A Long-Range Wireless All-Way Sensing System for Vehicles

Abstract

This invention discloses a remote wireless omnidirectional sensing system for vehicles. The system includes an onboard processing terminal, a drone terminal, and a remote interactive terminal. The onboard processing terminal accesses video streams from in-vehicle and external cameras via first and second video access modules, and receives video streams from the drone via a first wireless transceiver module. The video processing module integrates, processes, and compresses the multiple video streams before transmitting them to the remote interactive terminal via the second wireless transceiver module. The command routing and control module parses control commands from the terminal and controls vehicle actuators or forwards them to the drone. This invention achieves multi-source sensing information fusion and remote intelligent control without relying on the public network, making it particularly suitable for emergency sensing, security monitoring, and other fields.

Description

Technical Field

[0001] This utility model relates to the field of intelligent vehicle control and unmanned system collaboration technology, and in particular to a system that integrates a drone, multiple cameras and remote control functions to achieve all-round perception and control inside and outside the vehicle. Background Technology

[0002] Currently, vehicle monitoring systems are widely used in security, rescue and other fields, but traditional solutions have obvious limitations: they mainly rely on fixed-view vehicle cameras, which have blind spots; although drones can be introduced to expand the field of view, drones are independent of the vehicle system, and video streams cannot be efficiently integrated and controlled in a unified manner; multi-channel high-definition video transmission puts enormous pressure on bandwidth and vehicle computing power; more importantly, there is a lack of an integrated intelligent control center, which makes it impossible to achieve integrated linkage control of vehicles and drones.

[0003] Therefore, there is an urgent need for a system that can deeply integrate multi-source sensing information, has high-efficiency processing and compression transmission capabilities, and supports integrated and flexible control, in order to meet the comprehensive monitoring needs in complex scenarios. Utility Model Content

[0004] (a) Purpose of the utility model In view of the shortcomings of the existing technology, this utility model aims to solve the following technical problems: (1) There are blind spots in the fixed-view vehicle monitoring, and the drone and the vehicle video system are independent, making it impossible to achieve multi-source information fusion and unified control; (2) Multiple high-definition video streams put huge pressure on wireless transmission bandwidth and vehicle computing power, making it difficult to guarantee real-time performance and stability; (3) There is a lack of intelligent centralized control center, making it impossible to carry out integrated linkage control of vehicles and drones.

[0005] (II) Technical Solution To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A vehicle-oriented long-range wireless omnidirectional sensing system includes an on-board processing terminal, an unmanned aerial vehicle (UAV) terminal, and a remote interactive terminal. The vehicle-mounted processing terminal includes: The first video access module is used to access the video stream from at least one in-vehicle camera. The second video access module is used to access the video stream from at least one external camera. The first wireless transceiver module is used to communicate with the UAV terminal; The video processing module is connected to the first video access module, the second video access module and the first wireless transceiver module, and is used to perform integrated processing and compression encoding of multiple video streams. The second wireless transceiver module is connected to the video processing module and is used to communicate with the remote interactive terminal. The instruction routing and control module is connected to the first wireless transceiver module (105), the video processing module, the second wireless transceiver module and the vehicle actuator, and is used to parse control instructions and control the vehicle actuator to move or forward instructions to the drone. The drone terminal includes an airborne camera, an encoding module, and a third wireless transceiver module, which is communicatively connected to the first wireless transceiver module. The remote interactive terminal includes a fourth wireless transceiver module and a display interactive module. The remote interactive terminal (300) communicates with the vehicle through its built-in fourth wireless transceiver module (301). The fourth wireless transceiver module is communicatively connected to the second wireless transceiver module. The compressed video stream is sent to the remote interactive terminal (300) held by the remote personnel through the second wireless transceiver module (107).

[0006] Furthermore, the instruction routing and control module is used to parse control instructions from remote or in-vehicle interactive terminals and control the actions of vehicle actuators or forward instructions to the drone.

[0007] Furthermore, the system also includes an in-vehicle interactive terminal, which is connected to the video processing module and has a human-computer interaction interface.

[0008] Furthermore, the in-vehicle interactive terminal is a universal interactive terminal; the terminal has a built-in fourth wireless transceiver module, which can be used as a remote interactive terminal wirelessly; it can also be connected to the video processing module via a wired interface and used as an in-vehicle interactive terminal.

