Vehicle recovery method, electronic device and storage medium

Abstract

A vehicle recovery method, an electronic device and a storage medium. The method comprises: a vehicle-mounted device (101) sends an aerial photography instruction to an unmanned aerial vehicle (102); the unmanned aerial vehicle (102) receives the aerial photography instruction from the vehicle-mounted device (101); in response to the aerial photography instruction, the unmanned aerial vehicle (102) takes photos of a target area to obtain first aerial photography data; and the unmanned aerial vehicle (102) sends the first aerial photography data to the vehicle-mounted device (101), so that the vehicle-mounted device (101) generates, on the basis of the first aerial photography data, a target electronic map corresponding to the target area, and controls, on the basis of the target electronic map, a vehicle to escape from the target area.

Description

Vehicle escape method, electronic device and storage medium

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202410474445.7, filed on April 19, 2024, to the Chinese Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of automobile intelligence, in particular to a vehicle escape method, an electronic device and a storage medium. BACKGROUND

[0004] The traditional automobile uses the vehicle-mounted control system and the global positioning system during driving to control and obtain the vehicle and road condition information. In fact, the vehicle-mounted control system and the global positioning system can obtain basic vehicle information, but cannot accurately and clearly obtain real-time information and complex environmental information.

[0005] At present, with the gradual maturity of navigation technology, the navigation function is gradually becoming comprehensive, and the application scenarios are becoming more and more rich. The navigation system combined with vehicle driving emerges as the times require. The vehicle and the navigation system can be integrated to provide more comprehensive environmental information and help the vehicle to better escape. TECHNICAL SOLUTION

[0006] The technical problem to be solved by the embodiments of the present application is to provide a vehicle escape method, an electronic device and a storage medium. The vehicle-mounted device sends a aerial photography instruction to a unmanned aerial vehicle. The unmanned aerial vehicle responds to the aerial photography instruction to take a photograph of a target area to obtain first aerial photography data. The vehicle-mounted device receives the first aerial photography data from the unmanned aerial vehicle to generate a target electronic map corresponding to the target area. Then, based on the target electronic map, the vehicle is controlled to escape from the target area, thereby improving the escape efficiency of the vehicle in a complex terrain area.

[0007] In a first aspect, the embodiments of the present application provide a vehicle escape method, which comprises:

[0008] sending an aerial photography instruction, wherein the aerial photography instruction is used to instruct the unmanned aerial vehicle to take a photograph of a target area;

[0009] receiving first aerial photography data, wherein the first aerial photography data is obtained by the unmanned aerial vehicle taking a photograph of the target area;

[0010] generating a target electronic map corresponding to the target area based on the first aerial photography data; and

[0011] Based on the target electronic map, the vehicle is controlled to escape from the target area.

[0012] In a second aspect, the embodiments of the present application provide a vehicle escape method, the method comprising:

[0013] receiving a photographing instruction, wherein the photographing instruction is used to instruct the UAV to photograph the target area;

[0014] in response to the photographing instruction, photographing the target area to obtain first photographing data; and

[0015] sending the first photographing data, so that the vehicle-mounted device generates a target electronic map corresponding to the target area based on the first photographing data, and controls the vehicle to escape from the target area based on the target electronic map.

[0016] In a third aspect, the embodiments of the present application provide a vehicle-mounted device, comprising a transceiver and a processor;

[0017] the transceiver is configured to send a photographing instruction to the UAV, wherein the photographing instruction is used to instruct the UAV to photograph the target area;

[0018] the transceiver is configured to receive first photographing data from the UAV, wherein the first photographing data is obtained by the UAV photographing the target area;

[0019] the processor is configured to generate a target electronic map corresponding to the target area based on the first photographing data; and

[0020] based on the target electronic map, the vehicle is controlled to escape from the target area.

[0021] In a fourth aspect, the embodiments of the present application provide a UAV, comprising a transceiver and a processor;

[0022] the transceiver is configured to receive a photographing instruction from the vehicle-mounted device, wherein the photographing instruction is used to instruct the UAV to photograph the target area;

[0023] the processor is configured to photograph the target area in response to the photographing instruction to obtain first photographing data; and

[0024] the transceiver is configured to send the first photographing data to the vehicle-mounted device, so that the vehicle-mounted device generates a target electronic map corresponding to the target area based on the first photographing data, and controls the vehicle to escape from the target area based on the target electronic map.

[0025] In a fifth aspect, the embodiments of the present application provide an electronic device, comprising a processor and a memory, the processor being connected to the memory, the memory being configured to store computer instructions, and the processor being configured to execute the computer instructions stored in the memory, so that the electronic device executes the method of the first aspect or the second aspect.

[0026] In a sixth aspect, the embodiments of the present application provide a computer readable storage medium, which stores computer instructions. The computer instructions cause a computer to execute the method according to the first aspect or the second aspect.

