Assisted driving method, parking slot, chip, electronic device, and storage medium

Abstract

An assisted driving method, parking slot, chip, electronic device, and computer-readable storage medium related to the field of intelligent driving are disclosed. A camera is disposed on a flying device. When the flying device receives a start-up command, and the power of the flying device meets a predetermined power requirement and the vehicle speed meets a predetermined vehicle speed requirement, the flying device can take off and capture road condition images around the vehicle, and the flying device can transmit the captured road condition images to a vehicle that communicates with the flying device. In the assisted driving method, the flying device is used to obtain traffic information around the vehicle in real time, and the traffic information is transmitted to the vehicle for display or automatic driving decision-making, thereby improving the driving safety of the vehicle and road traffic efficiency.

Description

[Technical field]

[0001] The present application relates to the intelligent driving field, and in particular to an assisted driving method, a parking slot, a chip, an electronic device, and a computer-readable storage medium. [Background technology]

[0002] In traffic situations, traffic accidents are often caused because blind spots block the driver's field of vision or the detection range of sensors configured on the vehicle. For example, in urban traffic situations, when a vehicle is blocked by another vehicle, building, or facility, the driver or the sensors configured for the vehicle cannot obtain sufficient environmental information, so that the driver cannot make a timely and rational decision, which causes a traffic accident. When a side vehicle blocks the line of sight, due to the existence of blind spots, the driver may not have time to brake when facing a pedestrian or rider who suddenly jumps out, which may cause a traffic accident. When a vehicle turns right at an intersection, the existence of blind spots in the rearview mirror may prevent the driver from seeing pedestrians or riders in the non-motor vehicle lane on the right side at a certain position, which may also cause a traffic accident. Blind spots may also affect traffic efficiency. For example, when following a tall vehicle while driving, the driver may not be able to observe the status of the traffic light in front of the vehicle. As a result, the driver cannot make the most rational decision about driving. When multiple lanes are available, the driver usually cannot observe the situation of each lane ahead, so the driver cannot make the most rational decision on lane selection. When the driver is driving on a two-way lane and the vehicle ahead is high, the driver may need to frequently change to the oncoming lane to try to overtake when the driver needs to overtake. If the driver finds that there is no vehicle in the oncoming lane and the conditions for overtaking are met, the driver will overtake, which affects traffic efficiency.

[0003] In this case, the prior art has proposed a method of adding a liquid crystal display to the rear of the vehicle. The front vehicle displays information about the traffic ahead on the display of the front vehicle in real time, so that the driver of the rear vehicle can observe whether pedestrians are crossing the road ahead, whether the conditions for overtaking are met, etc. However, this method is costly and difficult to popularize. In addition, it is difficult to install a display in the trunk of a passenger car, and it is difficult for consumers to accept it. Summary of the Invention

[0004] In view of the above, there is a need to provide an assisted driving method, apparatus, computer device, and computer-readable storage medium to collect road conditions ahead using a flying device in communication with a vehicle and transmit the road conditions back to the vehicle for display. [Means for solving the problem]

[0005] A first aspect of an embodiment of the present application discloses an assisted driving method including the steps of receiving a start-up command, where the start-up command is used to start up a flight device, and a camera is disposed on the flight device; controlling the flight device to enter a self-test mode when the power of the flight device meets a predetermined power requirement and the vehicle speed of the vehicle meets a predetermined vehicle speed requirement; obtaining vehicle speed information of the vehicle when the flight device passes the self-test; obtaining information regarding the position of the flight device relative to the vehicle; controlling the flight device to fly based on the vehicle speed information and the position information; and transmitting a road condition image captured by the camera to the vehicle.

[0006] According to this technical solution, a flying device is used to obtain road condition images around a vehicle in real time, and the road condition images are transmitted to the vehicle, thereby improving the driving safety of the vehicle and road traffic efficiency.

[0007] In one possible implementation, the step of controlling the flight device to enter the self-test mode when the power of the flight device meets the predetermined power requirement and the vehicle speed of the vehicle meets the predetermined vehicle speed requirement includes a step of controlling the flight device to enter the self-test mode when the remaining power of the flight device is greater than the predetermined power, the vehicle speed of the vehicle is lower than the predetermined vehicle speed, and communication between the flight device and the vehicle is normal, or a step of controlling the flight device to enter the self-test mode when the remaining power of the flight device is greater than the predetermined power, the vehicle speed of the vehicle is lower than the predetermined vehicle speed, the amount of precipitation in the flight environment of the flight device is less than the predetermined precipitation amount, and communication between the flight device and the vehicle is normal.

[0008] According to this technical solution, the flight device enters the takeoff preparation stage only when the flight device receives a launch command and a predefined takeoff policy is met, thereby preventing the flight device from flying in inappropriate flight conditions.

[0009] In one possible implementation, the flight device includes multiple rotors, and the flight device successfully passing the self-test includes each of the rotors rotating at a predetermined rotational speed in a takeoff preparation mode.

[0010] According to this technical solution, in order to avoid flight exceptions of the flight equipment, a self-test is performed on the rotor when the flight equipment enters the takeoff preparation phase.

[0011] In one possible implementation, the assisted driving method further includes controlling the flight device to enter a landing return mode when the flight device and / or the vehicle satisfy predefined landing conditions, the predefined landing conditions including at least one of: the flight device receiving a return command; the remaining power of the flight device being less than a predefined threshold; the vehicle speed of the vehicle being greater than a predefined vehicle speed for a first predefined time; the amount of precipitation in the flight environment of the flight device being greater than a predefined precipitation amount for a second predefined time; and a communication exception occurring between the flight device and the vehicle for a third predefined time.

[0012] According to this technical solution, when a predefined return policy is met during the flight of the flight device, the flight device can be controlled to return for landing.

[0013] In one possible implementation, the vehicle is provided with a parking slot for parking the flight device, and the step of controlling the flight device to enter a landing return mode includes the steps of controlling the flight device to track the center point of the parking slot using a camera, and adjusting the speed and position of the flight device in the X-axis direction and the speed and position of the flight device in the Y-axis direction so that the center point of the parking slot is in the same vertical direction as the center point of the flight device, and adjusting the flight height of the flight device to land in the parking slot.

[0014] According to this technical solution, in the process of returning to land, the flying device tracks the center point of the parking slot and lands in the parking slot by adjusting the flying height.

[0015] In one possible implementation, the vehicle is provided with a parking slot for parking the flight device, and an air blowing port is provided on the side wall of the parking slot, and the assisted driving method further includes a step of blowing air to the flight device using the air blowing port if the flight device fails the self-test, or a step of obtaining vehicle speed information of the vehicle if the flight device succeeds in the self-test within a predetermined blowing time, or a step of outputting predetermined prompt information to the vehicle if the flight device also fails the self-test within the predetermined blowing time.

[0016] According to this technical solution, if the flight device fails the self-test, air is blown onto the flight device using a predefined error correction policy, if the error correction is successful, the flight device can take off normally, or if the error correction is unsuccessful, the operator is prompted to help solve the problem.

[0017] In one possible implementation, if the flight device passes the self-test, the parking slot is switched from a locked state to a relaxed state.

[0018] According to this technical solution, if the flight device passes the self-test, the parking slot will release the flight device so that the flight device can take off.

[0019] In one possible implementation, a vehicle coordinate system is established relative to the vehicle, and the step of obtaining information regarding the position of the flying device relative to the vehicle includes obtaining a first actual distance of the flying device to a coordinate origin of the vehicle coordinate system in an X-axis direction, a second actual distance of the flying device to the coordinate origin of the vehicle coordinate system in a Y-axis direction, and a third actual distance of the flying device to the coordinate origin of the vehicle coordinate system in a Z-axis direction.

[0020] In one possible implementation, a first target distance relative to the coordinate origin of the vehicle coordinate system in the X-axis direction, a second target distance relative to the coordinate origin of the vehicle coordinate system in the Y-axis direction, and a third target distance relative to the coordinate origin of the vehicle coordinate system in the Z-axis direction are set for the flying device, and the step of controlling the flying device to fly based on the vehicle speed information and the position information includes a step of controlling the flying device to fly based on the vehicle speed information, the difference between the first target distance and the first actual distance, the difference between the second target distance and the second actual distance, and the difference between the third target distance and the third actual distance.

[0021] According to this technical solution, the target position and the actual position of the flying device are obtained in the vehicle coordinate system, and the flying distance of the flying device relative to the vehicle is controlled based on the vehicle speed and the difference between the target position and the actual position.

[0022] In one possible implementation, the assisted driving method further includes a step of setting a first target distance according to the vehicle speed, acceleration, and steering wheel rotation angle of the vehicle, where the first target distance is positively correlated with the vehicle speed and acceleration of the vehicle and the first target distance is negatively correlated with the steering wheel rotation angle of the vehicle; a step of setting a second target distance according to a predetermined time constant and the vehicle speed, acceleration, and steering wheel rotation angle of the vehicle, where the second target distance is positively correlated with the vehicle speed and acceleration of the vehicle and the second target distance is negatively correlated with the steering wheel rotation angle of the vehicle; and a step of setting a third target distance according to the height indicated by the height limit sign and a predetermined safety height when it is determined based on the road condition image that there is a height limit sign ahead of the vehicle.