[0009] Furthermore, the encoding module and the video processing module use the H.264 or H.265 video encoding protocol for compression encoding.

[0010] Furthermore, the first wireless transceiver module and the third wireless transceiver module, and the second wireless transceiver module and the fourth wireless transceiver module, respectively use different wireless communication frequency bands for communication.

[0011] Furthermore, the second and fourth wireless transceiver modules preferentially establish a dedicated connection using point-to-point broadband wireless communication links such as COFDM (Coded Orthogonal Frequency Division Multiplexing); alternatively, public mobile networks such as 4G and 5G can be used as supplementary communication methods.

[0012] Furthermore, the display interaction module and / or the human-computer interaction interface receive user input via touch operation or voice interaction.

[0013] (III) Beneficial Effects Compared with the prior art, the present invention has the following beneficial effects: (1) Achieved comprehensive and high-precision intelligent perception: By constructing a three-level three-dimensional perception system of "in-vehicle-around-far distance" and using FPGA+SoC heterogeneous computing architecture for high-speed parallel processing and AI analysis, the perception range and data processing efficiency in complex environments have been greatly improved.

[0014] (2) Provides a highly reliable and self-controllable communication link: By constructing two heterogeneous dedicated data links, 5.8GHz image transmission and COFDM, and adopting efficient video coding technology, while ensuring low-latency transmission of high-definition video, it completely gets rid of the dependence on public networks and ensures the system reliability in extreme scenarios such as no network coverage.

[0015] (3) A centralized and intelligent control hub has been formed: the innovative command routing and control module can automatically parse, judge and distribute control commands from multiple terminals, accurately schedule execution units such as vehicles and drones, realize a complete intelligent closed loop from perception to control, and solve the problems of scattered control of multiple devices and cumbersome operation.

[0016] (4) A flexible and universal human-computer interaction interface was designed: the “universal interactive terminal” design supports flexible switching between fixed in-vehicle and portable out-of-vehicle modes, providing a continuous and diverse interactive experience, which greatly improves the applicability of the system and the efficiency of human-computer collaboration. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the system structure and information flow according to an embodiment of the present invention. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. These embodiments are implemented based on the technical solution of the present invention, but the scope of protection of the present invention is not limited to the following embodiments.

[0019] like Figure 1 As shown, this utility model embodiment provides a remote wireless omnidirectional sensing system for vehicles, which mainly includes an on-board processing terminal (100), a drone terminal (200), a remote interaction terminal (300), and an optional in-vehicle interaction terminal (400).

[0020] The vehicle-mounted processing terminal (100) is the core of the system and can be integrated into the vehicle. The vehicle-mounted processing terminal (100) includes a first video access module (101), an in-vehicle camera (102), a second video access module (103), a first wireless transceiver module (105), a video processing module (106), a second wireless transceiver module (107), a command routing and control module (108), and a vehicle actuator (109). The first video access module (101) is used to access the video stream from at least one in-vehicle camera (102) to monitor the status of key actuators inside the vehicle. The second video access module (103) is used to access the video stream of at least one external camera (104) to perceive the status of the vehicle's surrounding environment.

[0021] The first wireless transceiver module (105) is used to establish a communication link with the UAV terminal (200).

[0022] The video processing module (106) is connected to the first video access module (101), the second video access module (103) and the first wireless transceiver module (105), and is responsible for integrating and compressing multiple video streams.

[0023] The second wireless transceiver module (107) is connected to the video processing module (106) and is used to establish a remote communication link with the remote interactive terminal (300).

[0024] The instruction routing and control module (108) is connected to the video processing module (106), the second wireless transceiver module (107), and the vehicle actuator (109), parses all input instructions, and controls the vehicle actuator (109) to move or forward instructions to the drone terminal (200).

[0025] Specifically, in this embodiment, the vehicle-mounted processing terminal (100) is integrated into a ruggedized vehicle-mounted chassis with vibration resistance and wide temperature range characteristics. The functions of the first video access module (101) and the second video access module (103) are implemented by a field programmable gate array (FPGA) chip (such as Ziguang Tongchuang PG2L100H or Xilinx XC7A100T).