[0027] In a seventh aspect, the embodiments of the present application provide a computer program product, which includes a non-transitory computer readable storage medium storing computer instructions. The computer instructions are executable by a computer to cause the computer to execute the method according to the first aspect or the second aspect. Advantages

[0028] The embodiments of the present application have the following advantages:

[0029] It can be seen that the vehicle-mounted device sends the aerial photography instruction to the unmanned aerial vehicle, the unmanned aerial vehicle receives the aerial photography instruction, and in response to the aerial photography instruction, the unmanned aerial vehicle photographs the target area to obtain first aerial photography data, and then sends the first aerial photography data to the vehicle-mounted device. After the vehicle-mounted device receives the first aerial photography data, the vehicle-mounted device generates a target electronic map corresponding to the target area based on the first aerial photography data, and then controls the vehicle to escape from the target area based on the target electronic map, thereby improving the escape efficiency of the vehicle in the complex terrain area. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the drawings needed to be used in the embodiments of the present application or the background art will be described below.

[0031] FIG. 1 is a schematic diagram of a vehicle-mounted unmanned aerial vehicle system according to an embodiment of the present application;

[0032] FIG. 2 is a flowchart of a vehicle escape method according to an embodiment of the present application;

[0033] FIG. 3 is a schematic diagram of a flight route of an unmanned aerial vehicle according to an embodiment of the present application;

[0034] FIG. 4 is a flowchart of controlling a vehicle to escape according to an embodiment of the present application;

[0035] FIG. 5 is a route live view according to an embodiment of the present application;

[0036] FIG. 6 is a schematic diagram of an unmanned aerial vehicle leading a vehicle to travel according to an embodiment of the present application;

[0037] FIG. 7 is a structural schematic diagram of a vehicle-mounted device according to an embodiment of the present application;

[0038] FIG. 8 is a structural schematic diagram of an unmanned aerial vehicle according to an embodiment of the present application;

[0039] FIG. 9 is a structural schematic diagram of an electronic device according to an embodiment of the present application. Embodiments of the present application

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0041] The terms "first", "second", "third", and "fourth" and the like in the specification of the present application and claims and drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0042] Reference herein to "embodiments" means that a particular feature, result or characteristic described in connection with an embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0043] First, the related terms involved in the present application are explained and described:

[0044] Vehicle-mounted GNSS: Vehicle-mounted Global Navigation Satellite System (GNSS) is a technology that uses satellite signals for vehicle positioning and navigation, usually composed of one or more satellite receivers, a processor and a display screen, which can provide real-time vehicle location and navigation information to help drivers better understand their location and driving direction, avoid getting lost and taking wrong roads. In addition, the vehicle-mounted GNSS system can also provide real-time traffic information and road condition information to help drivers choose the best driving route and reduce congestion and waste of time.

[0045] Onboard IMU: Onboard Inertial Measurement Unit (IMU) is a device used to measure the inertial motion parameters of an aircraft, which is usually composed of three accelerometers and three gyroscopes, which can measure the acceleration and angular velocity of the aircraft, and plays an important role in aircraft navigation, control and stabilization, etc. It can provide real-time attitude and position information of the aircraft to help the automatic driving system control the flight of the aircraft.

[0046] Referring to FIG. 1, FIG. 1 is a schematic diagram of a vehicle-mounted UAV system provided by the embodiments of the present application. The vehicle-mounted UAV system 10 includes a vehicle-mounted device 101 and a UAV 102. The vehicle-mounted device 101 includes a vehicle-mounted operation unit, a first wireless communication unit, a vehicle motor control unit, a vehicle-mounted GNSS, the UAV 102 includes a second wireless communication unit, an airborne control unit, an airborne operation unit, an airborne flight control unit, an airborne image processing unit, an airborne camera unit, an airborne sensor unit, and an airborne IMU.

[0047] In the embodiments, based on the vehicle-mounted UAV system 10 shown in FIG. 1, when the user sends a request for escape to the vehicle-mounted UAV system 10 and frames a target area on the vehicle screen, the vehicle-mounted operation unit of the vehicle-mounted device 101 analyzes the trajectory based on the area framed by the user, generates a starting point and an ending point, and then converts the path information into flight control information of the UAV, i.e., the first wireless communication unit of the vehicle-mounted device 101 sends a flight instruction to the second wireless communication unit of the UAV 102, the vehicle-mounted hangar opens the hatch door to allow the UAV to take off, after the second wireless communication unit of the UAV 102 receives the flight instruction, the airborne operation unit of the UAV 102 decrypts the data and controls the UAV 102 to take off through the airborne flight control unit, the airborne camera unit of the UAV 102 photographs the target area according to the flight instruction, after obtaining the photographed image information, the airborne image processing unit of the UAV 102 sends the photographed image information to the airborne computing unit of the UAV 102, the airborne computing unit of the UAV 102 processes and extracts the data of the photographed image information to obtain first flight data, the second wireless communication unit of the UAV 102 sends the first flight data to the first wireless communication unit of the vehicle-mounted device 101, the first wireless communication unit of the vehicle-mounted device 101 sends the received first flight data to the vehicle-mounted operation unit of the vehicle-mounted device 101, the vehicle-mounted operation unit of the vehicle-mounted device 101 decrypts the data based on the first flight data and then extracts the point cloud information of the corresponding image, and then performs segmentation, filtering, registration, reconstruction, etc. on the point cloud data to generate a target electronic map corresponding to the target area and display the target electronic map on the vehicle screen, and then the vehicle-mounted operation unit of the vehicle-mounted device 101 determines a target escape route according to the target electronic map, controls the vehicle to escape from the target area based on the target escape route, the vehicle motor control unit and the vehicle-mounted GNSS, the airborne sensor unit and the airborne IMU of the UAV 102.

