, an app with a car-moving function can be installed on the mobile phone, allowing users to communicate with the drone 10 and the vehicle 30. The drone 10, mounted on the vehicle 30, equipped with a camera or radar, can transmit overhead views and real-time video streams to the mobile terminal 20 and the vehicle 30. The drone 10 can perform target identification and positioning based on the overhead views. The drone 10 receives car-moving information, including the target location, from the mobile terminal 20, which is authenticating with it. Based on the target location, the initial position of the vehicle 30, and the overhead views surrounding the vehicle 30, it generates a car-moving path. The drone 10 receives the target location and the overhead views surrounding the vehicle 30 in any order; it can capture the overhead views and then receive the target location from the mobile terminal 20, or it can receive the target location from the mobile terminal 20 and then capture the overhead views. Of course, the overhead view information around the moved vehicle 30 can also be obtained through or in combination with the cameras or LiDAR installed on the moved vehicle 30. For example, the overhead view information can be obtained by stitching together images taken by the vehicle 30 based on a wide-angle camera. The initial position of the moved vehicle 30, that is, its current position before being moved, is determined by the drone 10 by identifying the coordinates of the moved vehicle 30 through the overhead view information around it; the initial position of the vehicle 30 can also be the position information of the vehicle 30 transmitted by the positioning module of the moved vehicle 30. The target location for moving the vehicle can be the target location of the moved vehicle 30 after it has been moved.Before sending the vehicle relocation information to the drone 10, the mobile terminal 20 can determine the relocation information based on the overhead view information around the vehicle 30 to be moved. This relocation information may include location information associated with user operations, such as touch operations performed by the user on the mobile terminal 20. Then, the relocation path is determined by combining the target relocation location and the initial position of the vehicle 30. Specifically, the initial position of the path may be the center point of the rear axle of the vehicle 30 as the starting point and the target relocation location selected by the user as the ending point, and then the relocation path is planned by combining the overhead view information around the vehicle 30. The overhead view information around the vehicle 30 can provide information about the surrounding environment of the vehicle to be moved, identify the location of obstacles, and determine feasible or parking areas. At the same time, the drone 10 sends the generated relocation path to the vehicle 30. After receiving the relocation path, the vehicle 30 controls itself to move to the target relocation location.

[0051] It is worth noting that after vehicle 30 receives the relocation path, vehicle 30's body controller controls vehicle 30 to park to the relocation target position based on lateral and longitudinal vehicle control data such as gear request, torque request, steering wheel angle request, acceleration and deceleration request.

[0052] As can be seen, the method described in this application embodiment can receive the target location of the vehicle to be moved determined by the user through the drone and combine it with the initial position of the vehicle and the complete environmental image of the vehicle's surroundings to generate a vehicle moving path, thereby assisting the user to move the vehicle remotely. This completely eliminates the direct intervention of the vehicle owner and avoids the privacy leakage risk caused by exposing the mobile phone number in traditional vehicle moving methods. At the same time, the vehicle to be moved only acts as an execution unit, receiving and executing the path instructions generated by the drone 10, reducing the computational burden on the vehicle and improving the response speed.

[0053] Optionally, the aerial images of the area around the moved vehicle 30 are taken by drone 10.

[0054] In this embodiment, the UAV 10 acquires a complete environmental image of the vehicle 30 from a high-altitude perspective. The overhead image information captured by the UAV 10 provides global spatial information for path planning, overcoming the problem of missed parking areas caused by the low angle and limited field of view of vehicle-mounted ultrasonic sensors and wide-angle cameras.

[0055] Optionally, the drone 10 is also used to send a vehicle relocation suggestion and / or overhead image information to the mobile terminal 20 for the vehicle owner to determine whether to agree to relocate the vehicle, wherein the vehicle relocation suggestion is generated based on the overhead image information.

[0056] In this embodiment, the drone 10 can send aerial images of the area surrounding the vehicle 30 to the mobile terminal 20. These aerial images can be in the form of pictures and videos. Users can then view these aerial images on the mobile terminal 20 to understand the surrounding environment of the vehicle 30, thus assisting them in deciding whether to move the vehicle. Optionally, the drone 10 can analyze the aerial images to determine if the current scene meets the conditions for moving the vehicle 30, and provide a suggestion for moving it. For example, it can determine if the current scene affects other drivers or requires making room for other drivers to move their vehicles. Scene recognition can be achieved by using a preset image recognition algorithm to determine target information and then analyzing that information to determine the current scene. Target information can include identifying other vehicles and users nearby. For instance, after takeoff, the drone 10 takes images and analyzes the surrounding environment. If it finds that the vehicle is obstructing other drivers from moving their vehicles, or if it identifies other drivers walking around nearby from multiple images, and the conditions for moving the vehicle are met, it provides a suggestion to move the vehicle and sends it to the mobile terminal 20 for the user's reference. Of course, other conditions requiring vehicle relocation can also be included, without specific limitations. To improve the efficiency of the vehicle relocation system, the drone 10 only needs to hover above the vehicle 30, capture an overhead view or record a 360° video stream, and send it and / or relocation suggestions to the mobile terminal 20. The relocation suggestions can also generate semantic suggestions such as "It is recommended to move 3 meters to the left and rear to an empty space" or "There is currently no suitable parking space; it is recommended to go to a parking space 20 meters away," along with high-definition overhead views. Figure 1 The information is then pushed to the car owner's mobile app, allowing the owner to anticipate the outcome before confirming the need to move the car. The owner can further assess whether moving the car is necessary by viewing the overhead view and video through the app. In other words, the drone 10 transmits the car-moving suggestion, overhead view, and video to the mobile terminal 20 via a communication link, avoiding accidental or ineffective car-moving.