[0023] According to this technical solution, the distance of the flying device relative to the vehicle on the X-axis and Y-axis can be determined based on the vehicle's vehicle speed, acceleration, and steering wheel rotation angle, and the distance of the flying device relative to the vehicle on the Z-axis can be determined based on the height restriction sign and the predetermined safe height.

[0024] In one possible implementation, the assisted driving method further includes a step of setting a third target distance according to the height indicated by the height limit sign and the height of the obstructing vehicle when it is determined based on the road condition image that there is a height limit sign and an obstructing vehicle ahead of the vehicle, or a step of setting the third target distance according to the height of the obstructing vehicle and a default safe height when it is determined based on the road condition image that there is an obstructing vehicle ahead of the vehicle, or a step of setting the third target distance as the default safe height when it is determined based on the road condition image that there is neither a height limit sign nor an obstructing vehicle ahead of the vehicle.

[0025] A second aspect of an embodiment of the present application discloses an assisted driving method including the steps of: sending a start command to a flying device, where the start command is used to start the flying device, and a camera is disposed on the flying device; receiving a road condition image captured by the camera and transmitted by the flying device; performing coordinate transformation on the road condition image; displaying the road condition image on an on-board display device of the vehicle; obtaining information regarding the position of the flying device relative to the vehicle; and controlling the flying device to fly based on the position information.

[0026] According to this technical solution, a flying device is used to obtain road condition images around the vehicle in real time, and the road condition images are transmitted to the vehicle, and the vehicle performs flight control on the flying device, performs coordinate transformation on the received road condition images, and displays the road condition images on the on-board display device, thereby improving the driving safety of the vehicle and the efficiency of road traffic.

[0027] In one possible implementation, a vehicle coordinate system is established relative to the vehicle, and the step of obtaining information regarding the position of the flying device relative to the vehicle includes obtaining a first actual distance of the flying device to a coordinate origin of the vehicle coordinate system in an X-axis direction, a second actual distance of the flying device to the coordinate origin of the vehicle coordinate system in a Y-axis direction, and a third actual distance of the flying device to the coordinate origin of the vehicle coordinate system in a Z-axis direction.

[0028] In one possible implementation, a first target distance relative to the coordinate origin of the vehicle coordinate system in the X-axis direction, a second target distance relative to the coordinate origin of the vehicle coordinate system in the Y-axis direction, and a third target distance relative to the coordinate origin of the vehicle coordinate system in the Z-axis direction are set for the flying device, and the step of controlling the flying device to fly based on the position information includes a step of determining a control value of the flying device in the X-axis direction based on the difference between the first target distance and the first actual distance so that the difference between the first target distance and the first actual distance falls within a first predetermined range, a step of determining a control value of the flying device in the Y-axis direction based on the difference between the second target distance and the second actual distance so that the difference between the second target distance and the second actual distance falls within a second predetermined range, and a step of determining a control value of the flying device in the Z-axis direction based on the difference between the third target distance and the third actual distance so that the difference between the third target distance and the third actual distance falls within a third predetermined range.

[0029] According to this technical solution, the target position and actual position of the flying device are obtained in the vehicle coordinate system, and the control values ​​of the flying device on the X-axis, Y-axis, and Z-axis are determined based on the difference between the target position and the actual position to control the flying distance of the flying device relative to the vehicle.

[0030] In one possible implementation, the assisted driving method further includes a step of setting a first target distance according to the vehicle speed, acceleration, and steering wheel rotation angle of the vehicle, where the first target distance is positively correlated with the vehicle speed and acceleration of the vehicle and the first target distance is negatively correlated with the steering wheel rotation angle of the vehicle; a step of setting a second target distance according to a predetermined time constant and the vehicle speed, acceleration, and steering wheel rotation angle of the vehicle, where the second target distance is positively correlated with the vehicle speed and acceleration of the vehicle and the second target distance is negatively correlated with the steering wheel rotation angle of the vehicle; and a step of setting a third target distance according to the height indicated by the height limit sign and a predetermined safety height when it is determined based on the road condition image that there is a height limit sign ahead of the vehicle.

[0031] According to this technical solution, the distance of the flying device relative to the vehicle on the X-axis and Y-axis can be determined based on the vehicle's vehicle speed, acceleration, and steering wheel rotation angle, and the distance of the flying device relative to the vehicle on the Z-axis can be determined based on the height restriction sign and the predetermined safe height.

[0032] In one possible implementation, the assisted driving method further includes a step of setting a third target distance according to the height indicated by the height limit sign and the height of the obstructing vehicle when it is determined based on the road condition image that there is a height limit sign and an obstructing vehicle ahead of the vehicle, or a step of setting the third target distance according to the height of the obstructing vehicle and a default safe height when it is determined based on the road condition image that there is an obstructing vehicle ahead of the vehicle, or a step of setting the third target distance as the default safe height when it is determined based on the road condition image that there is neither a height limit sign nor an obstructing vehicle ahead of the vehicle.

[0033] In one possible implementation, a flight device coordinate system is set for the flight device, and the step of performing a coordinate transformation on the road condition image includes a step of performing a first coordinate transformation on the road condition image to obtain a road condition image in the flight device coordinate system, and a step of performing a second coordinate transformation on the road condition image in the flight device coordinate system to obtain a road condition image in the vehicle coordinate system.

[0034] According to this technical solution, in order to display the road condition image on the in-vehicle display device, a coordinate transformation can be performed on the road condition image captured by the camera to obtain the road condition image in the vehicle coordinate system.

[0035] In one possible implementation, the flying device is further provided with a wireless module, and the step of obtaining a first actual distance of the flying device to the coordinate origin of the vehicle coordinate system in the X-axis direction, a second actual distance of the flying device to the coordinate origin of the vehicle coordinate system in the Y-axis direction, and a third actual distance of the flying device to the coordinate origin of the vehicle coordinate system in the Z-axis direction includes a step of measuring a wireless signal strength of the wireless module, and obtaining, based on the wireless signal strength, the first actual distance of the flying device to the coordinate origin of the vehicle coordinate system in the X-axis direction, the second actual distance of the flying device to the coordinate origin of the vehicle coordinate system in the Y-axis direction, and the third actual distance of the flying device to the coordinate origin of the vehicle coordinate system in the Z-axis direction.

[0036] According to this technical solution, the actual position of the flying device can be obtained by measurement using radio signal positioning.

[0037] In one possible implementation, the vehicle is provided with a parking slot for parking the flight device, and the parking slot is provided with a fastener and a first circuit, and the assisted driving method further includes a step of determining that the flight device has landed in the parking slot when it is detected that the first circuit is in a connected state, a step of controlling the fastener to lock the flight device in the parking slot, and a step of outputting landing success prompt information when it is detected that the fastener has successfully locked the flight device.

[0038] According to this technical solution, by determining whether the first circuit is connected and whether the fastener locks the flight equipment normally, it can be determined whether the flight equipment has landed normally in the parking slot.

[0039] In one possible implementation, the assisted driving method further includes a step of charging the flight device in a first charging mode when the flight device lands normally, the power of the flight device is less than a first default power, and the power of the vehicle is greater than a second default power, or a step of charging the flight device in accordance with a charging control command when a charging control command is received, wherein the charging control command includes the first charging mode or a second charging mode, and the charging current of the second charging mode is greater than the charging current of the first charging mode.

[0040] According to this technical solution, if the flight device meets the predetermined charging conditions, the flight device can be charged using different charging policies.

[0041] A third aspect of an embodiment of the present application discloses a parking slot disposed on a vehicle and configured to lock a flight device, the parking slot including a bottom wall and a side wall, a flow guiding slot and a wireless charging base disposed on the bottom wall, the wireless charging base configured to charge the flight device, the direction of the flow guiding slot is substantially parallel to the front direction of the vehicle, a fastener is further disposed on the bottom wall, the fastener is further disposed to lock the flight device, and / or the bottom wall and / or the side wall are provided with slots to connect the inside and outside of the parking slot.

[0042] According to this technical solution, a parking slot is arranged on the vehicle and locks the flying device that lands in the parking slot to prevent the flying device from being stolen or dropped when the vehicle is running.

[0043] In one possible implementation, the shape of the flow directing slots is one of straight, broken, or wavy, and the fasteners are "J" shaped structures.

[0044] In one possible implementation, the side wall is further provided with an air outlet, which is connected to an exhaust outlet of the vehicle.

[0045] According to this technical solution, an air blowing port is provided in the parking slot, so that air can be blown onto the flying device when the flying device is in the error correction stage.