[0048] It should be noted that the unmanned aerial vehicle 102 can autonomously avoid and bypass obstacles when flying automatically, which can be achieved by using on-board sensors such as infrared sensors, image sensors, millimeter wave radars, ultrasonic radars, and circular scanning millimeter wave radars. After the on-board sensors of the unmanned aerial vehicle 102 perceive the surrounding environment, the on-board sensors generate a point cloud image of the surrounding environment and send the image to the on-board image processing element for image processing. The on-board computing element calculates the flight path of the unmanned aerial vehicle according to the point cloud of the surrounding environment to perform corresponding obstacle avoidance and bypass flight.

[0049] It should be noted that after the vehicle-mounted computing unit of the vehicle-mounted device 101 generates the three-dimensional surrounding environment, the user selects the position of the escape point, i.e., the end point, in the three-dimensional model. The vehicle-mounted computing unit plans the path by sensing the current position of the vehicle and the position of the end point through the vehicle-mounted GNSS. The vehicle-mounted computing unit performs intelligent image recognition, combines the point cloud and feature points in the three-dimensional model, and combines the elevation information in the three-dimensional model to automatically calculate the drivable path between the start point and the end point and mark the path in the three-dimensional model. Then, the vehicle-mounted computing unit sends the data to the second wireless communication unit of the unmanned aerial vehicle through the wireless communication unit. After receiving the corresponding instructions, the unmanned aerial vehicle automatically performs autonomous flight according to the flight control information parsed from the path in combination with the on-board IMU. At this time, the vehicle can perform low-speed autonomous driving or low-speed driving by the user according to the path to escape from the complex environment. Meanwhile, the vehicle and the unmanned aerial vehicle can synchronize the position information through the wireless communication unit during the vehicle driving process guided by the unmanned aerial vehicle. If the distance between the vehicle and the unmanned aerial vehicle exceeds the distance threshold, the unmanned aerial vehicle automatically interrupts the flight and performs hovering or returns to the vehicle hangar. If the vehicle successfully reaches the end point, the on-board computing element of the unmanned aerial vehicle automatically identifies the position information of the end point and returns to the vehicle hangar.

[0050] Referring to FIG. 2, FIG. 2 is a flowchart of a vehicle escape method provided by an embodiment of the present application. The method includes but is not limited to the following steps:

[0051] 201: The vehicle-mounted device sends a aerial photography instruction to the unmanned aerial vehicle.

[0052] In the embodiment, the vehicle-mounted device establishes a connection between the vehicle-mounted device and the unmanned aerial vehicle through wireless communication technology. When the vehicle-mounted device receives an instruction from the user to escape, for example, the user can input the instruction to escape through the vehicle display screen of the vehicle-mounted device. The vehicle-mounted device sends an aerial photography instruction to the unmanned aerial vehicle to instruct the unmanned aerial vehicle to take photographs of the target area.

[0053] It should be noted that the target area is framed by the user on the vehicle screen. The framing method includes but is not limited to using the point selection method to frame. For example, the user selects four points on the screen, and the four points form an area. The area included in the area is the target area.

[0054] It can be seen that, according to the target region framed by the user, the unmanned aerial vehicle can find the shooting object faster, reduce the search time, improve the shooting efficiency, and the unmanned aerial vehicle can better control the shooting angle and height, and shooting the target region can ensure that clearer and more accurate images are shot. Framing the target region can make the post-processing simpler and more efficient, because the user only needs to process the data of the region they are interested in.

[0055] It should be noted that the aerial photography instruction sent by the vehicle-mounted device to the unmanned aerial vehicle is also used to instruct the flight route of the unmanned aerial vehicle, and the vehicle-mounted device generates the flight route of the unmanned aerial vehicle according to the region framed by the user. First, the vehicle-mounted device calculates the ground sampling distance according to the ground resolution, the minimum unit of detection and the focal length, then calculates the minimum flight lane width according to the ground sampling distance, and then divides and generates the flight route according to the quadrilateral segmentation algorithm. The minimum width of the division is the minimum flight lane width calculated according to the ground sampling distance and the lateral overlap rate, and is exported as a flight route file to obtain the flight route of the unmanned aerial vehicle. Referring to FIG. 3, FIG. 3 is a schematic diagram of a flight route of an unmanned aerial vehicle according to an embodiment of the present application. Points 1, 2, 3 and 4 are points selected by the user, and a region is framed by these four points, which is the target region. Then the unmanned aerial vehicle flies according to the flight route in the region.

[0056] 202: The unmanned aerial vehicle receives the aerial photography instruction from the vehicle-mounted device.

[0057] In this embodiment, after the communication connection between the vehicle-mounted device and the unmanned aerial vehicle is stable, when the vehicle-mounted device sends the aerial photography instruction instructing the unmanned aerial vehicle to shoot the target region to the unmanned aerial vehicle, the unmanned aerial vehicle receives the aerial photography instruction from the vehicle-mounted device, and then performs subsequent operations based on the target region in the aerial photography instruction.