[0057] Optionally, the drone 10 transmits the overhead image information to its own image processing module for perception model training. The drone 10 collects overhead images in different environments to provide data support for the perception model. Simultaneously, the driver's decision-making information is also input into the image processing module through the drone 10's scene judgment module for supervised learning, improving the accuracy of scene recognition.

[0058] Optionally, the aerial view of the area around the moved vehicle 30 is taken by the drone 10; the drone 10 is also used to fly to a preset altitude in response to a flight command sent by the mobile terminal 20 before taking aerial view of the area around the moved vehicle 30.

[0059] In this embodiment, the drone 10 acquires a complete environmental image of the vehicle 30 from a high-altitude perspective. The overhead image information captured by the drone 10 provides global spatial information for path planning, overcoming the problem of missed parking areas caused by the low angle and limited field of view of vehicle-mounted ultrasonic sensors and wide-angle cameras. After receiving takeoff authorization from the mobile terminal 20, the drone 10 automatically ascends to a preset altitude to ensure maximum camera coverage while avoiding interference from ground obstacles. The preset altitude can be determined based on typical scenarios such as urban residential areas and roadside parking areas to ensure that the drone 10 can fly and take pictures normally. Specifically, after receiving the flight command, the drone 10 takes off to a preset altitude of h meters and hovers above the vehicle 30, taking an overhead view and performing a 360° panoramic view. At the same time, the images and videos can be anonymized.

[0060] Optionally, the vehicle relocation system also includes a mobile terminal 20 that is communicatively connected to the drone 10; the drone 10 is also used to send a vehicle relocation request to the mobile terminal 20 when it recognizes the word "vehicle relocation"; the mobile terminal 20 is also used to receive the vehicle relocation request sent by the drone 10 and generate a prompt message for the vehicle owner to confirm whether he / she agrees to the drone 10 taking off.

[0061] In this embodiment, the drone 10 has a built-in intelligent voice module, which can be a sound detection module. Users can set the drone 10 to standby mode, allowing it to continuously monitor surrounding sounds. When it detects keywords such as "move car," "blocking the road," or "can you move it?", it automatically triggers the voice recognition engine and immediately sends a confirmation request to the car owner's mobile app, which can be sent via SMS or app push notifications. Users can operate the app on the mobile terminal 20 to confirm whether moving the car is necessary. In other words, the mobile device receives the car-moving request from the drone 10 and generates a prompt message for the car owner to confirm whether they agree to the drone 10 taking off. For example, after receiving the car-moving request from the drone 10, the mobile device pushes a pop-up notification: "A car-moving request has been detected nearby. Do you allow the drone 10 to take off and assist?" The car owner can choose "agree" or "decline." If the user agrees, they send a takeoff command to the drone 10 to initiate takeoff. The drone 10 can also be powered off to avoid power consumption. Drone 10 is only put into standby mode when a user cannot find a parking space and parks the vehicle in an area that may obstruct the passage of other vehicles. This allows Drone 10 to monitor the surrounding environment of the vehicle in real time, thereby assisting the user in moving the vehicle. This avoids disputes caused by the vehicle occupying public space for a long time, while ensuring the car owner's ultimate control over the vehicle relocation.

[0062] Optionally, the vehicle relocation system also includes a mobile terminal 20 that is in communication with the drone 10; the overhead image information of the area around the relocated vehicle 30 is taken by the drone 10 during flight;

[0063] The drone 10 is also used to generate map information marked with parking areas based on the overhead image information around the moved vehicle 30; and to send the map information marked with parking areas to the mobile terminal 20.

[0064] The mobile terminal 20 is also used to receive map information marked with parking areas sent by the drone 10, and in response to the user's operation, determine the target location for moving the vehicle within the parking area.