[0046] In one possible implementation, a first circuit is further arranged on the bottom wall and a connection part is arranged on the bottom of the flight device, and when the flight device lands in the parking slot, the first circuit forms a closed loop using the connection part.

[0047] According to this technical solution, by determining whether the first circuit is in a connected state, it can be determined whether the flight device has landed in a parking slot.

[0048] According to a fourth aspect, an embodiment of the present application provides a computer-readable storage medium comprising computer instructions, which when executed on an electronic device, enable the electronic device to perform the assisted driving method according to the first aspect or to perform the assisted driving method according to the second aspect.

[0049] According to a fifth aspect, an embodiment of the present application provides an electronic device, the electronic device including a processor and a memory, the memory configured to store instructions, and the processor configured to invoke the instructions in the memory, such that the electronic device performs the assisted driving method according to the first aspect or performs the assisted driving method according to the second aspect.

[0050] According to a sixth aspect, an embodiment of the present application provides a computer program product, which when executed on a computer enables the computer to perform the assisted driving method according to the first aspect or the assisted driving method according to the second aspect.

[0051] According to a seventh aspect, an embodiment of the present application provides an apparatus. The apparatus has a function of implementing the behavior of an electronic device in a method according to the first aspect or the second aspect. The function may be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the aforementioned functions.

[0052] It should be understood that the computer-readable storage medium according to the fourth aspect, the electronic device according to the fifth aspect, the computer program product according to the sixth aspect, and the apparatus according to the seventh aspect all correspond to the method according to the first aspect or the second aspect. Therefore, for the beneficial effects that can be achieved by the storage medium, the electronic device, the computer program product, and the apparatus, please refer to the beneficial effects of the corresponding methods provided above, and the details will not be described again here. [Brief description of the drawings]

[0053] [Figure 1] FIG. 2 is a diagram of an application scenario of the assisted driving method according to an embodiment of the present application. [Diagram 2] 1 is a schematic diagram of a possible structure of a parking slot according to an embodiment of the present application. [Diagram 3] FIG. 2 is a schematic diagram of data exchange between a vehicle and a flying device according to one embodiment of the present application. [Figure 4] 4 is a schematic flowchart of performing coordinate transformation on a first image according to an embodiment of the present application; [Diagram 5] 1 is a schematic flow chart of an assisted driving method according to an embodiment of the present application. [Figure 6] 4 is a schematic flow chart of an assisted driving method according to another embodiment of the present application. [Figure 7] 1 is a schematic diagram of a target distance of an omnidirectional flying device in a vehicle coordinate system according to an embodiment of the present application; [Figure 8] 4 is a schematic flowchart of calculating control values ​​of a flight device in each direction in a vehicle coordinate system according to an embodiment of the present application. [Figure 9] FIG. 2 is a schematic diagram of a functional module of a first assisted driving device according to an embodiment of the present application. [Figure 10] FIG. 2 is a schematic diagram of a functional module of a second assisted driving device according to an embodiment of the present application. [Figure 11] 1 is a schematic diagram of a possible structure of a first electronic device according to an embodiment of the present application. [Figure 12] 2 is a schematic diagram of a possible structure of a second electronic device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0054] In order to better understand the above objectives, features and advantages of the present application, the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and the features of the embodiments of the present application can be combined with each other unless there is a contradiction.

[0055] Please note that in this application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes a relationship between related objects, and indicates that three relationships may exist. For example, A and / or B can represent the cases where only A is present, where both A and B are present, and where only B is present, and A and B may be singular or plural. In this specification, claims, and accompanying drawings of this application, the terms "first," "second," "third," "fourth," etc. (if present) are intended to distinguish between similar objects, but do not necessarily indicate a particular order or sequence.

[0056] Vehicle to X (V2X) is the exchange of information between vehicles and the outside. This technology is the ultimate ideal form of the Internet of Vehicles (IoV) in the future, connecting vehicles to vehicles, vehicles to infrastructure, vehicles to pedestrians, etc. In this case, vehicles can communicate with traffic infrastructure (e.g., cameras on the road) to observe information about vehicles and pedestrians in each direction, and blind spots are basically eliminated, so problems caused by blind spots can be avoided. However, V2X technology requires a large investment to implement, a large capital investment is required for infrastructure construction, and the deployment period is long, so V2X technology cannot be popularized in a short period of time. This application provides an assisted driving method. A flying device can be used as a "pilot". The flying device is equipped with one or more high-definition cameras, and transmits the captured traffic road situation to the vehicle for display in real time by flying in front of the vehicle to solve the traffic safety problem caused by blind spots.

[0057] Referring to FIG. 1, an example of an application scenario diagram of the assisted driving method provided in an embodiment of the present application is described below.

[0058] The vehicle 100 can communicate with the flight device 200 in a wireless manner. For example, the vehicle 100 can communicate with the flight device 200 in a manner such as ZigBee, Bluetooth, or Wi-Fi. The vehicle 100 can be a family car, a truck, a bus, etc., which is not limited in this document. The flight device 200 can be a small rotor unmanned aerial vehicle, for example, a four-rotor unmanned aerial vehicle. One or more cameras can be disposed on the flight device 200. The resolution and angle of view of each camera can be selected based on actual requirements, for example, the camera is a high-definition camera or an ultra-high-definition camera.

[0059] In some embodiments, the flying device 200 includes a front view camera, a top view camera, and a rear view camera. The front view camera may be configured to view traffic information, traffic light status information, etc. on each lane ahead of the vehicle 100. The top view camera may be configured to view information, such as pedestrians and vehicles in the area the vehicle 100 is about to travel through. The rear view camera may be configured to provide traffic information for each lane behind the vehicle 100. The driver or passenger of the vehicle 100 may activate the flying device 200 by voice, button operation, touch screen operation, or other methods.

[0060] Hereinafter, with reference to FIG. 2, an example of a schematic diagram of the structure of a parking slot according to an embodiment of the present application will be described.

[0061] The parking slot 110 is disposed on the vehicle 100. For example, the parking slot 110 is disposed on the upper part of the vehicle 100, i.e., the concave parking slot 110 is disposed on the upper part of the vehicle and away from the sunroof of the vehicle. The parking slot 110 includes a bottom wall 112 and a side wall 114. A flow guiding slot 1121 and a wireless charging base 1122 are disposed on the bottom wall 112. A wireless charging receiver is correspondingly disposed on the bottom of the flight device 200. When the wireless charging receiver of the flight device 200 is attached to the wireless charging base 1122, the charging condition is met, and the vehicle 100 can charge the flight device 200.

[0062] The flow guiding slots 1121 disposed on the bottom wall 112 can promote the heat dissipation of the flight device 200 during the charging process. The direction of the flow guiding slots 1121 is basically the same as the forward direction of the vehicle 100. For example, the direction of the flow guiding slots 1121 is basically parallel to the forward direction of the vehicle 100. The flow guiding slots 1121 may be linear, bent, wavy, etc. The bottom wall 112 is further provided with a fastener 1123 and a slot 1124. Optionally, the fastener 1123 has a "J" structure, and the fastener 1123 is configured to lock the flight device 200. The slot 1124 is configured to connect the inside and the outside of the parking slot 110. For example, when it is raining, rainwater can flow out along the slot 1124, which can prevent the rainwater from flooding the flight device 200 and damaging the components of the flight device 200. Optionally, the slot 1124 passes through the inside of the vehicle top and does not externally affect the shape of the vehicle top. For example, the parking slot 110 is located near the C-pillar of the vehicle 100 and the slot 1124 is connected to the outside of the rear window so that rainwater runs off along the rear window.

[0063] In some embodiments, the outline of the parking slot 110 may be similar to or slightly larger than the outline of the flight device 200. When the flight device 200 lands in the parking slot 110, the fasteners 1123 can automatically lock the flight device 200 so that the flight device 200 does not move relative to the vehicle 100. When the flight device 200 prepares to take off, the fasteners 1123 can be controlled to loosen so that the flight device 200 meets the takeoff conditions.

[0064] In some embodiments, the fastener 1123 has a self-locking function. When the vehicle 100 is powered off, the fastener 1123 is locked to prevent the flight device 200 from being stolen. The fastener 1123 is opened only when the vehicle 100 is started and the flight device 200 meets the take-off conditions. A first circuit may further be arranged on the bottom wall 112, and a connection is arranged on the bottom of the flight device 200. When the flight device 200 lands on the parking slot 110, the first circuit forms a closed loop using the connection, i.e., the first circuit is connected, so that it can be determined that the flight device 200 has landed successfully on the parking slot 110. The flight device 200 can send landing success information to the vehicle 100 to prompt the driver. Optionally, the first circuit is an on-board low-voltage circuit, such as an on-board 12V circuit or an on-board 24V circuit.

[0065] In some embodiments, the slot 1124 may be disposed on the side wall 114, in which case the flight device 200 can dissipate heat during the charging process and prevent the flight device 200 from being submerged by rainwater. The slot 1124 may be a through hole, which is connected to the inside and outside of the parking slot 110.