[0026] The in-vehicle camera (102) (e.g., two 2-megapixel Hikvision MV-CE013-50GC industrial cameras) is connected to the FPGA via the MIPI CSI-2 interface. The two cameras are aimed at the dashboard area in the driver's cab and the cargo compartment behind, respectively, to monitor the driver's status and the status of the in-cabin mechanisms and equipment (such as robotic arms and doors). The video format is 1080P@30fps.

[0027] The signals from the external cameras (104) (such as surround-view and front-view cameras) are converted by a deserializer chip (such as the MAX9296 deserializer chip) and then connected to the FPGA. The FPGA is programmed with hardware logic to synchronize, correct distortion, and stitch together multiple external video feeds in real time, outputting a complete 360° bird's-eye view of the vehicle for sensing the environmental conditions such as obstacles, terrain, and people around the vehicle.

[0028] The first wireless transceiver module (105) adopts a 5.8GHz image transmission module such as DJI O3 Air Unit, and connects to the main processor through a USB interface to establish a low-latency, high-bandwidth dedicated communication link with the drone terminal, with a maximum speed of 100Mbps.

[0029] The video processing module (106) preferably uses a domestically produced Rockchip RK3588 octa-core processor, which is interconnected with the aforementioned FPGA chip via a PCIe x4 Gen3.0 high-speed bus to receive pre-processed video data. It is responsible for format conversion, OSD overlay, picture-in-picture compositing, encoding compression, and AI analysis of video streams from all sources. Its built-in 6 TOPS NPU is responsible for running a target detection algorithm optimized based on YOLOv5s, performing real-time analysis of obstacles and personnel in the bird's-eye view image. Simultaneously, its powerful video encoder (supporting 8K@60fps H.265 / H.264) is configured to use the H.264 or H.265 protocol to perform picture-in-picture compositing and H.265 encoding on "exterior single-image or bird's-eye view videos, interior single-image or stitched image videos, and drone videos," with the bitrate dynamically adjusted between 4-16Mbps depending on network conditions. As an alternative, as a solution for automotive-grade functional safety, automotive-grade processors such as the Texas Instruments (TI) TDA4VM can be selected.

[0030] The second wireless transceiver module (107) adopts a multi-mode wireless communication scheme. Its core uses a high-performance COFDM (Coded Orthogonal Frequency Division Multiplexing) image transmission module, operating in dedicated frequency bands such as 1.4GHz, to build a point-to-point, low-latency, high-bandwidth private communication link with the remote interactive terminal (300), with a transmission distance of up to 3-5 kilometers. This scheme does not rely on any public network infrastructure, ensuring the core communication capabilities of the system in special scenarios such as emergency response and rescue. Alternatively, this module can also integrate 5G modules such as Quectel RM500Q-GL to establish a connection through a public mobile network, serving as a supplement to the private link or for use in daily training scenarios.

[0031] Therefore, this invention constructs two independent dedicated high-performance wireless data links: the first, based on the 5.8GHz frequency band, is used for communication between the UAV and the vehicle; the second, based on technologies such as COFDM, is used for communication between the vehicle and a remote terminal. Both adopt a point-to-point architecture and efficient coding technology, together forming a completely independent and controllable communication system that does not rely on public network infrastructure. This is the foundation for this invention to achieve remote wireless all-round sensing and control.

[0032] The command routing and control module (108) runs in software on the RK3588 processor and communicates with the first wireless transceiver module (105), the second wireless transceiver module (107), and the vehicle actuators (109) (including the engine ECU, transmission TCU, lights, gimbal, robotic arm, and controllers for rotary or reciprocating motion mechanisms, etc.) at a rate of 1 Mbps via the CAN-FD bus. The command routing and control module (108) parses all input commands and routes them to the vehicle actuators (109) or forwards them to the UAV terminal (200) via the first wireless transceiver module (105) according to the command target. If the command is related to the control of the vehicle actuators (109), it is sent directly to the corresponding actuators via the vehicle CAN-FD bus to achieve precise control of each mechanism; if the command is related to the status of the vehicle actuators (109), it is sent via the second wireless transceiver module (107). The system forwards the command to the remote interactive terminal (300) or to the in-vehicle interactive terminal (400) via a wired connection to achieve the perception of the status of the vehicle actuators. If the command is a drone control command received by the remote interactive terminal (300) via the fourth wireless transceiver module (301) or received by the in-vehicle interactive terminal (400) via a wired connection, it is forwarded by the second wireless transceiver module (107) to the third wireless transceiver module (202) of the drone terminal to achieve the control of the drone terminal. If the command is drone status information received by the second wireless transceiver module (107), it is forwarded by the first wireless transceiver module (105) to the remote interactive terminal (300) or to the in-vehicle interactive terminal (400) via a wired connection to achieve the perception of the drone status.