[0058] 203: The unmanned aerial vehicle shoots the target region in response to the aerial photography instruction, and obtains first aerial photography data.

[0059] In this embodiment, the unmanned aerial vehicle responds to the aerial photography instruction and, according to the aerial photography instruction, determines the distance of each object in the target region by carrying a laser radar, emitting a laser beam and measuring the reflection time of the laser beam. Specifically, the laser radar carried on the unmanned aerial vehicle scans each object in the target region, determines the distance of each object in the target region from the unmanned aerial vehicle and the three-dimensional shape and surface features of each object based on the reflection time of the laser beam, and then generates a point cloud data set containing the point coordinates and height information of each object in the target region according to the distance of each object in the target region from the unmanned aerial vehicle and the three-dimensional shape and surface features of each object. The generated point cloud data set is taken as the first aerial photography data.

[0060] It should be noted that after receiving the aerial photography instruction from the vehicle-mounted device, the unmanned aerial vehicle can obtain the flight route from the aerial photography instruction, and calculate the exploration path according to the flight route. First, the unmanned aerial vehicle calculates the position and attitude of the camera in the unmanned aerial vehicle coordinate system according to the real-time camera image information, establishes a local map, and helps the unmanned aerial vehicle to avoid obstacles according to the feature points in the map. Then, loop detection is performed to detect the minimum loop accuracy of the unmanned aerial vehicle to determine whether to perform repeated exploration. The loop detection of the unmanned aerial vehicle satisfies the following formula:

[0061] After the large loop of the unmanned aerial vehicle, the small loop is closed to ensure that the entire environment has been explored in a closed environment. The small loop ensures the accuracy and success rate of the entire loop and reduces the cumulative error. Wherein, p is the motion path of the unmanned aerial vehicle, b k is the first frame of each loop, v is the real-time motion speed of the unmanned aerial vehicle, t k is the real-time time of the on-board timing of the unmanned aerial vehicle, a t is the initial acceleration of the unmanned aerial vehicle, b at is the deviation of the sensor fusion relative to the world coordinate system, n a is the error of the on-board camera relative to the on-board timing time, g w is the systematic deviation of the entire system after filtering, q is the loop completeness of positioning and mapping, Ω is the data value of the angular velocity sensor after sensor fusion, and ω is the current unobstructed loop condition.

[0062] As can be seen, the unmanned aerial vehicle can fly freely in the air, can obtain a full range of view angles of the target area, including overhead, inclined and side view angles, and provides more comprehensive observation capability. The unmanned aerial vehicle is small and flexible, can easily pass through narrow spaces and bypass obstacles, and can obtain data of areas difficult to reach. Compared with the traditional ground shooting method, the unmanned aerial vehicle can quickly reach the target area for shooting, reducing time and labor costs.

[0063] 204: The unmanned aerial vehicle sends first aerial photography data to the vehicle-mounted device.

[0064] In this embodiment, the unmanned aerial vehicle sends the first aerial photography data to the vehicle-mounted device through wireless communication technology.

[0065] 205: The vehicle-mounted device receives the first aerial photography data from the unmanned aerial vehicle.

[0066] In this embodiment, the vehicle-mounted device receives the first aerial photography data from the unmanned aerial vehicle through wireless communication technology.

[0067] 206: The vehicle-mounted device generates a target electronic map corresponding to the target area based on the first aerial photography data.

[0068] In the embodiment, the vehicle-mounted device extracts a point cloud data set containing point coordinates and height information of each object in the target region in the first aerial data, further obtains the distance between each object in the target region and the unmanned aerial vehicle, and the three-dimensional shape and surface features of each object, processes and splices the distance between each object in the target region and the unmanned aerial vehicle, and the three-dimensional shape and surface features of each object according to spatial positions and splicing positions, and generates a target electronic map corresponding to the target region.

[0069] It should be noted that in the embodiment, the generated target electronic map includes a 2D electronic map and / or a 3D electronic map, and the user can switch between 2D and 3D according to his own needs.

[0070] It can be seen that generating a target electronic map corresponding to the target region based on aerial data can provide more accurate, detailed, real-time, visual and precise geographic information, and 2D and 3D maps can provide different perspectives and information display modes to meet the needs of different users. 2D maps can be used to display road and traffic information, while 3D maps can be used to display building and terrain information, which can provide a more intuitive and realistic visual experience, allowing users to better understand the terrain and topography of the target region and thus better understand the surrounding environment.

[0071] 207: Based on the target electronic map, the vehicle-mounted device controls the vehicle to escape from the target region.

[0072] Referring to FIG. 4, FIG. 4 is a flowchart of a method for controlling a vehicle to escape according to an embodiment of the present application. The method includes but is not limited to the following steps:

[0073] 401: Based on the target electronic map, determine a target escape route.

[0074] For example, if the user marks an escape route on the target electronic map, the user-marked escape route is taken as the target escape route.

[0075] For example, if the user does not mark an escape route on the target electronic map, a target escape route is generated based on the current position of the vehicle, the end point set by the user, and the map elements in the electronic map, wherein the map elements are determined based on the first aerial data. Specifically, the current position of the vehicle is taken as the starting point of the target escape route, the end point set by the user is taken as the end point of the target escape route, the target electronic map is combined to avoid impassable areas, the optimal and shortest path is selected, and the target escape route is automatically generated.