[0065] In this embodiment, the drone 10 has a built-in communication module and a processing module. The drone 10 can communicate with the mobile terminal 20 through the communication module. The processing module of the drone 10 can be a microprocessor unit (MCU), digital signal processor (DSP), system on chip (SOC), central processing unit (CPU), or graphics processing unit (GPU) on the motherboard of the drone 10. The drone 10 is equipped with a camera or lidar to capture environmental information within a preset range of the vehicle to be moved 30. For example, it can capture an overhead image using a wide-angle camera. At the same time, when building map information, the GPS and IMU data of the drone 10 can be combined to generate a map of the parking area with geographic coordinates, resulting in a more accurate map location. For example, a body coordinate system is established with the center of gravity of the drone 10 as the origin, the forward direction of the drone 10's nose is set as the X-axis, the direction to the right of the origin of the drone 10 is set as the Y-axis, and the Z-axis direction is determined by the right-hand rule according to the X and Y axes. The UAV 10 receives real-time vehicle position information from the vehicle-mounted positioning module, determining the three-dimensional coordinates of the UAV 10 and the rear axle center point of the vehicle. Simultaneously, it determines the relative position coordinates of various obstacles detected along the flight path. Obstacle detection can be achieved by using images captured by cameras or LiDAR, which are then distorted or stitched together before being input into a deep learning semantic segmentation and recognition model. This model identifies targets such as roads, vehicles, sidewalks, green belts, and obstacles, marking their coordinates to generate a map with marked parking areas. Alternatively, a map generation model can be embedded in the processing module. This model can identify the coordinates of roads, vehicles, sidewalks, green belts, and obstacles based on the input image information, generating two-dimensional or three-dimensional maps. Specifically, the drone 10 inputs an aerial view of the vehicle 30 to a map generation model. Using image segmentation and semantic recognition technology, it automatically marks available parking areas, such as empty ground, legal parking spaces, and non-restricted parking zones, and overlays these images onto the map to form a map of available parking areas. This map information is then transmitted to the mobile terminal 20 via a communication link. The car owner can then select any marked area on the mobile terminal 20 interface as the target location for moving the vehicle. Once the user selects the target location, the system locks the coordinates and generates vehicle relocation information including the target location.Simultaneously, the UAV 10 can use the initial position, the center point of the rear axle of the vehicle, as the starting point and the user-selected target location as the ending point to plan a path for moving the vehicle on the generated parking area map and send it to the vehicle to be moved. The 3D map information can also be obtained by feature matching between adjacent images. During the matching process, for mismatches, the Random Sample Consensus (RANSAC) algorithm is used to remove the mismatched points. Based on the matched feature points, the correspondence between adjacent images is obtained through Structure From Motion (SFM), initially obtaining the camera's pose in 3D space and the 3D coordinates of the map. Then, based on the positioning information, a sparse point cloud of the image is obtained to construct the map information.

[0066] As can be seen, the method described in this embodiment allows the user to make the choice of the target location for moving the car, enabling the user to make their own decisions and improving the flexibility and user-friendly experience of moving the car.

[0067] Optionally, the drone 10 is also used to generate a relocation path based on the target location of the vehicle to be moved, the initial location of the vehicle to be moved 30, and the map information.

[0068] In this embodiment, the drone 10 receives vehicle relocation information, including the target location, sent by the mobile terminal 20. Then, it combines the target location, the initial position of the vehicle to be moved 30, and overhead view images of the area surrounding the vehicle to be moved to generate map information marking available parking areas, thus generating a relocation path. Specifically, the drone 10: uses the center point of the rear axle of the vehicle at the initial position as the path start point and the target location selected by the user as the path end point, plans the vehicle relocation path on the map information, and sends it to the vehicle terminal. Because the map information is generated by the drone 10 based on overhead view images of the area surrounding the vehicle to be moved 30, and these images cover a preset area centered on the vehicle to be moved, the map information can be defined as a local map, while the planned relocation path can be defined as a global path, achieving global path planning for the vehicle 30 from its relocation position to its target location. The global path planning can be achieved by having a built-in global path planning module in the drone 10, which completes the planning of the relocation path for the vehicle to be moved 30.

[0069] Optionally, the map information may include at least map information within a preset range centered on the moved vehicle 30.

[0070] In this embodiment, the drone 10 constructs a circular area map with a preset radius centered on the vehicle 30 to be moved. Specifically, after receiving confirmation of the vehicle relocation request, the drone 10 flies within a preset range of 15 meters with the initial position centered on the rear axle center of the vehicle, searching for available parking spaces. Based on boundary information such as lane lines, parking space lines, and surrounding obstacles perceived along the flight path, map information is constructed, which can be divided into drivable areas and accessible parking areas. The preset range can cover the distance of three to five surrounding vehicles, meaning it can determine the corresponding relocation purpose within the vicinity of vehicle 30, thereby improving relocation efficiency and ensuring that the relocated vehicle 30 is not significantly different from its original parking position, making it convenient for users to find their cars. The map information includes at least the map information within the preset range centered on the vehicle 30 to be moved, that is, flying with the vehicle 30 as the center and taking aerial images to construct a circular area map with a preset radius. Of course, it can also be an area of ​​other shapes, and there is no specific limitation.