[0033] The unmanned aerial vehicle (UAV) terminal (200) includes an airborne camera (201), an encoding module (203) and a third wireless transceiver module (202), wherein the third wireless transceiver module (202) is communicatively connected to the first wireless transceiver module (105).

[0034] Specifically, the drone terminal (200) in this embodiment can be a platform such as the DJI Matrice 30 series.

[0035] The airborne camera (201) uses a multi-sensor camera such as the Zenmuse H20N, integrating a wide-angle camera, a telephoto camera, etc.

[0036] The encoding module (203) uses the built-in unit of the UAV to compress the video stream according to the H.265 encoding protocol.

[0037] The third wireless transceiver module (202) communicates with the image transmission module (such as the 5.8GHz module DJI O3 Air Unit that is paired with the first wireless transceiver module (105)) to form a point-to-point low-latency image transmission link.

[0038] Both the remote interactive terminal (300) and the in-vehicle interactive terminal (400) can be implemented using a general-purpose hardware platform (such as a ruggedized tablet) based on a domestically produced high-performance processor (such as Rockchip RK3566 or RK3588). Both run the same custom-developed command and control software. This software is used to decode and display video, and to send commands through a graphical interface. It distinguishes between remote interactive terminal control and in-vehicle interactive terminal control based on account permissions or connection methods. The remote interactive terminal (300) includes a fourth wireless transceiver module (301) and a display interaction module (302), wherein the fourth wireless transceiver module (301) is communicatively connected to the second wireless transceiver module (107).

[0039] The human-computer interaction interface (401) and the display interaction module (302) receive user input in at least one of touch operation or voice interaction.

[0040] Specifically, the remote interactive terminal (300) communicates with the vehicle through its built-in fourth wireless transceiver module (301); the core of this module uses COFDM professional wireless image transmission technology to establish a dedicated link; it can also integrate a 4G / 5G module, which can be activated in specific scenarios such as beyond-line-of-sight communication. The in-vehicle interactive terminal (400) can be connected to the video processing module (106) via a wired method (such as in-vehicle Ethernet or USB-C) to obtain control and video stream information with lower latency and higher reliability.

[0041] In another preferred embodiment of this utility model, the in-vehicle interactive terminal (400) can be designed as a universal interactive terminal. The terminal body is a ruggedized tablet computer with a built-in fourth wireless transceiver module (301). When the operator is outside the vehicle, it can be used as a remote interactive terminal (300) wirelessly; when the operator returns to the vehicle, it can be inserted into a dedicated vehicle dock (providing power, wired network or USB connection, etc.), at which time the terminal automatically switches to in-vehicle interactive terminal (400) mode and communicates via wired means (receiving video streams and status, issuing commands, etc.). This design realizes the unified and flexible deployment of control terminals.

[0042] It should be noted that the encoding and processing module of the UAV terminal (200) can also adopt other high-performance processor solutions (such as Rockchip RK3588 chip), and connect to the UAV camera sensor by adding an FPGA interface conversion board to achieve more powerful airborne AI processing capabilities. This solution is an equivalent substitution and extension of the present invention and also falls within the protection scope of the present invention.

[0043] System workflow (taking a specific emergency sensing task as an example): (1) Forward reconnaissance and video transmission: After the vehicle arrives at the periphery of the target area and comes to a stop, the operator clicks the "Launch Drone" button on the in-vehicle interactive terminal (400). This command is transmitted to the video processing module (106) via the vehicle's Ethernet / USB-C wired connection, and then sent to the command routing and control module (108). After parsing, the command routing and control module (108) determines that it is a drone control command, and then sends a takeoff command to the drone terminal (200) through the first wireless transceiver module (105).