[0066] In some embodiments, the side wall 114 is further provided with one or more air blowing ports 1125, which are connected to the exhaust port of the vehicle 100. When the flight device 200 is preparing to take off, if the flight device 200 is wirelessly charging, in this case, the wireless charging is disabled or wireless charging is not performed, the flight device 200 enters a takeoff preparation stage. In the takeoff preparation stage, the flight device 200 performs a self-test, and each rotor of the flight device 200 rotates at a relatively low preset rotation speed. If the rotation speed of a rotor is abnormal and significantly lower than the rotation speed of another rotor, it may be that some tree branches and leaves are entangled in the rotor, and the flight device 200 attempts to correct the error. In the error correction stage, the air blowing port 1125 is opened, and air is blown onto the flight device 200 using the circulation fan of the vehicle 100 until the rotation speed of each rotor becomes normal. Under normal conditions, the air outlet 1125 is in a closed state and no air is blown onto the flight device 200. If the speeds of the rotors are still different after a predefined period of time has passed since the error correction was attempted, a voice or on-board display can be used to notify the operator that the flight device 200 cannot take off normally and that the operator needs assistance in resolving the problem.

[0067] In the following, with reference to FIG. 3, an example of a schematic diagram of data exchange between the vehicle 100 and the flying device 200 according to an embodiment of the present application is described.

[0068] 30: When the flight device 200 and the vehicle 100 meet a first predetermined condition and the flight device 200 receives a start-up command sent by the vehicle 100, the flight device 200 enters a self-test mode.

[0069] In some embodiments, when the driver activates the flight device 200 using voice, button operation, or touch screen operation, the flight device 200 can receive a start command sent by the vehicle 100. Before the flight device 200 takes off, takeoff condition detection can be performed, i.e., determining whether the flight device 200 and the vehicle 100 meet a first predefined condition to determine whether the flight device 200 can enter the self-test mode. If the flight device 200 and the vehicle 100 meet the first predefined condition, this means the flight device 200 meets the takeoff condition, and the flight device 200 can enter the self-test mode.

[0070] In some embodiments, the flight device 200 and vehicle 100 satisfying the first predefined condition may be that the power of the flight device 200 meets a predefined power requirement and the vehicle speed of the vehicle 100 meets a predefined vehicle speed requirement.

[0071] In some embodiments, the flight device 200 and the vehicle 100 satisfying the first predefined condition may alternatively be that the remaining power of the flight device 200 is greater than a predefined power, the vehicle speed of the vehicle 100 is lower than a predefined vehicle speed, and the flight device 200 communicates normally with the vehicle 100. For example, the remaining power of the flight device 200 is greater than 50%, or the State of Charge (SOC) of the flight device 200 is greater than 0.5, and the vehicle speed of the vehicle 100 is lower than 70 km / h. The flight device 200 and the vehicle 100 satisfying the first predefined condition may alternatively be that the remaining power of the flight device 200 is greater than a predefined power, the vehicle speed of the vehicle 100 is lower than a predefined vehicle speed, the amount of precipitation in the flight environment of the flight device 200 is less than a predefined precipitation, and the flight device 200 communicates normally with the vehicle 100. The remaining power of the flight device 200 and the vehicle speed of the vehicle 100 may be obtained using a known measurement method. The amount of precipitation in the flight environment may be measured using a rain sensor, or the amount of precipitation in the flight environment may be obtained by turning on the windshield wiper gear of the vehicle 100.

[0072] In some embodiments, when the flight device 200 enters the self-test mode, the flight device 200 performs a self-test. In this case, the flight device 200 is still locked in the parking slot 110 by the fastener 1123, and each rotor of the flight device 200 can rotate at a relatively low predetermined rotation speed. By detecting whether the rotation speed of each rotor is normal, it is determined whether the flight device 200 has passed the self-test. For example, if the rotation speed of each rotor is the predetermined rotation speed, the flight device 200 is determined to have passed the self-test. If it is detected that the rotation speed of one rotor is abnormal or significantly lower than the rotation speed of another rotor, the flight device 200 is determined to have failed the self-test.

[0073] 31: If the flight device 200 passes the self-test, the flight device 200 obtains vehicle speed information of the vehicle 100.

[0074] In some embodiments, optionally, the flight device 200 passing the self-test may be that each rotor of the flight device 200 rotates at a predetermined speed in the self-test mode, or each rotor rotates at essentially the same speed in the self-test mode, for example, the speed difference is within a predetermined percentage (e.g., 5%). If the flight device 200 passes the self-test, this means that the flight device 200 meets the takeoff conditions, and the flight device 200 can communicate with the vehicle 100 to obtain vehicle speed information of the vehicle 100, so that the flight device 200 can then fly based on the vehicle speed information.

[0075] In some embodiments, before flight device 200 takes off, fastener 1123 is in a locked state and flight device 200 is locked into parking slot 110. Once flight device 200 passes a self-test, fastener 1123 releases flight device 200 so flight device 200 can take off from parking slot 110.

[0076] In some embodiments, in the self-test mode, it may be determined that the flight device 200 has failed the self-test, and an error correction may be attempted on the flight device 200. In this case, the air blowing port 1125 may be opened and air may be blown onto the flight device 200 using the circulating fan of the vehicle 100. If the speeds of the respective rotors are still different after the error correction has been attempted within a predefined time, predefined prompt information may be output using voice or an on-board display to inform the driver that the flight device 200 cannot take off normally and the driver needs to help resolve the problem. For example, if the rotors are entangled with tree branches or leaves, blowing air through the air blowing port 1125 cannot ensure that the rotor speeds are the same and the driver needs to be instructed to help resolve the problem. In another example, the rotors or rotor drive motors are abnormal, resulting in different speeds of the respective rotors and the driver needs to be instructed to help resolve the problem.

[0077] In some embodiments, if the flight device 200 passes the self-test within the predefined spray time, this means that error correction for the flight device 200 is successful, the flight device 200 meets the takeoff conditions, and the flight device 200 can obtain vehicle speed information of the vehicle 100.

[0078] 32: Obtain information regarding the position of the flight device 200 relative to the vehicle 100.

[0079] In some embodiments, when the flight device 200 passes the self-test or is in the process of flying, information about the position of the flight device 200 relative to the vehicle 100 can be obtained in real time. For example, a wireless module is disposed in the flight device 200, and the vehicle 100 can obtain information about the position of the flight device 200 relative to the vehicle 100 by measuring the wireless signal strength of the wireless module.

[0080] 33: Control the flying device 200 to fly based on the vehicle speed information and position information.

[0081] In some embodiments, the flight device 200 can be controlled to fly based on the current vehicle speed of the vehicle 100 and the current position of the flight device 200 relative to the vehicle 100, so that the flight speed at which the flight device 200 flies in front of the vehicle 100 is essentially the same as the vehicle speed, and a constant relative position is maintained between the flight device 200 and the vehicle.

[0082] 34: The flying device 200 transmits the road condition image captured by the camera to the vehicle 100.

[0083] In some embodiments, the flight device 200 maintains wireless communication with the vehicle 100. The flight device 200 can transmit road condition images captured by a camera to the vehicle 100 in real time. The road condition images received by the vehicle 100 can be displayed using an in-vehicle display device such as an in-vehicle display or a head-up display (HUD), or can be transmitted to an autonomous driving system for autonomous driving analysis.

[0084] 1, a first three-dimensional coordinate system S1 (flight device coordinate system S1) is set for the flight device 200, and the X-axis of the first three-dimensional coordinate system S1 is the front direction of the vehicle 100, the Y-axis is a direction perpendicular to the X-axis on a horizontal plane, and the Z-axis is an upward direction perpendicular to the XY plane. A second three-dimensional coordinate system S2 (vehicle coordinate system S2) having the same direction as the first three-dimensional coordinate system S1 is set for the vehicle 100, and a third three-dimensional coordinate system S3 having the same direction as the first three-dimensional coordinate system S1 is set for the camera. When multiple cameras are arranged on the flight device 200, a three-dimensional coordinate system may be set for each camera.

[0085] 35: Perform coordinate transformation on the captured road condition image based on the third three-dimensional coordinate system S3 to obtain a first image in the first three-dimensional coordinate system S1.

[0086] In some embodiments, a third three-dimensional coordinate system S3 is set for the camera, and the road condition image is an image taken in the third three-dimensional coordinate system S3, i.e., an image within the field of view of the camera, which is not suitable for direct display on the vehicle-mounted display device. The vehicle 100 that receives the road condition image transmitted by the flying device 200 first converts the road condition image taken by the camera into an image within the field of view of the flying device 200, i.e., performs coordinate transformation on the road condition image taken in the third three-dimensional coordinate system S3 to obtain a first image in the flying device coordinate system S1.