[0076] For example, when the vehicle is driving in a complex terrain in the wild, the actual situation around the current route will be displayed on the vehicle screen. Referring to FIG. 5, FIG. 5 is a route live map provided by an embodiment of the present application. The route live map shows that the current position of the vehicle is point A, the terminal point is point B, there is a river and two mountains on the left side of the route, there are many trees on both sides of the route, and the best route for the vehicle to go from point A to point B is the line connecting point A and point B on the live map. The vehicle driver can reach the terminal point by following the route.

[0077] It can be seen that if the user has marked an escape route on the electronic map, the vehicle-mounted device can determine the target escape route according to the user's intention, and if the user has not marked an escape route on the electronic map, the best escape route can be quickly determined by using the electronic map, avoiding the waste of time and effort in blindly searching for an escape route.

[0078] 402: Based on the target escape route, control the vehicle to escape from the target area according to the target escape route.

[0079] For example, virtual lane lines are generated on the target electronic map. Specifically, the center line, boundary line, intersection, and other data of the road are obtained from the target electronic map, the width of each lane is calculated according to the type and specification of the road, and then virtual lane lines are generated on the target electronic map by drawing parallel lines at a certain interval on both sides of the center line of the road according to the center line, boundary line, intersection, and other data of the road and the width of each lane.

[0080] For example, based on the target escape route and the virtual lane lines, the vehicle is controlled to escape from the target area. Specifically, according to the target escape route and the virtual lane lines, the best path for the vehicle to escape from the target area is determined by a path planning algorithm, and the automatic driving or assisted driving system of the vehicle is used to perceive the surrounding environment and obstacles according to the planned path, and the vehicle is controlled to escape from the target area.

[0081] It can be seen that virtual lane lines can help drivers better understand road conditions and driving directions, reduce driving errors and accidents, help drivers better plan driving routes, provide more accurate navigation information, help drivers reach their destinations faster, and can be adjusted according to different driving environments and road conditions to meet different driving needs.

[0082] It should be noted that the vehicle-mounted device also sends the target escape route to the unmanned aerial vehicle, the unmanned aerial vehicle receives the target escape route from the vehicle-mounted device, and flies in front of the vehicle based on the target escape route. Specifically, the vehicle-mounted device sends the target escape route to the unmanned aerial vehicle, the unmanned aerial vehicle receives the target escape route from the vehicle-mounted device, and automatically analyzes the flight control information according to the target escape route after receiving the flight instruction, and performs autonomous flight in front of the vehicle. When the unmanned aerial vehicle autonomously flies in front of the vehicle based on the target escape route, it controls the vehicle to follow the unmanned aerial vehicle to drive, so that the vehicle can escape from the complex environment.

[0083] As can be seen, the unmanned aerial vehicle can provide a wider field of view in the air, help the vehicle driver better understand the surrounding environment, avoid collisions and other dangers, and help the vehicle driver share some work, such as navigation and monitoring, reduce the pressure and fatigue of the driver. The unmanned aerial vehicle can monitor the current road conditions in real time in front of the vehicle and send the road condition information to the vehicle-mounted device in real time, so that the vehicle driver can timely handle and respond to unexpected situations, and improve the safety during the escape.

[0084] It should be noted that the vehicle-mounted device also sends the position information of the vehicle to the unmanned aerial vehicle. After receiving the position information of the vehicle, the unmanned aerial vehicle adjusts the flight of the unmanned aerial vehicle based on the position information of the vehicle. Specifically, in the process of guiding the vehicle to drive, the vehicle-mounted device sends its position information to the unmanned aerial vehicle in real time. After receiving the position information of the vehicle, the unmanned aerial vehicle determines whether the vehicle has reached the terminal point. If the position information of the vehicle shows that the vehicle has reached the terminal point, the unmanned aerial vehicle is controlled to return to the hangar of the vehicle. If the position information of the vehicle shows that the vehicle has not reached the terminal point, the distance between the vehicle and the unmanned aerial vehicle is determined based on the position information of the vehicle and the position information of the unmanned aerial vehicle, and the flight of the unmanned aerial vehicle is adjusted based on the distance. Referring to FIG. 6, FIG. 6 is a schematic view of the unmanned aerial vehicle leading the vehicle to drive according to an embodiment of the present application. As shown in FIG. 6, the unmanned aerial vehicle flies in front of the road, and the vehicle drives behind. The distance between the current vehicle and the unmanned aerial vehicle is displayed on the screen of the vehicle in real time. Specifically, if the position information of the vehicle shows that the vehicle has not reached the terminal point, the position information of the vehicle is compared with the position information of the unmanned aerial vehicle, and the distance between the vehicle and the unmanned aerial vehicle is obtained. If the distance between the vehicle and the unmanned aerial vehicle exceeds a first threshold value, the unmanned aerial vehicle automatically interrupts the flight and performs hovering to wait for the vehicle. When the vehicle follows the unmanned aerial vehicle, the unmanned aerial vehicle continues to lead the vehicle to drive at a normal speed. If the distance between the vehicle and the unmanned aerial vehicle is less than a second threshold value, the unmanned aerial vehicle is controlled to accelerate to drive. When the vehicle and the unmanned aerial vehicle maintain a normal distance, the unmanned aerial vehicle continues to lead the vehicle to drive at a normal speed. If the distance between the vehicle and the unmanned aerial vehicle is greater than or equal to the second threshold value and less than or equal to the second threshold value, the unmanned aerial vehicle continues to lead the vehicle to drive at the original speed. When the position information of the vehicle shows that the vehicle has reached the terminal point, the unmanned aerial vehicle is controlled to return to the hangar of the vehicle.