[0044] The drone takes off automatically and hovers 1.5 kilometers above the target area along a predetermined route. The Zenmuse H20N camera (201) collects multi-sensor video streams, which are then compressed by the onboard encoding module (203) according to the H.265 protocol (bitrate of about 20Mbps) and transmitted back to the vehicle terminal in real time via the 5.8GHz image transmission link (105<->202).

[0045] The RK3588 processor in the video processing module (106) receives the drone video stream. At the same time, the FPGA chip has stitched the four external video streams into a complete 360° bird's-eye view image. The RK3588 uses its powerful computing capabilities to perform real-time picture-in-picture stitching and overlay of the drone video, the bird's-eye view image, and the two internal video streams (e.g., displaying the drone wide-angle video on the main screen and displaying the surrounding view of the vehicle in a small corner window), and then performs secondary compression of the final composite image in H.265 format, dynamically adjusting the total bitrate between 4 and 16 Mbps according to network conditions.

[0046] The compressed video stream is stably and with low latency transmitted to a remote interactive terminal (300) held by a remote operator via the private communication link COFDM of the second wireless transceiver module (107). [Note: When public network conditions are good and beyond-line-of-sight transmission is required, the operator can also manually switch to a 5G network for transmission.]

[0047] (2) Remote sensing and intelligent control: A remote operator sees a suspicious vehicle in the live feed transmitted from the drone on a remote interactive terminal (300). He double-clicks the vehicle on the touchscreen, and the control software on the terminal generates a command to "lock on and track the target".

[0048] The instruction is transmitted back to the second wireless transceiver module (107) of the vehicle via the private communication link through the fourth wireless transceiver module (301) of the remote interactive terminal (300), and then sent to the instruction routing and control module (108).

[0049] The instruction routing and control module (108) parses the instruction and identifies it as a drone control instruction sent to the drone. Then, it forwards the instruction to the drone terminal (200) through the 5.8GHz image transmission link (105<->202).

[0050] After receiving the command, the drone's onboard AI algorithm automatically identifies and selects the target, and enters intelligent tracking mode. The gimbal automatically adjusts to keep the target in the center of the screen at all times.

[0051] (3) Multi-terminal collaboration and vehicle control: Meanwhile, the driver can switch to the "Vehicle Surround View" view at any time through the screen of the in-vehicle interactive terminal (400) to view the 360° surround view generated in real time by the FPGA, ensuring the safety of the parking location.

[0052] The remote operator decides that the vehicle needs to move forward 100 meters to obtain better communication relay quality. On the human-machine interface of the remote interactive terminal (300), a virtual button for "vehicle moving slowly" is clicked, generating a vehicle control command and sending it to the vehicle terminal via a private communication link (or 5G network).

[0053] The command routing and control module (108) parses the target of the command as the vehicle itself, and then sends control signals to the vehicle's engine controller (ECU) and transmission controller (TCU) via the CAN-FD bus. The vehicle then automatically moves forward slowly at a speed of 5 km / h. The entire process does not require operation by the people in the vehicle.

[0054] The system of this utility model, through the above-mentioned hardware structure, connection relationship and workflow, realizes efficient coordination of perception, transmission and control, and is particularly suitable for fields with extremely high requirements for panoramic perception and remote control, such as emergency rescue, public security counter-terrorism, emergency perception, power inspection.

[0055] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the protection scope of this utility model. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A vehicle-oriented remote wireless omnidirectional perception system, characterized by, include: Vehicle-mounted processing terminal (100), drone terminal (200) and remote interactive terminal (300). The vehicle-mounted processing terminal (100) includes: The first video access module (101) is used to access the video stream of at least one in-vehicle camera (102); The second video access module (103) is used to access the video stream of at least one external camera (104); The first wireless transceiver module (105) is used to communicate with the UAV terminal (200); The video processing module (106) is connected to the first video access module (101), the second video access module (103) and the first wireless transceiver module (105), and is responsible for integrating and compressing multiple video streams. The second wireless transceiver module (107) is connected to the video processing module (106) and is used to communicate with the remote interactive terminal (300); The instruction routing and control module (108) is connected to the first wireless transceiver module (105), the video processing module (106), the second wireless transceiver module (107), and the vehicle actuator (109). It parses all input instructions and controls the vehicle actuator (109) to move or forward instructions to the drone terminal (200). The unmanned aerial vehicle (UAV) terminal (200) includes an airborne camera (201), an encoding module (203) and a third wireless transceiver module (202), wherein the third wireless transceiver module (202) is communicatively connected to the first wireless transceiver module (105); The remote interactive terminal (300) includes a fourth wireless transceiver module (301) and a display interaction module (302); the remote interactive terminal (300) communicates with the vehicle through its built-in fourth wireless transceiver module (301); the fourth wireless transceiver module (301) is communicatively connected to the second wireless transceiver module (107); the compressed video stream is sent to the remote interactive terminal (300) held by the remote personnel through the second wireless transceiver module (107).