[0071] Optionally, the moved vehicle 30 is also used to divide the moving path into at least two road segments; when there are obstacles in the divided paths, the path is replanned according to the location of the obstacles in each path to avoid the obstacles.

[0072] In this embodiment, after receiving the relocation path sent by the drone 10, the vehicle 30 being moved perceives dynamic obstacles ahead and / or around it in real time through the vehicle-end positioning module and the vehicle's sensors. Upon receiving the relocation path from the drone 10, the vehicle 30 divides the path from the starting point to the target location into a series of continuous but independent segments, generating target points (target point 1, target point 2, ..., target point N). A suitable path planning algorithm, such as A* or Dijkstra's algorithm, is applied to each independent segment. When dynamic obstacles exist in the environment, based on the perceived environmental information and obstacle location, the vehicle 30 needs to replan the planned segments around the obstacle to avoid it, ensuring that the vehicle 30 returns to the target point of that segment. After segmented planning, the path between adjacent segments is smoothed, for example, using segmented cubic Hermite interpolation, to ensure path continuity, reduce sharp turns, and guarantee smooth and comfortable driving. Simultaneously, the vehicle 30 needs to combine path information, vehicle coordinates, current speed, and acceleration to control the vehicle and execute the relocation operation. Specifically, the relocation path is divided into 5 segments. When an obstacle is detected on a certain segment, the vehicle can use its local path planning module to dynamically replan the path while keeping the overall direction unchanged. This allows for fine-tuning of the steering angle and speed, achieving a smooth transition in obstacle avoidance, preventing path interruption or sudden braking due to unexpected situations, and improving the stability and safety of the relocation process.

[0073] During vehicle relocation, the vehicle's controller uses lateral and longitudinal vehicle control data, such as gear selection requests, torque requests, steering wheel angle requests, and acceleration / deceleration requests, to guide the vehicle to park at the target location. The vehicle can also fuse real-time information from the drone (UAV) regarding lane lines, parking space lines, parking lot traffic signs, and obstacles with information from its own sensors (surround-view cameras, front-view cameras, ultrasonic radar, lidar, etc.) to improve the stability and reliability of its perception. Furthermore, it can combine this information with the vehicle's chassis parameters, such as wheelbase and minimum turning radius, to better optimize the actual relocation path.

[0074] Once the vehicle is activated by the vehicle relocation system and receives a response to the relocation request sent by the mobile terminal 20, the system will turn on its hazard lights and broadcast an external voice announcement saying "Relocation in progress" to inform the obstructed vehicle owner and prevent others from feeling anxious.

[0075] Specifically, the vehicle can be started at any time before the relocation path sent by the drone 10. The vehicle can be started simultaneously with the drone 10 receiving a flight command from the mobile terminal 20; it can also be started when the drone 10 receives relocation information from the mobile terminal 20 and simultaneously sends a start command to the vehicle; or it can be started when the drone 10 sends a relocation suggestion and / or overhead image information to the mobile terminal 20 and confirms that the vehicle owner agrees to the relocation operation. The specific timing of vehicle start-up will not be elaborated further.

[0076] Optionally, the system also includes a mobile terminal 20 that is communicatively connected to the moved vehicle; the moved vehicle is used to transmit the moving video to the mobile terminal 20 in real time via a communication link during the moving process.

[0077] In this embodiment, the vehicle being moved collects its surrounding environment information via a camera and transmits the moving video in real time to the mobile terminal 20 via a communication link, allowing the user to view the moving process. Specifically, the vehicle being moved collects four video streams via a surround-view camera, compresses them, and uploads them in real time to the mobile terminal 20 via a 4G / 5G network for display in the mobile terminal 20's app. Alternatively, the video stream from an in-vehicle digital video recorder (DVR) can be transmitted to the mobile terminal 20 for display in the mobile terminal 20's app. The display can be in a picture-in-picture format, allowing the user to switch perspectives at any time to observe the vehicle's surroundings and confirm that there is no risk of collision during the moving process, thus enhancing the user's sense of security. This also enhances the user's sense of security when using the drone 10 to assist in moving the vehicle.

[0078] Optionally, the vehicle relocation system also includes a mobile terminal 20 that is communicatively connected to the vehicle being relocated; the vehicle being relocated is also used to control the vehicle to shut off in response to a stop relocation command sent by the vehicle owner's mobile terminal 20, and / or to send a landing command to the drone 10 in response to a stop relocation command sent by the vehicle owner's mobile terminal 20, so that the drone 10 can land.