[0085] It can be seen that by obtaining the position information of the vehicle in real time, the unmanned aerial vehicle can better understand the driving condition of the vehicle, timely adjust the guiding strategy, improve the guiding efficiency, help the unmanned aerial vehicle better master the driving condition of the vehicle, timely discover potential dangers, and ensure driving safety. The distance between the vehicle and the unmanned aerial vehicle can be more accurately determined, so that the flight of the unmanned aerial vehicle is more accurately adjusted, and the guiding accuracy is improved.

[0086] It should be noted that the unmanned aerial vehicle photographs the escape route when flying based on the escape route, obtains second aerial photography data, sends the second aerial photography data to the vehicle, the vehicle-mounted device receives the second aerial photography data, and renders and displays the second aerial photography data to assist the vehicle in escaping from the target area. Specifically, when the unmanned aerial vehicle leads the vehicle to escape based on the escape route, it photographs the escape route, scans each object on the escape route by the laser radar carried on the unmanned aerial vehicle, determines the distance between each object on the escape route and the unmanned aerial vehicle and the three-dimensional shape and surface features of each object based on the reflection time of the laser beam, then generates the point cloud data set of the point coordinates and height information of each object on the escape route according to the distance between each object on the escape route and the unmanned aerial vehicle and the three-dimensional shape and surface features of each object, takes the generated point cloud data set on the escape route as the second aerial photography data, and then sends the second aerial photography data to the vehicle-mounted device. The vehicle-mounted device preprocesses the second aerial photography data, such as denoising and color enhancement, converts the second aerial photography data into a three-dimensional model using three-dimensional reconstruction technology, and maps a two-dimensional image or texture onto the surface of the three-dimensional model to increase realism and detail. According to the environmental lighting conditions, appropriate lighting and shadow effects are calculated and applied, a suitable rendering engine is selected, the three-dimensional model and texture are rendered, and the rendered image or scene is displayed on the screen of the vehicle-mounted device for the user to view, thereby assisting the vehicle in escaping from the target area.

[0087] As can be seen, when the unmanned aerial vehicle leads the vehicle to escape based on the escape route, it still photographs the escape route, which can provide a wider field of view through the photographed images or videos and provide real-time information of the target area, helping the vehicle driver better understand the surrounding environment and avoid encountering obstacles or dangerous situations. It can also find a better escape route to help the vehicle driver escape more quickly, and it can also monitor the meteorological conditions of the target area, such as wind speed, wind direction, temperature, etc., through the meteorological sensor carried on the unmanned aerial vehicle, to help the vehicle driver better assess the driving risk.

[0088] In summary, the vehicle-mounted device sends aerial photography instructions to the unmanned aerial vehicle, the unmanned aerial vehicle receives the aerial photography instructions and responds to the aerial photography instructions to photograph the target area to obtain first aerial photography data, and then sends the first aerial photography data to the vehicle-mounted device. After the vehicle-mounted device receives the first aerial photography data, it generates a target electronic map corresponding to the target area based on the first aerial photography data, and then controls the vehicle to escape from the target area based on the target electronic map, realizing safe driving and rapid escape of the vehicle in complex environments. When the unmanned aerial vehicle leads the vehicle to fly based on the escape route, it photographs the escape route and monitors the current road conditions in real time, providing real-time information of the target area, helping the vehicle driver better understand the surrounding environment and avoid encountering obstacles or dangerous situations, helping the vehicle to escape safely and quickly, and improving the escape efficiency.

[0089] Referring to FIG. 7, FIG. 7 is a structural schematic diagram of a vehicle-mounted device provided by an embodiment of the present application. As shown in FIG. 7, the vehicle-mounted device 700 comprises a transceiver 701 and a processor 702.

[0090] The transceiver 701 is configured to send a flight instruction, wherein the flight instruction is used to instruct a UAV to take a photo of a target area.

[0091] The first flight data is obtained by the UAV taking a photo of the target area.

[0092] The processor 702 is configured to generate a target electronic map corresponding to the target area based on the first flight data.

[0093] The processor 702 is configured to control the vehicle to escape from the target area based on the target electronic map.

[0094] In some embodiments, in the aspect of controlling the vehicle to escape from the target area based on the target electronic map, the processor 702 is specifically configured to:

[0095] determine a target escape route based on the target electronic map; and

[0096] control the vehicle to escape from the target area according to the target escape route based on the target escape route.