[0087] In some embodiments, a coordinate transformation is performed on the road situation image acquired by each camera (e.g., a front view camera, a top view camera, or a rear view camera) to obtain a plurality of first images in the flight device coordinate system S1. Since the cameras of the flight device 200 are installed at fixed positions, a rule for the coordinate transformation between each camera and the flight device 200 can be set based on the installation position of each camera. For example, for the front view camera, a first coordinate transformation rule for transforming the road situation image captured by the front view camera into a road situation image in the flight device coordinate system S1 can be set based on the installation position of the front view camera, so that a coordinate transformation can be performed on the road situation image captured by the front view camera according to the first coordinate transformation rule to obtain an image in the flight device coordinate system S1. For the rear view camera, a second coordinate transformation rule can be set based on the installation position of the rear view camera to transform the road situation image captured by the rear view camera into a road situation image in the flight device coordinate system, so that a coordinate transformation can be performed on the road situation image captured by the rear view camera according to the second coordinate transformation rule to obtain another image in the flight device coordinate system S1.

[0088] 36: Perform a coordinate transformation on the first image to obtain a second image in a second three-dimensional coordinate system S2.

[0089] In some embodiments, the first image is an image within the field of view of the flying device 200, yet is not suitable for display on an on-board display, and a coordinate transformation can be performed on the first image to obtain a second image in the vehicle coordinate system S2, i.e., an image within the field of view of the vehicle 100.

[0090] 4, a coordinate transformation can be performed on the first image based on the actual position of the flying device 200 in the vehicle coordinate system S2 to obtain a second image in the vehicle coordinate system S2. For example, the coordinate position of the object A1 in the flying device coordinate system S1 is S 1,obj (x i ,y i ,z i ), and the actual position of the flight device 200 in the vehicle coordinate system S2 is S 2,real (x1, y1, z1). In this case, the coordinate position of the object A1 in the vehicle coordinate system S2 is transformed 2,real (x1,y1,z1)+S 1,obj (x i ,y i ,z i ) can be obtained by

[0091] In some embodiments, the vehicle 100 can directly obtain the actual position of the flying device 200 in the vehicle coordinate system S2 through measurement. For example, the actual position of the flying device 200 in the vehicle coordinate system S2 can be obtained through measurement using a positioning method based on a differential signal, a Bluetooth signal, and a Wi-Fi signal. A wireless module is disposed on the flying device 200, and a wireless signal detection module is disposed on the vehicle 100. The vehicle 100 measures the wireless signal strength of the wireless module, and obtains a first actual distance x1 of the flying device 200 to the coordinate origin of the vehicle coordinate system in the X-axis direction, a second actual distance y1 of the flying device 200 to the coordinate origin of the vehicle coordinate system in the Y-axis direction, and a third actual distance z1 of the flying device 200 to the coordinate origin of the vehicle coordinate system in the Z-axis direction based on the wireless signal strength.

[0092] 37: Display the second image on the in-vehicle display device.

[0093] In some embodiments, once the second image in the vehicle coordinate system S2 is obtained, the second image can be displayed on the on-board display, so that the flying device 200 can be used to obtain image information of the vehicle's surroundings, allowing the driver to make rational decisions. For example, the top view camera of the flying device 200 can be used to observe pedestrians and riders that may jump out, allowing the driver and / or the intelligent driving module to respond in advance, thereby reducing traffic accidents. Information about traffic lights in front of the flying device 200 can be displayed on the on-board display using the front view camera of the flying device 200, allowing the driver to see the traffic lights without being blocked by the vehicle in front of the flying device. If a traffic accident or congestion occurs in the lane ahead, the front view camera of the flying device 200 can be used to display traffic information for each lane in advance on the on-board display, allowing the driver to make lane change decisions in advance, thereby improving the driver's traffic efficiency. When the driver is ready to change lanes or turn, the rear view camera of the flying device 200 can display information about rear vehicles and pedestrians on the on-board display, allowing the driver to make safe driving decisions.

[0094] In some embodiments, road condition images captured by the flying devices 200 can be shared for multiple vehicles 100 and multiple flying devices 200 on the road, further improving vehicle driving safety and road traffic efficiency.

[0095] 38: If the flight device 200 and / or vehicle 100 meet predefined landing conditions, the flight device 200 enters landing return mode.

[0096] In some embodiments, when the flight device 200 and / or the vehicle 100 meet predefined landing conditions, the flight device 200 enters a landing return mode to land in the parking slot 110. The predefined landing conditions may include at least one of the following: the flight device 200 receives a return command transmitted by the vehicle 100, the remaining power of the flight device 200 is less than a predefined threshold, the vehicle speed of the vehicle 100 is higher than a predefined vehicle speed for a first predefined time, the amount of precipitation in the flight environment of the flight device 200 is greater than a predefined amount of precipitation for a second predefined time, and a communication exception occurs between the flight device 200 and the vehicle 100 for a third predefined time.

[0097] For example, if the remaining power of the flight device 200 is less than 10%, the SOC of the flight device 200 is less than 0.1, the vehicle speed of the vehicle 100 is greater than 70 km / h for 30 seconds, and the amount of rainfall in the flight environment is greater than a predefined amount for 10 seconds (greater than a predefined amount of rainfall may mean that the amount of rainfall is greater than 15 mm and the wiping speed of the automatic wipers is faster than a predefined speed), or if a communication exception occurs between the flight device 200 and the vehicle 100 for 10 seconds, the driver can control the vehicle 100 to send a return command to the flight device 200 using voice, button operation, or touch screen operation. When any one of the above situations occurs, the flying device 200 enters a landing return mode, and the flying device 200 uses the camera to track the center point of the parking slot 110, and adjusts the speed and position of the flying device 200 in the X-axis direction and the speed and position of the flying device 110 in the Y-axis direction so that the center point of the parking slot 200 is in the same vertical direction as the center point of the flying device 200, and the flight height of the flying device 200 gradually decreases to the body height of the vehicle 100, and the flying device 200 lands in the parking slot 110.

[0098] In some embodiments, upon detecting that the first circuit is in a connected state, the vehicle 100 can determine that the flight device 200 has landed in the parking slot 110. To prevent the flight device 200 from being dropped or stolen, the vehicle 100 can control the fastener 1123 to lock the flight device 200 in the parking slot 110. When the vehicle 100 detects that the fastener 1123 has successfully locked the flight device 200, the on-board display device can output successful landing prompt information to prompt the driver.

[0099] In some embodiments, when the flight device 200 stays in the parking slot 110, the lock signal of the fastener 1123 is normal, and the first circuit is in a connected state, this means that the flight device 200 meets the charging conditions. The driver can select the first charging mode (slow charging) or the second charging mode (fast charging) by using voice, button operation, touch operation, etc. By default, the charging mode is the first charging mode, and the charging current of the second charging mode is higher than the charging current of the first charging mode. If the driver does not issue a charging command, the flight device 200 meets the charging conditions, and the remaining power of the flight device 200 is less than a certain value (e.g., less than 50%), the flight device 200 will automatically be charged in the first charging mode. When the remaining power of the vehicle 100 is less than a certain value (e.g., less than 20%), it can be determined that the power of the vehicle 100 is insufficient, the power consumption requirements of the vehicle 100 are given priority, and the automatic charging of the flight device 200 is stopped, but the driver can forcefully enable the function of charging the flight device 200. When the flight device 200 is fully charged, the wireless charging function is automatically disabled, and the flight device 200 goes into a sleep state.

[0100] See Figure 5. An embodiment of the present application provides an assisted driving method. In this embodiment, the assisted driving method includes the following steps:

[0101] 500: Receive a launch command, which is used to launch the flight device 200.

[0102] In some embodiments, once the flying device 200 establishes a communication connection to the vehicle 100, the flying device 200 can receive a wake-up command sent by the vehicle 100, which is used to wake up the flying device 200. The flying device is equipped with a camera for capturing road condition images.

[0103] 502: Control the flight device 200 to enter a self-test mode when the power of the flight device 200 meets the predefined power requirement and the vehicle speed of the vehicle 100 meets the predefined vehicle speed requirement.

[0104] In some embodiments, if the power of the flight device 200 meets a predefined power requirement and the vehicle speed of the vehicle 100 meets a predefined vehicle speed requirement, the flight device 200 may be controlled to enter the self-test mode. For example, if the remaining power of the flight device 200 is greater than 50% and the vehicle speed of the vehicle 100 is lower than 70 km / h, the flight device 200 may be controlled to enter the self-test mode. As another example, if the remaining power of the flight device 200 is greater than 50%, the amount of rainfall in the flight environment is less than 15 mm / 1d, and the vehicle speed of the vehicle 100 is lower than 70 km / h, the flight device 200 may be controlled to enter the self-test mode.

[0105] 504: If the flight device 200 passes the self-test, obtain vehicle speed information of the vehicle 100.