[0079] In this embodiment, during the vehicle relocation process, the user can view the video of the relocation process via mobile terminal 20. If any abnormal situation occurs or the user wants to take over the vehicle, they can send a stop relocation command to the vehicle via mobile terminal 20, and can also control the vehicle to park. After the vehicle is parked, the user can go and take over. If the owner discovers any abnormalities during the monitoring process (such as a child approaching or the vehicle getting stuck), they can click the "Emergency Stop" button on the APP with one click, and the vehicle will cut off power output and activate the parking brake. Alternatively, after the vehicle has completed relocation and parking, the vehicle terminal can capture the views from the four surround-view cameras, anonymize them, and transmit them to mobile terminal 20. After the user confirms that there are no abnormalities in the environment around their vehicle via mobile terminal 20, they can send a stop relocation command. When the vehicle receives the stop relocation command sent by mobile terminal 20, the vehicle sends a landing command to drone 10. Drone 10 receives the command and lands, completing the drone 10 recall. Alternatively, when the vehicle receives the stop relocation command sent by mobile terminal 20, it can control the vehicle to shut off. In general, the mobile terminal 20 can communicate with the vehicle, specifically by communicating with the vehicle control module to control the vehicle's start and stop.

[0080] In some embodiments, the mobile phone 20 has a car relocation app installed, and the entire car relocation process is completed through interaction between the car relocation app, the drone terminal 10, and the vehicle terminal 30. Please refer to [link / reference]. Figure 2 , Figure 2This is a schematic diagram of another vehicle relocation system disclosed in this application. The mobile phone 20 can be described as an APP terminal 20, and the drone is the drone terminal. The APP terminal 20 is equipped with a vehicle relocation monitoring module 23, a vehicle relocation triggering and stopping module 21, and a destination selection module 22; the drone terminal 10 is equipped with a sound monitoring module 11, a scene judgment module 12, an image processing module 13, a terminal perception module 14, a terminal positioning module 15, a mapping module 16, and a global path planning module; the vehicle terminal 30 is equipped with a vehicle perception module 31, a vehicle positioning module 32, a local path planning module 33, and a vehicle control module 34. Specifically, the intelligent voice system of the drone sound monitoring module 23 recognizes keywords such as "relocate vehicle," "block the road," and "make a phone call." When the drone's intelligent voice system recognizes keywords such as "relocate vehicle," "block the road," and "make a phone call," the drone sends a vehicle relocation scene judgment request to the mobile terminal. The user can check the mobile terminal to determine whether the current scene meets the vehicle relocation conditions. The drone's scene judgment module 12 is used for road obstruction detection, judging whether the current scene meets the vehicle relocation scene by taking an overhead image with the drone. Specifically, the drone receives a takeoff command from the mobile terminal, flies to a preset altitude, hovers above the vehicle, captures an overhead view, and records a 360° video stream. It then analyzes the image data to provide a vehicle relocation suggestion. This suggestion, along with the video stream, can be simultaneously sent to the mobile terminal. Users can view the specific scene of the vehicle's location in the vehicle relocation monitoring module 23 on the app; they can also control the drone and vehicle through the vehicle relocation trigger and stop module 21 on the app. When the vehicle relocation trigger and stop module 21 controls the drone to take off, it captures an overhead image via the drone's sensing module 14, which is then processed by the image processing module. This image can also be used to train the image processing module and further input into the scene judgment module to assist in scene assessment. The drone can also send the image data acquired through the drone's sensing module 14 to the vehicle's sensing module 31. The drone's location can be obtained through the drone's positioning module 15, and the vehicle's location can be obtained from the vehicle's positioning module 32 on the vehicle's end. This data, combined with the overhead image data acquired by the drone, is then input into the mapping module 16 to generate map information. The drone terminal 10 can send the generated map information to the mobile terminal. The user can select the target location for moving the car through the destination selection module of the mobile terminal's APP terminal 20 and send it to the drone terminal 10. The global path planning module 17 then plans and generates the moving path. The drone can send the generated moving path to the vehicle terminal 30. The vehicle can obtain real-time environmental information about its surroundings through the vehicle terminal perception module 31 and can also send this environmental information to the mobile terminal. The vehicle terminal 30 can obtain its own location in real-time through the vehicle terminal positioning module and can optimize the moving path by combining the obtained moving path, its own location information, and the surrounding environmental information.Path optimization can be achieved by segmenting the vehicle-generated relocation path through the local path planning 33 on the vehicle-side 30, and optimizing the path by combining its own position and perceived environmental information. Specifically, the path can be optimized by sensing the positions of surrounding obstacles to avoid them, achieving real-time optimization. The optimized path is then sent to the vehicle control module 34 to control the vehicle to perform the relocation operation according to the path.