[0097] In some embodiments, in the aspect of determining the target escape route based on the target electronic map, the processor 702 is specifically configured to:

[0098] if a user labels an escape route on the target electronic map, take the escape route labeled by the user as the target escape route; and

[0099] if the user does not label the escape route on the target electronic map, generate the target escape route based on a current position of the vehicle, a terminal point set by the user, and a map element in the electronic map, wherein the map element is determined based on the first flight data.

[0100] In some embodiments, in the aspect of controlling the vehicle to escape from the target area according to the target escape route based on the target escape route, the processor 702 is specifically configured to:

[0101] generate a virtual lane line on the target electronic map; and

[0102] control the vehicle to escape from the target area based on the target escape route and the virtual lane line, wherein the virtual lane line is used to adjust the target escape route.

[0103] In some embodiments, the processor 702 is further configured to:

[0104] a target escape route, so that the UAV flies in front of the vehicle based on the target escape route; and

[0105] The vehicle is controlled to follow the UAV when the UAV flies based on the target escape route.

[0106] In some embodiments, the processor 702 is further configured to:

[0107] The position information of the vehicle, so that the UAV adjusts the flight based on the position information of the vehicle.

[0108] In some embodiments, the processor 702 is further configured to:

[0109] Receive second aerial photography data from the UAV, wherein the second aerial photography data is obtained by photographing the escape route when the UAV flies based on the escape route; and

[0110] Render and display the second aerial photography data to assist the vehicle in escaping from the target area.

[0111] Referring to FIG. 8, FIG. 8 is a structural schematic diagram of a UAV according to an embodiment of the present application. As shown in FIG. 8, the UAV 800 includes a transceiver 801 and a processor 802.

[0112] The transceiver 801 is configured to receive aerial photography instructions, wherein the aerial photography instructions are used to instruct the UAV to photograph a target area;

[0113] The processor 802 is configured to photograph the target area in response to the aerial photography instructions to obtain first aerial photography data; and

[0114] The transceiver 801 is configured to send the first aerial photography data, so that a vehicle-mounted device generates a target electronic map corresponding to the target area based on the first aerial photography data, and controls the vehicle to escape from the target area based on the target electronic map.

[0115] In some embodiments, the processor 802 is further configured to:

[0116] Receive a target escape route; and

[0117] Fly in front of the vehicle based on the target escape route, so that the vehicle-mounted device controls the vehicle to follow the UAV when the UAV flies based on the target escape route.

[0118] In some embodiments, in terms of controlling the vehicle to follow the UAV, the processor 802 is specifically configured to:

[0119] Receive position information of the vehicle; and

[0120] Adjust the flight of the UAV based on the position information of the vehicle.

[0121] In some embodiments, the processor 802 is specifically configured to adjust the flight of the UAV based on the position information of the vehicle, in particular for:

[0122] if the position information of the vehicle is the end point, controlling the UAV to return to the hangar of the vehicle; and

[0123] if the position information of the vehicle is not the end point, determining the distance between the vehicle and the UAV based on the position information of the vehicle and the position information of the UAV, and adjusting the flight of the UAV based on the distance.

[0124] In some embodiments, the processor 802 is specifically configured to adjust the flight of the UAV based on the distance, in particular for:

[0125] if the distance is greater than a first threshold, controlling the UAV to hover; and

[0126] if the distance is less than a second threshold, controlling the UAV to accelerate.

[0127] In some embodiments, the processor 802 is further configured to:

[0128] photograph the escape route to obtain second aerial photography data when flying based on the escape route; and

[0129] send the second aerial photography data to the vehicle-mounted device to assist the vehicle to escape from the target area.

[0130] Referring to FIG. 9, FIG. 9 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 9, the electronic device 900 includes a transceiver 901, a processor 902 and a memory 903. They are connected through a bus 904. The memory 903 is used to store computer instructions and data, and can transmit the data stored in the memory 903 to the processor 902. The electronic device can be the vehicle escape device described above, and the processor 902 can be the processor 702 and the processor 802 described above.

[0131] The processor 902 is configured to read the computer instructions in the memory 903 to perform the following operations:

[0132] the vehicle-mounted device sends an aerial photography instruction to the UAV, wherein the aerial photography instruction is used to instruct the UAV to photograph the target area;

[0133] the UAV receives the aerial photography instruction from the vehicle-mounted device, wherein the aerial photography instruction is used to instruct the UAV to photograph the target area;

[0134] the UAV photographs the target area in response to the aerial photography instruction to obtain first aerial photography data;

[0135] The UAV sends first aerial photography data to the vehicle-mounted device, so that the vehicle-mounted device generates a target electronic map corresponding to the target area based on the first aerial photography data, and controls the vehicle to escape from the target area based on the target electronic map;

[0136] The vehicle-mounted device receives the first aerial photography data from the UAV, wherein the first aerial photography data is obtained by the UAV photographing the target area;

[0137] The vehicle-mounted device generates a target electronic map corresponding to the target area based on the first aerial photography data; and

[0138] The vehicle is controlled to escape from the target area based on the target electronic map.

[0139] In some embodiments, in the aspect of controlling the vehicle to escape from the target area based on the target electronic map, the processor 902 is specifically configured to:

[0140] determine a target escape route based on the target electronic map; and

[0141] control the vehicle to escape from the target area based on the target escape route.