[0106] In some embodiments, optionally, the flight device 200 passing the self-test means that in self-test mode, each rotor of the flight device 200 rotates at a predetermined rotation speed, or each rotor rotates at essentially the same rotation speed (e.g., the rotation speed difference is within 5%) in self-test mode. If the flight device 200 passes the self-test, this means that the flight device 200 meets the takeoff conditions, and the flight device 200 can communicate with the vehicle 100 to obtain vehicle speed information of the vehicle 100.

[0107] 506: Obtain information regarding the position of the flight device 200 relative to the vehicle 100.

[0108] In some embodiments, when the flight device 200 passes the self-test or is in the process of flying, it can obtain information about the position of the flight device 200 relative to the vehicle 100 in real time. For example, a wireless module is disposed on the vehicle 100, and the flight device 200 can obtain information about the position of the flight device 200 relative to the vehicle 100 by measuring the wireless signal strength of the wireless module.

[0109] 508: Control the flying device 200 to fly based on the vehicle speed information and the position information.

[0110] In some embodiments, the flight device 200 can be controlled to fly based on the current vehicle speed of the vehicle 100 and the current position of the flight device 200 relative to the vehicle 100, so that the flight speed at which the flight device 200 flies in front of the vehicle 100 is essentially the same as the vehicle speed, and a constant relative position is maintained between the flight device 200 and the vehicle.

[0111] 510: A road condition image captured by the camera is transmitted to the vehicle 100.

[0112] In some embodiments, the flight device 200 maintains wireless communication with the vehicle 100. The flight device 200 can transmit road condition images captured by a camera to the vehicle 100 in real time. The road condition images received by the vehicle 100 can be displayed using an on-board display device such as an on-board display or HUD, or can be transmitted to an autonomous driving system for autonomous driving analysis.

[0113] 512: If the flight device 200 and / or vehicle 100 meet predefined landing conditions, control the flight device 200 to enter a landing return mode.

[0114] In some embodiments, when the flight device 200 and / or the vehicle 100 meet predefined landing conditions, the flight device 200 may be controlled to enter a landing return mode to land in the parking slot 110. The predefined landing conditions may include at least one of the following: the flight device 200 receives a return command transmitted by the vehicle 100; the remaining power of the flight device 200 is less than a predefined threshold; the vehicle speed of the vehicle 100 is higher than a predefined vehicle speed for a first predefined time; the amount of precipitation in the flight environment of the flight device 200 is greater than a predefined amount of precipitation for a second predefined time; and a communication exception occurs between the flight device 200 and the vehicle 100 for a third predefined time.

[0115] In the above-mentioned assisted driving method, the flying device 200 is used to obtain road condition images around the vehicle in real time, and the road condition images are transmitted to the vehicle for display or automatic driving decision-making, thereby improving the driving safety of the vehicle and road traffic efficiency.

[0116] See Figure 6. An embodiment of the present application provides an assisted driving method. In this embodiment, the assisted driving method includes the following steps:

[0117] 600: Send a startup command to the flight device 200, which is used to start up the flight device 200.

[0118] In some embodiments, the driver can control the vehicle 100 using voice, button operation, or touch screen operation to send a wake-up command to the flight device 200, which is used to wake up the flight device 200. The flight device is equipped with a camera for capturing road condition images.

[0119] 602: Receive road condition images captured by a camera and transmitted by the flight device 200.

[0120] In some embodiments, flight device 200 maintains wireless communication with vehicle 100 such that vehicle 100 can receive road condition images transmitted by flight device 200 .

[0121] 604: Coordinate transformation is performed on the road condition image, and the road condition image is displayed on the in-vehicle display device of the vehicle 100.

[0122] In some embodiments, a first three-dimensional coordinate system S1 is set for the flying device 200, a second three-dimensional coordinate system S2 having the same direction as the first three-dimensional coordinate system S1 is set for the vehicle 100, and a third three-dimensional coordinate system S3 having the same direction as the first three-dimensional coordinate system S1 is set for the camera. The vehicle 100 can perform coordinate transformation on the road condition image captured based on the third three-dimensional coordinate system S3 to obtain a first image in the first three-dimensional coordinate system S1, perform coordinate transformation on the first image to obtain a second image in the second three-dimensional coordinate system S2, and display the second image on the in-vehicle display device.

[0123] In some embodiments, the road condition image is an image taken in a third three-dimensional coordinate system S3, i.e., an image within the field of view of the camera, which is not suitable for direct display on the vehicle-mounted display device. The vehicle 100 that receives the road condition image transmitted by the flight device 200 can first convert the road condition image taken by the camera into an image within the field of view of the flight device 200, i.e., perform coordinate transformation on the road condition image taken in the third three-dimensional coordinate system S3 to obtain a first image in the flight device coordinate system S1, and then perform coordinate transformation on the first image to obtain a second image in the vehicle coordinate system S2, i.e., an image within the field of view of the vehicle 100. After the second image in the vehicle coordinate system S2 is obtained, the second image can be displayed on the vehicle-mounted display device, so that the image information of the surroundings of the vehicle can be obtained using the flight device 200, and the driver can make rational decisions.

[0124] 606: Obtain information regarding the position of the flight device 200 relative to the vehicle 100.

[0125] In some embodiments, when the flight device 200 passes the self-test or is in the process of flying, information about the position of the flight device 200 relative to the vehicle 100 can be obtained in real time. For example, a wireless module is disposed in the flight device 200, and the vehicle 100 can obtain information about the position of the flight device 200 relative to the vehicle 100 by measuring the wireless signal strength of the wireless module.

[0126] 608: Control the flight device 200 to fly based on the position information.

[0127] In some embodiments, the flying device 200 can be controlled to fly based on the current position of the flying device 200 relative to the vehicle 100, so that the flying device 200 flies in front of the vehicle 100 and a constant relative position is maintained between the flying device 200 and the vehicle.

[0128] 610: If the flight device 200 and / or vehicle 100 meet predefined landing conditions, control the flight device 200 to enter a landing return mode.

[0129] In some embodiments, when the flight device 200 and / or the vehicle 100 meet a predefined landing condition, the flight device 200 is controlled to enter a landing return mode to land in the parking slot 110. The predefined landing condition may include at least one of the following: the flight device 200 receives a return command transmitted by the vehicle 100, the remaining power of the flight device 200 is less than a predefined threshold, the vehicle speed of the vehicle 100 is higher than a predefined vehicle speed for a first predefined time, the amount of precipitation in the flight environment of the flight device 200 is greater than a predefined amount of precipitation for a second predefined time, and a communication exception occurs between the flight device 200 and the vehicle 100 for a third predefined time.

[0130] In some embodiments, to allow the flying device 200 to obtain relatively comprehensive traffic information around the vehicle 100 (e.g., to help the top-view camera detect whether pedestrians or non-motor vehicles are crossing the road ahead of the vehicle), the flying device 200 may optionally fly in front of the vehicle 100, as shown in Figure 7. The flying device 200 is provided with a first target distance x des and a second target distance y des and a third target distance z des The vehicle speed, acceleration, and steering wheel rotation angle of the vehicle 100 are set as v, a, and θ, respectively. The first target distance x des can be expressed as a function of vehicle speed, acceleration, and steering wheel rotation angle, i.e., the first target distance x des is determined based on the current vehicle speed, the current acceleration, and the current steering wheel rotation angle of the vehicle 100. des x des =f(v,a,θ), and x des is positively correlated with v and a, i.e., the higher the vehicle speed and acceleration, the shorter the distance from the flight device 200 to the vehicle in the X direction (i.e., the first target distance x des ) should also be large, so x des is negatively correlated with θ, that is, the larger θ is, the smaller the movement distance component of the vehicle 100 in the X direction will be, and the distance between the flight device 200 and the vehicle in the X direction will also be shorter.

[0131] Second target distance y des can be expressed as a function of a predetermined time constant, vehicle speed, acceleration, and steering wheel rotation angle, i.e., the second target distance y des is determined based on a preset time constant of the vehicle 100, the current vehicle speed, the current acceleration, and the current steering wheel rotation angle. For example, the preset time constant is t and the second target distance y des is y des =f(v,a,θ,t), and ydes is positively correlated with v and a, i.e., the higher the vehicle speed and acceleration, the shorter the distance in the Y direction between the flight device 200 and the vehicle (i.e., the second target distance y des ) should also be large, and y des is negatively correlated with θ, that is, the larger θ is, the shorter the distance between the flight device 200 and the vehicle in the Y direction should be; the value of t can be preset according to the actual requirements; the larger the value of t is, the shorter the second target distance y des will be longer.