[0081] Example 2

[0082] This application also provides a method for moving a vehicle, applicable to the vehicle being moved, such as... Figure 3 As shown, the method includes:

[0083] 301. Receive the relocation path sent by the drone that is connected to the vehicle to be moved, and control the vehicle to drive to the target location of the vehicle to be moved; wherein, the drone is suitable for communicating with a mobile terminal, and the relocation path is generated by the drone based on the target location of the vehicle to be moved, the initial position of the vehicle to be moved, and the overhead image information around the vehicle to be moved from the relocation information sent by the mobile terminal.

[0084] In this embodiment, the vehicle to be moved receives path instructions from the drone, allowing the drone to handle the path planning task. This decouples the path planning task from the vehicle to the drone, reducing the vehicle's computing power requirements. This allows the vehicle to complete initial path planning without actively sensing its environment; it only needs to receive path instructions from the drone. The vehicle can also obtain its real-time coordinates through its positioning module and fine-tune the drone-planned path using its own path planning module. Finally, the vehicle control module drives the motor, steering system, and braking system to work together to complete the relocation task. Fine-tuning can be achieved through a global path search using the A* algorithm, combined with constraints such as obstacle distribution, road curvature, and turning radius to generate an optimal driving trajectory. Path points include control parameters such as speed, acceleration, and heading angle, enabling the vehicle to execute the relocation task based on these parameters.

[0085] The moved vehicle includes a perception module containing its own sensors (surround-view camera, front-view camera, ultrasonic radar, lidar, etc.) to perceive dynamic and static obstacles and parking lines around the vehicle in real time. The moved vehicle also includes a processing module, which can be a processor or controller, to analyze the image information acquired by the perception module and identify obstacles. It can also receive perception data from the drone for data fusion. Furthermore, the moved vehicle can send video streams from its onboard DVR to a mobile terminal. This transmission to the mobile terminal can be achieved by uploading the video to the cloud.

[0086] Optionally, the moved vehicle includes a positioning module; the positioning module can calculate the real-time position of the vehicle based on the received wheel speed, wheel pulses, steering wheel angle information and lateral and longitudinal acceleration, and send it to the drone.

[0087] Optionally, the vehicle to be moved also includes a local path planning module; this module receives the vehicle relocation path planned by the drone, and based on the map information generated by the drone, uses a dynamic planning algorithm to perform real-time obstacle avoidance and local path planning according to the vehicle's real-time perception of the surrounding environment.

[0088] Optionally, the vehicle to be moved also includes: a vehicle control module; after the path planning is completed, the vehicle control module receives path information, vehicle coordinates, current vehicle speed, acceleration, etc., and then outputs gear requests, torque requests, steering wheel angle requests, acceleration and deceleration requests, etc. to the parking controller through calculation. The parking controller sends lateral and longitudinal control commands to the associated system, thereby controlling the vehicle to move to the target location.

[0089] The moved vehicle can also perform the data processing and data interaction related to the moved vehicle disclosed in Embodiment 1 of this application, that is, it can realize the data transmission with mobile terminals and drones and the functions it has, which will not be repeated here.

[0090] Example 3

[0091] This application also provides a method for moving a vehicle, applicable to drones, such as... Figure 4 As shown, the method includes:

[0092] 401. Receive vehicle relocation information sent by the mobile terminal, which includes the target location of the vehicle to be moved;

[0093] 402. Generate a relocation path based on the target location of the relocation vehicle, the initial location of the vehicle to be relocated, and the overhead view information around the vehicle to be relocated.

[0094] 403. Send the relocation route to the vehicle to be moved so that the vehicle can drive to the target location.

[0095] In this embodiment of the application, after receiving the vehicle relocation information including the target location of the vehicle from the mobile terminal, the drone combines the initial position of the vehicle to be moved with the surrounding overhead image information to generate a vehicle relocation path and sends it to the vehicle to be moved so that the vehicle can drive to the target location and perform the vehicle relocation task according to the relocation path.

[0096] Specifically, the drone can fly and capture aerial images of the area around the vehicle to be moved, and then generate a map based on these images. Simultaneously, it can combine the location information of obstacles and other objects in the aerial images to generate a map marking available parking areas, which is then sent to a mobile terminal, allowing the user to select a location to move the vehicle. Therefore, this application enables the drone to plan a moving path based on the user's determined location on the mobile terminal, the initial position of the vehicle, and aerial images of the surrounding area. This guides the vehicle to be moved according to the chosen path, eliminating the need for the owner to physically move the car, thus improving efficiency and avoiding the privacy risks associated with exposing phone numbers in traditional methods.