2. A vehicle-oriented remote wireless omnidirectional perception system according to claim 1, characterized in that, The encoding module (203) uses the H.264 or H.265 video encoding protocol to compress and encode the video stream.

3. The long-range wireless omnidirectional sensing system for vehicles according to claim 1, characterized in that, The video processing module (106) is configured to perform H.264 or H.265 encoding compression on the video streams accessed by the first video access module (101) and the second video access module (103).

4. A long-range wireless omnidirectional sensing system for vehicles according to claim 1, characterized in that, It also includes an in-vehicle interactive terminal (400), which is connected to the video processing module (106) and has a human-computer interaction interface (401).

5. A long-range wireless omnidirectional sensing system for vehicles according to claim 4, characterized in that, The in-vehicle interactive terminal (400) is a general-purpose interactive terminal; the terminal has a built-in fourth wireless transceiver module (301) and communicates with the second wireless transceiver module (107) wirelessly, and is used as a remote interactive terminal (300); it can also be connected to the video processing module (106) via a wired interface and used as an in-vehicle interactive terminal (400).

6. A long-range wireless omnidirectional sensing system for vehicles according to claim 4, characterized in that, The display interaction module (302) and / or the human-computer interaction interface (401) receive user input in at least one of touch operation or voice interaction.

7. A long-range wireless omnidirectional sensing system for vehicles according to claim 1, characterized in that, The first wireless transceiver module (105) and the third wireless transceiver module (202) communicate using the first wireless communication frequency band, and the second wireless transceiver module (107) and the fourth wireless transceiver module (301) communicate using the second wireless communication frequency band. The first wireless communication frequency band and the second wireless communication frequency band do not interfere with each other.

8. A long-range wireless omnidirectional sensing system for vehicles according to claim 7, characterized in that, The first wireless transceiver module (105) adopts a 5.8GHz image transmission module, and the second wireless transceiver module (107) adopts a COFDM image transmission module.

9. A long-range wireless omnidirectional sensing system for vehicles according to claim 1, characterized in that, The vehicle actuator (109) includes at least one of the vehicle's drive unit, steering unit, gimbal mechanism, or mission payload.

10. A long-range wireless omnidirectional sensing system for vehicles according to claim 1, characterized in that, The instruction routing and control module (108) parses all input instructions and routes them to the vehicle actuator (109) or forwards them to the UAV terminal (200) through the first wireless transceiver module (105) according to the instruction target. If the instruction is related to the control of the vehicle actuator (109), it is sent directly to the corresponding actuator through the vehicle CAN-FD bus to achieve precise control of each actuator; If the instruction is related to the status of the vehicle actuator (109), it is forwarded to the remote interactive terminal (300) via the second wireless transceiver module (107) or to the in-vehicle interactive terminal (400) via a wired method, so as to realize the perception of the status of the vehicle actuator; If the instruction is a drone control instruction received by the remote interactive terminal (300) through the first wireless transceiver module (105) and sent through the fourth wireless transceiver module (301), or received by the in-vehicle interactive terminal (400) via a wired means, it is forwarded by the second wireless transceiver module (107) to the third wireless transceiver module (202) of the drone terminal to realize the control of the drone terminal. If the instruction is drone status information received through the second wireless transceiver module (107), it is forwarded to the remote interactive terminal (300) through the first wireless transceiver module (105) or to the in-vehicle interactive terminal (400) via a wired connection, thereby realizing the perception of the drone status.

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