[0132] The height indicated by the height limit sign ahead of the vehicle 100 is z1, the height of the obstacle vehicle ahead of the vehicle 100 is z2, and the default safe height set by the flight device 200 by default is z0. des can satisfy the following formula: z2+z0 <z des <z1-z0

[0133] If the flight device 200 detects that there is no height limit sign or an obstructing vehicle ahead of the vehicle 100, the flight device 200 sets a third target distance z des can be set to the default safety height z0, i.e. z des If the flight device 200 detects that there is a height limit sign ahead of the vehicle 100 but no obstructing vehicle, the flight device 200 determines the third target distance z based on the height z1 indicated by the height limit sign and the predetermined safe height z0. des The third target distance z des can be expressed as a function of z1 and z0, and z des If the flight device 200 detects that there is no height limit sign ahead of the vehicle 100 but there is an obstacle vehicle ahead, the flight device 200 calculates a third target distance z based on the height z2 of the obstacle vehicle and the predetermined safe height z0. des The third target distance z des can be expressed as a function of z2 and z0, and z desIf the flight device 200 detects that there is a height limit sign and an obstacle vehicle ahead of the vehicle 100, the flight device 200 calculates a third target distance z based on the height z1 indicated by the height limit sign and the height z2 of the obstacle vehicle. des The third target distance z des can be expressed as a function of z1 and z2, and z des =f[(z1+z2) / 2].

[0134] In some embodiments, at any time t i At time t, the vehicle 100 can obtain the first actual distance x1, the second actual distance y1, and the third actual distance z1 of the flight device 200 in the vehicle coordinate system S2 by measuring the wireless signal strength of the wireless module of the flight device 200. i First target distance x des , the second target distance y des , and a third target distance z des can be obtained based on the current vehicle speed, the current acceleration, and the current steering wheel rotation angle of the vehicle 100.

[0135] time t i Once the target position and the actual position of the flying device 200 at the target point are obtained, the difference between the target position and the actual position can be calculated to obtain the control values ​​of the flying device 200 in the X-axis direction, the Y-axis direction, and the Z-axis direction. For example, at a first target distance x des and the first actual distance x1 is set within a first predetermined range. des and the first actual distance x1, a control value for the flight device 200 in the X-axis direction is determined, and a second target distance y des and the second actual distance y1 falls within a second predetermined range. des and the second actual distance y1, a control value for the flight device 200 in the Y-axis direction is determined, and a third target distance z des and the third actual distance z1 so that the difference between the third target distance z1 and the third actual distance z1 falls within a third predetermined range. desand the third actual distance z1, the control value of the flight device 200 in the Z-axis direction is determined. The first preset range, the second preset range, and the third preset range may all be set according to actual requirements. For example, the first preset range, the second preset range, and the third preset range are all set to 0 cm to 50 cm.

[0136] During the travel of the vehicle 100, the parameters v, a, θ, z1, and z2 change, i.e., the first target distance x des , the second target distance y des , and a third target distance z des It will be appreciated that the first target distance x may be adjusted at any time. By obtaining the current actual position of the flight device 200 and dynamically adjusting the flight of the flight device 200 in real time, the first target distance x des The difference between the first actual distance x1 and the second target distance y des and the second actual distance y1 falls within a second predetermined range, and the third target distance z des and the third actual distance z1 falls within a third predetermined range.

[0137] As shown in FIG. 8, the vehicle 100 is moving straight ahead (the steering wheel rotation angle θ is 0 degrees), and the actual position of the flight device 200 in the vehicle coordinate system S2 is S 2,real (x1, y1, z1), and the target position of the flight device 200 in the vehicle coordinate system S2 is S 2,des (x des ,y des ,z des In this case, the control values ​​of the flight device 200 in the X-axis, Y-axis, and Z-axis directions are expressed by the formula S 2,des (x des ,y des ,z des )-S 2,real It can be obtained by calculating according to (x1, y1, z1).

[0138] FIG. 9 is a schematic diagram of a functional module of a first assisted driving device 300 according to an embodiment of the present application. The first assisted driving device 300 may be applied to a flight device 200, and the flight device 200 is communicatively connected to a vehicle 100. As shown in FIG. 9, the first assisted driving device 300 may include a first receiving module 301, a first control module 302, a first acquisition module 303, a second control module 304, and a transmission module 305. The modules described in the embodiment of the present invention may be program segments for accomplishing a specific function, and are more suitable for describing the execution process of software in a processor than a program. One or more modules may be stored in a memory and configured to be executed by one or more processors.

[0139] The first receiving module 301 is configured to receive a wake-up command. The wake-up command is used to wake up the flight device 200.

[0140] The first control module 302 is configured to control the flight device 200 to enter a self-test mode when the power of the flight device 200 meets a predefined power requirement and the vehicle speed of the vehicle 100 meets a predefined vehicle speed requirement.

[0141] The first acquisition module 303 is configured to obtain vehicle speed information of the vehicle 100 if the flight device 200 passes the self-test.

[0142] The first acquisition module 303 is further configured to obtain information regarding the position of the flight device 200 relative to the vehicle 100 .

[0143] The second control module 304 is configured to control the flight device 200 to fly based on the vehicle speed information and the position information.

[0144] The transmission module 305 is configured to transmit road condition images captured by the camera to the vehicle 100 .

[0145] FIG. 10 is a schematic diagram of a functional module of a second assisted driving device 400 according to an embodiment of the present application. The second assisted driving device 400 may be applied to the vehicle 100, and the flight device 200 is communicatively connected to the vehicle 100. As shown in FIG. 10, the second assisted driving device 400 may include a transmitting module 401, a second receiving module 402, a converting module 403, a second acquiring module 404, and a third control module 405. The modules described in the embodiment of the present invention may be program segments for accomplishing a specific function, and are more suitable for describing the execution process of software in a processor than a program. One or more modules may be stored in a memory and configured to be executed by one or more processors.

[0146] The transmitting module 401 is configured to transmit a wake-up command to the flying device 200, and the wake-up command is used to wake up the flying device 200. A camera is disposed on the flying device 200.

[0147] The second receiving module 402 is configured to receive road condition images captured by the camera and transmitted by the flying device 200.

[0148] The transformation module 403 is configured to perform coordinate transformation on the road condition image and display the road condition image on an on-board display of the vehicle 100 .

[0149] The second acquisition module 404 is configured to obtain information regarding the position of the flying device 200 relative to the vehicle 100 .

[0150] The third control module 405 is configured to control the flight device 200 to fly based on the position information.

[0151] 11 is a schematic diagram of a hardware structure of a first electronic device 10 according to an embodiment of the present application. As shown in FIG. 11, the first electronic device 10 may include a first processor 1001, a first memory 1002, a first communication bus 1003, and a camera 1004. The first memory 1002 is configured to store one or more first computer programs 1005. The one or more first computer programs 1005 are configured to be executed by the first processor 1001. The one or more first computer programs 1005 include instructions, which may be used to execute the assisted driving method shown in FIG. 5 in the first electronic device 10.

[0152] It will be understood that the structure shown in this embodiment does not constitute a particular limitation for the first electronic device 10. In some other embodiments, the first electronic device 10 may include more or fewer components than those shown in the figures, may combine some components, may split some components, or may have a different component arrangement.

[0153] 12 is a schematic diagram of a hardware structure of the second electronic device 11 according to an embodiment of the present application. As shown in FIG. 12, the second electronic device 11 may include a second processor 2001, a second memory 2002, a second communication bus 2003, and an in-vehicle display device 2004. The second memory 2002 is configured to store one or more second computer programs 2005. The one or more second computer programs 2005 are configured to be executed by the second processor 2001. The one or more second computer programs 2005 include instructions, which may be used to execute the assisted driving method shown in FIG. 6 in the second electronic device 11.

[0154] It will be understood that the structure shown in this embodiment does not constitute a particular limitation on the second electronic device 11. In some other embodiments, the second electronic device 11 may include more or fewer components than those shown in the figures, may combine some components, may split some components, or may have a different component arrangement.

[0155] Both the first processor 1001 and the second processor 2001 may include one or more processing units. For example, the first processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, a neural-network processing unit (NPU), and / or the like. The various processing units may be separate components or may be integrated into one or more processors.

[0156] The first processor 1001 and the second processor 2001 may further be provided with a memory configured to store instructions and data. In some embodiments, the memory in the first processor 1001 and the second processor 2001 is a cache. The memory can store instructions or data that are currently being used or are periodically used by the first processor 1001 (second processor 2001). When the first processor 1001 (second processor 2001) needs to use the instructions or data again, the instructions or data can be directly retrieved from the memory. This avoids repeated accesses and reduces the latency of the first processor 1001 (second processor 2001), thus increasing system efficiency.

[0157] In some embodiments, both the first processor 1001 and the second processor 2001 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, a USB interface, etc.

[0158] In some embodiments, both the first memory 1002 and the second memory 2002 may include high-speed random access memory and may further include non-volatile memory, such as a hard disk, memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or another volatile solid-state storage device.

[0159] An embodiment further provides a computer storage medium having stored thereon computer instructions which, when executed on an electronic device, enable the electronic device to execute the associated method steps described above to implement the assisted driving method of the embodiment.

[0160] An embodiment further provides a computer program product, which when executed on a computer, enables the computer to execute the relevant steps described above to implement the assisted driving method of the aforementioned embodiment.