[0097] Meanwhile, by calling the generated overhead map, the drone achieves aerial perception and vehicle execution coordination, enabling vehicle relocation path planning to break free from the limitations of vehicle-side sensors and significantly improving the success rate of relocation in complex environments.

[0098] The drone includes a sound monitoring module that uses an intelligent voice system to recognize keywords such as "move car," "blocking the road," and "making a phone call." When the drone's intelligent voice system recognizes keywords such as "move car," "blocking the road," or "making a phone call," the drone sends a request to the mobile terminal to determine if the scenario meets the requirements for moving the car. Users can check their mobile terminals to determine whether the current scenario meets the requirements for moving the car.

[0099] Optionally, the drone also includes a scene determination module for obstruction detection. This module uses aerial images captured by the drone to determine if the current scene meets the criteria for moving the vehicle. Specifically, after receiving a takeoff command from the mobile terminal, the drone flies to a preset altitude, hovers above the vehicle, captures an aerial view, and records a 360° video stream. The image data is analyzed to generate a vehicle-moving suggestion. This suggestion, along with the video stream, can be simultaneously sent to the mobile terminal.

[0100] Optionally, the drone also includes an image processing module for processing and analyzing image data. The overhead view of the scene judgment module and the images of the parking area collected by the on-board perception module are used as input data for this module to train and optimize its recognition model. The optimized model can improve the accuracy of parking scene recognition.

[0101] Optionally, the drone may also include a perception module for collecting ground information along its flight path, including parking line information, obstacle information, and traffic sign information within the parking lot.

[0102] Optionally, the drone also includes a positioning module. The positioning module establishes a coordinate system with the drone's center of gravity as the origin. The X-axis points in the direction of the drone's nose forward, the Y-axis points from the origin to the right side of the drone, and the Z-axis is determined by the right-hand rule based on the X and Y axes. This module receives vehicle position information transmitted in real time from the vehicle-mounted positioning module, determines the three-dimensional coordinates of the drone and the rear axle center point of the vehicle, and simultaneously determines the relative position coordinates of various obstacles detected along the flight path.

[0103] Optionally, the drone also includes a mapping module; the mapping module is used to divide the drivable area and mark the accessible parking areas based on the ground information collected by the perception module, and to build map information with the initial position of the vehicle as the center.

[0104] Optionally, the drone also includes a global path planning module. The global path planning module is used to plan a global path for guiding the vehicle on the map information, starting from the center point of the rear axle of the vehicle at the initial position and ending at the target position selected by the user, and send it to the vehicle to be moved so that the vehicle to be moved can perform the moving operation according to the global path.

[0105] The drone can also perform the data processing and data interaction related to the drone disclosed in Embodiment 1 of this application, that is, it can communicate and transmit data with the mobile terminal and the moved vehicle, as well as the functions it has, which will not be repeated here.

[0106] Example 4

[0107] This application discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute all or part of the steps in the vehicle relocation method disclosed in Embodiment 2 or Embodiment 3 of this application.

[0108] Example 5

[0109] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. Figure 5 The described device can be a standalone device or integrated into a control and processing device; this application does not limit this. Figure 5 As shown, the electronic device 500 may include:

[0110] The processor 501, the memory 502, and the program or instructions stored in the memory and executable on the processor 501, when executed by the processor 501, implement some or all of the steps in the vehicle relocation method disclosed in Embodiment 2 or Embodiment 3 of this application.

[0111] Alternatively, processor 501 and the computer-readable storage medium disclosed in the fourth aspect of this application.

[0112] Example 6

[0113] This application discloses a computer program product, which includes a computer program or instructions. The computer program or instructions are executed by a processor to implement some or all of the steps in the vehicle relocation method disclosed in Embodiment 2 or Embodiment 3 of this application.

[0114] Example 7

[0115] This application discloses a vehicle that includes some or all of the steps in the vehicle relocation method disclosed in Embodiment 2 of this application.

[0116] Example 8

[0117] This application discloses an unmanned aerial vehicle (UAV) mounted on a vehicle to be moved, which is configured to perform some or all of the steps in a vehicle relocation method disclosed in the third aspect of this application.

[0118] The device or component embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any inventive effort.

[0119] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0120] It should be noted that the computer program code required for the operation of each part of this manual can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB .NET, Python, etc.; conventional procedural programming languages ​​such as C, Visual Basic, Fortran2003, Perl, COBOL 2002, PHP, ABAP; dynamic programming languages ​​such as Python, Ruby, and Groovy; or other programming languages. This program code can run entirely on a computer (PC, embedded intelligent device, etc.), or as a standalone software package on the user's computer, or partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any network, such as a local area network (LAN) or wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as Software as a Service (SaaS).

[0121] Finally, it should be noted that the vehicle relocation system, vehicle relocation method, storage medium, vehicle, and drone disclosed in the embodiments of this application are merely preferred embodiments of this application and are only used to illustrate the technical solutions of this application, not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle relocation system, characterized in that, The system includes: a drone and a relocated vehicle that is communicatively connected to the drone; The drone is adapted to communicate with a mobile terminal and is used to receive vehicle relocation information sent by the mobile terminal, the vehicle relocation information including the target location of the vehicle to be moved; based on the target location of the vehicle to be moved, the initial location of the vehicle to be moved, and the surrounding overhead image information, generate a vehicle relocation path; and send the vehicle relocation path to the vehicle to be moved. The vehicle to be moved is used to receive the moving path sent by the drone and control the vehicle to drive to the target moving location.

2. The vehicle relocation system according to claim 1, characterized in that, The aerial images of the area around the moved vehicle were taken by the drone during flight; The drone is also used to send a vehicle relocation suggestion and / or overhead image information to the mobile terminal so that the vehicle owner can determine whether to agree to move the vehicle, wherein the vehicle relocation suggestion is generated based on the overhead image information.

3. The vehicle relocation system according to claim 1, characterized in that, The aerial images of the area around the moved vehicle were taken by the drone during flight; The drone is also used to fly to a preset altitude in response to a flight command sent by a mobile terminal before taking aerial photos of the area around the moved vehicle.

4. The vehicle relocation system according to claim 3, characterized in that, The system also includes a mobile terminal that is communicatively connected to the UAV; The drone is also used to send a vehicle relocation request to the mobile terminal when it detects the word "move vehicle". The mobile terminal is also used to receive the vehicle relocation request sent by the drone and generate a prompt message for the vehicle owner to confirm whether they agree to the drone taking off.

5. The vehicle relocation system according to claim 1, characterized in that, The system also includes a mobile terminal that is communicatively connected to the drone; the overhead images of the area around the moved vehicle are taken by the drone during flight. The drone is also used to generate map information marked with parking areas based on overhead images of the area around the moved vehicle; and to send the map information marked with parking areas to a mobile terminal. The mobile terminal is also used to receive map information marked with parking areas sent by the drone, and in response to the user's operation, determine the target location of the vehicle to be moved within the parking area.

6. The vehicle relocation system according to claim 5, characterized in that, The drone is also used to generate a relocation path based on the target location of the vehicle to be moved, the initial location of the vehicle to be moved, and the map information.

7. The vehicle relocation system according to claim 5, characterized in that, The map information includes at least map information within a preset range centered on the moved vehicle.

8. The vehicle relocation system according to any one of claims 1-7, characterized in that, The vehicle to be moved is also used to divide the moving path into at least two road segments; when there are obstacles in the divided path, the path is replanned according to the location of the obstacles in each path to avoid the obstacles.

9. The vehicle relocation system according to any one of claims 1-7, characterized in that, The system also includes a mobile terminal that is communicatively connected to the moved vehicle; The vehicle being moved is used to transmit video of the vehicle being moved in real time to a mobile terminal via a communication link during the moving process.

10. The vehicle relocation system according to any one of claims 1-7, characterized in that, The system also includes a mobile terminal that is communicatively connected to the moved vehicle; The moved vehicle is also used to control the vehicle to shut off in response to a stop-moving command sent by the vehicle owner's mobile terminal, and / or to send a landing command to the drone in response to a stop-moving command sent by the vehicle owner's mobile terminal, so that the drone can land.

11. A method for moving a car, characterized in that, Applied to a moved vehicle, the method includes: The system receives a relocation path sent by a drone that is communicatively connected to the vehicle to be moved, and controls the vehicle to drive to the target relocation location. The drone is adapted to communicate with a mobile terminal, and the relocation path is generated by the drone based on the target relocation location, the initial position of the vehicle to be moved, and the overhead view information around the vehicle to be moved, which are sent by the mobile terminal.

12. A method for moving a car, characterized in that, Applied to drones, the method includes: Receive vehicle relocation information sent by a mobile terminal, the vehicle relocation information including the target location of the vehicle; generate a vehicle relocation path based on the target location of the vehicle relocation information, the initial location of the vehicle to be moved, and the overhead view information around the vehicle to be moved; The relocation route is sent to the vehicle to be relocated, so that the vehicle can drive to the target relocation location.

13. A computer-readable storage medium storing at least one instruction or at least one program, characterized in that, The at least one instruction or the at least one program segment is loaded and executed by the processor to implement the method as described in claim 11 or 12.

14. A vehicle, characterized in that, The vehicle is equipped with a drone and is configured to perform the method of claim 11.

15. An unmanned aerial vehicle (UAV), characterized in that, The drone is mounted on the vehicle being moved, and the drone is configured to perform the method as described in claim 12.

Images