[0161] In addition, an embodiment of the present application further provides an apparatus. The apparatus may be specifically a chip, a component, or a module, and the apparatus may include a processor and a memory connected thereto. The memory is configured to store computer-executable instructions. When the apparatus is operated, the processor can execute the computer-executable instructions stored in the memory to enable the chip to execute the assisted driving method of the above-mentioned method embodiment.

[0162] The first electronic device, the second electronic device, the computer storage medium, the computer program product or the chip provided in the embodiment are configured to execute the corresponding method provided above. Therefore, for the beneficial effects that can be achieved, please refer to the beneficial effects of the corresponding method provided above. Details are not described again here.

[0163] The above description of the implementation allows those skilled in the art to understand that the above-mentioned division of functional modules is interpreted as an example for illustration, for the sake of easy description. In practical application, the above-mentioned functions may be allocated and implemented into different modules based on requirements, that is, the internal structure of the device is divided into different functional modules to implement all or part of the above-mentioned functions.

[0164] In some embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the described apparatus embodiment is an example. For example, the division into modules or units is a logical division of functions, and may be divided in other ways in actual implementation. For example, multiple units or components may be combined or integrated into another apparatus, and some features may be ignored or not implemented. In addition, the shown or discussed mutual couplings or direct couplings or communication connections may be implemented using some interfaces. Indirect couplings or communication connections between apparatuses or units may be implemented in electronic, mechanical, or other forms.

[0165] The units described as separate parts may or may not be physically separate, and the parts shown as units may be one or more physical units, located in one place or distributed in different places. Some or all of the units may be selected according to actual requirements to achieve the objectives of the solutions of the embodiments.

[0166] In addition, the functional units of the embodiments of the present application may be integrated into one processing unit, and each of the units may exist physically alone, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0167] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, the integrated unit may be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented in the form of a software product, or the part that contributes to the prior art, or all or part of the technical solutions. The software product includes some instructions stored in a storage medium, which instruct a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium that can store program code, such as a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, and an optical disk.

[0168] The above description is only a specific implementation of the present application, and is not intended to limit the protection scope of the present application. Any variations or replacements within the technical scope disclosed in the present application shall fall within the protection scope of the present application. [Explanation of symbols]

[0169] 10 First Electronic Device 11 Second Electronic Device 100 vehicles 110 Parking Slot 112 Bottom wall 114 Side wall 200 Flight equipment 300 First Assistance Driving Device 301 first receiving module 302 first control module 303 First Acquisition Module 304 Second Control Module 305 Transmitting Module 400 Second Assistance Driving Device 401 Transmission Module 402 Second Receiving Module 403 Conversion Module 404 Second Acquisition Module 405 Third Control Module 1001 First Processor 1002 First Memory 1003 First communication bus 1004 Camera 1005 First Computer Program 1121 Flow Induction Slot 1122 Wireless Charging Base 1123 Fastener 1124 Slots 1125 Air outlet 2001 Second Processor 2002 The Second Memory 2003 Second communication bus 2004 Automotive display device 2005 Second Computer Program

Claims

1. 1. A method for assisted driving, comprising: receiving a launch command, the launch command being used to launch a flying device, a camera being positioned on the flying device, and a flying device coordinate system being established with respect to the flying device; controlling the flight device to enter a self-test mode when the power of the flight device meets a predetermined power requirement and the vehicle speed of the vehicle meets a predetermined vehicle speed requirement; if the flight device passes the self-test, obtaining vehicle speed information for the vehicle; obtaining information regarding a position of the flight device relative to the vehicle, wherein a vehicle coordinate system is established relative to the vehicle; Controlling the flying device to fly based on the vehicle speed information and the position information; transmitting a road condition image captured by the camera to the vehicle, wherein the vehicle performs a first coordinate transformation on the road condition image captured by the camera to obtain a road condition image in the flight device coordinate system, and a second coordinate transformation on the road condition image in the flight device coordinate system to obtain a road condition image in the vehicle coordinate system; An assisted driving method comprising:

2. The step of controlling the flight device to enter a self-test mode when the power of the flight device meets a predetermined power requirement and the vehicle speed of the vehicle meets a predetermined vehicle speed requirement, controlling the flight device to enter the self-test mode when the remaining power of the flight device is greater than a predetermined power, the vehicle speed of the vehicle is lower than a predetermined vehicle speed, and communication between the flight device and the vehicle is normal; or controlling the flight device to enter the self-test mode when the remaining power of the flight device is greater than a predetermined power, the vehicle speed of the vehicle is lower than a predetermined vehicle speed, the amount of rainfall in the flight environment of the flight device is less than a predetermined amount of rainfall, and communication between the flight device and the vehicle is normal; The assisted driving method of claim 1 , comprising:

3. 2. The assisted driving method of claim 1, wherein the flight device includes a plurality of rotors, and the flight device successfully passing the self-test includes each of the rotors rotating at a predetermined rotational speed in the self-test mode.

4. The method comprises: If the flight device and / or the vehicle meet a predetermined landing condition, controlling the flight device to enter a landing return mode; The predetermined landing condition includes at least one of the following: the flight device receiving a return command; a remaining power of the flight device being less than a predetermined threshold; the vehicle speed of the vehicle being greater than the predetermined vehicle speed for a first predetermined time; an amount of precipitation in a flight environment of the flight device being greater than a predetermined amount of precipitation for a second predetermined time; and a communication exception occurring between the flight device and the vehicle for a third predetermined time.

4. An assisted driving method according to claim 1 .

5. 1. A method for assisted driving, comprising: sending a wake-up command to a flying device, the wake-up command being used to wake up the flying device, the flying device having a camera disposed thereon; receiving a road condition image captured by the camera and transmitted by the flying device; a step of performing coordinate transformation on the road condition image, the coordinate transformation including a first coordinate transformation performed on the road condition image captured by the camera to obtain a road condition image in a flight device coordinate system set for the flight device, and a second coordinate transformation performed on the road condition image in the flight device coordinate system to obtain a road condition image in a vehicle coordinate system set for the vehicle; and a step of displaying the road condition image on an on-board display device of the vehicle. transmitting vehicle speed information of the vehicle to the flight device when the flight device passes the self-test, wherein the flight device is controlled to enter a self-test mode when the power of the flight device meets a predetermined power requirement and the vehicle speed of the vehicle meets a predetermined vehicle speed requirement; obtaining information regarding a position of the flight device relative to the vehicle; controlling the flying device to fly based on the vehicle speed information and the position information; An assisted driving method comprising:

6. The step of obtaining information regarding the position of the flying device relative to the vehicle comprises: obtaining a first actual distance of the flight device to a coordinate origin of the vehicle coordinate system in an X-axis direction, a second actual distance of the flight device to a coordinate origin of the vehicle coordinate system in a Y-axis direction, and a third actual distance of the flight device to a coordinate origin of the vehicle coordinate system in a Z-axis direction; The assisted driving method of claim 5, comprising:

7. a first target distance in the X-axis direction with respect to the coordinate origin of the vehicle coordinate system, a second target distance in the Y-axis direction with respect to the coordinate origin of the vehicle coordinate system, and a third target distance in the Z-axis direction with respect to the coordinate origin of the vehicle coordinate system are set for the flying device, and the step of controlling the flying device to fly based on the position information includes: determining a control value of the flight device in the X-axis direction based on a difference between the first target distance and the first actual distance such that the difference between the first target distance and the first actual distance falls within a first predetermined range; determining a control value of the flight device in the Y-axis direction based on a difference between the second target distance and the second actual distance such that the difference between the second target distance and the second actual distance falls within a second predetermined range; determining a control value of the flight device in the Z-axis direction based on a difference between the third target distance and the third actual distance such that the difference between the third target distance and the third actual distance falls within a third predetermined range; The assisted driving method of claim 6, comprising:

8. A parking slot disposed in a vehicle and configured to lock a flight device, the parking slot including a bottom wall and a side wall, a flow guiding slot and a wireless charging base disposed in the bottom wall, the wireless charging base configured to charge the flight device, the direction of the flow guiding slot being substantially parallel to a front direction of the vehicle, a fastener further disposed in the bottom wall, the fastener further disposed to lock the flight device, the bottom wall and / or the side wall are provided with slots to connect the inside and outside of the parking slot, the side wall is further provided with an air blowing port, the air blowing port is connected to an exhaust port of the vehicle, and the parking slot is controlled to enter a self-test mode when the power of the flight device meets a predetermined power requirement and the vehicle speed of the vehicle meets a predetermined vehicle speed requirement, when the flight device passes the self-test, vehicle speed information of the vehicle is transmitted to the flight device, and the fastener releases the flight device.

9. The parking slot of claim 8, wherein the shape of the flow guide slot is one of a straight line type, a bent line type, or a wavy type, and the fastener is a "J" shaped structure.

Images