[0142] In some embodiments, in the aspect of determining the target escape route based on the target electronic map, the processor 902 is specifically configured to:

[0143] if the user labels an escape route on the target electronic map, the escape route labeled by the user is taken as the target escape route; and

[0144] if the user does not label an escape route on the target electronic map, the target escape route is generated based on a current position of the vehicle, a terminal point set by the user, and a map element in the electronic map, wherein the map element is determined based on the first aerial photography data.

[0145] In some embodiments, in the aspect of controlling the vehicle to escape from the target area based on the target escape route, the processor 902 is specifically configured to:

[0146] generate a virtual lane line on the target electronic map; and

[0147] control the vehicle to escape from the target area based on the target escape route and the virtual lane line.

[0148] In some embodiments, the processor 902 is further configured to:

[0149] send the target escape route, so that the UAV flies in front of the vehicle based on the target escape route; and

[0150] control the vehicle to follow the UAV when the UAV flies based on the target escape route.

[0151] In some embodiments, the processor 902 is further configured to:

[0152] send the position information of the vehicle, so that the UAV adjusts flight of the UAV based on the position information of the vehicle.

[0153] In some embodiments, the processor 902 is further configured to:

[0154] receive second aerial photography data, wherein the second aerial photography data is obtained by photographing the escape route when the UAV flies based on the escape route; and

[0155] render and display the second aerial photography data to assist the vehicle in escaping from the target area.

[0156] In some embodiments, the processor 902 is further configured to:

[0157] receive the target escape route from the vehicle-mounted device; and

[0158] fly in front of the vehicle based on the target escape route, so that the vehicle-mounted device controls the vehicle to follow the UAV when the UAV flies based on the target escape route.

[0159] In some embodiments, in controlling the vehicle to follow the UAV, the processor 902 is specifically configured to:

[0160] receive position information of the vehicle; and

[0161] adjust flight of the UAV based on the position information of the vehicle.

[0162] In some embodiments, in adjusting flight of the UAV based on the position information of the vehicle, the processor 902 is specifically configured to:

[0163] if the position information of the vehicle is the end point, control the UAV to return to the hangar of the vehicle; and

[0164] if the position information of the vehicle is not the end point, determine a distance between the vehicle and the UAV based on the position information of the vehicle and position information of the UAV, and adjust flight of the UAV based on the distance.

[0165] In some embodiments, in adjusting flight of the UAV based on the distance, the processor 902 is specifically configured to:

[0166] if the distance is greater than a first threshold value, control the UAV to hover; and

[0167] if the distance is less than a second threshold value, control the UAV to fly at a high speed.

[0168] In some embodiments, the processor 902 is further configured to:

[0169] The second aerial photography data is obtained by photographing the escape route when flying along the escape route.

[0170] The second aerial photography data is sent to the vehicle-mounted device to assist the vehicle to escape from the target area.

[0171] It should be understood that the electronic device in the present application can include a smart phone (such as an Android phone, an iOS phone, a Windows Phone phone, etc.), a tablet computer, a palm computer, a notebook computer, a mobile Internet device (MID, Mobile Internet Devices for short), or a wearable device or a server, an edge computing node, etc. The above electronic devices are only examples and are not exhaustive, and include but are not limited to the above electronic devices. In actual applications, the above electronic devices can also include a smart vehicle terminal, a computer device, etc.

[0172] The present application also provides a computer readable storage medium, which stores computer instructions. The computer instructions are executed by a processor to implement part or all of the steps of any vehicle escape method described in the above method embodiments.

[0173] The present application also provides a computer program product, which includes a non-transitory computer readable storage medium storing computer instructions. The computer instructions are operable to cause a computer to perform part or all of the steps of any vehicle escape method described in the above method embodiments.

[0174] It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all expressed as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0175] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0176] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the division of the apparatus embodiments described above is merely illustrative, and the division of the function elements can be different, for example, multiple function elements or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed elements can be indirect coupling or communication connection through some interfaces, devices or elements, and can be electrical, mechanical or other forms.

[0177] The elements illustrated as separate components may or may not be physically separate, and the components illustrated as elements may or may not be physical elements, i.e., may be located in one place or distributed to multiple network elements. Some or all of the functional elements can be selected according to actual needs to achieve the purpose of the embodiment.

[0178] In addition, each functional element in each embodiment of the present application can be integrated into one processing element, or each functional element can be physically present alone, or two or more functional elements can be integrated into one element. The integrated element can be realized in the form of hardware or in the form of a software program module.

[0179] If the integrated element is realized in the form of a software program module and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or all or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods of the embodiments. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0180] Those of ordinary skill in the art can understand that all or part of the steps of the various methods of the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable storage medium, which can include a flash disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, etc.

[0181] The above describes the embodiments of the present application in detail, and the principles and embodiments of the present application are described by using specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific embodiments and application range will be changed, and the above description of the embodiments should not be understood as a limitation of the present application.

Claims

1. A vehicle escape method, applied to a vehicle-mounted device, the method comprising: sending a photographing instruction, wherein the photographing instruction is used to instruct a UAV to photograph a target area; receiving first photographing data, wherein the first photographing data is obtained by the UAV photographing the target area; generating a target electronic map corresponding to the target area based on the first photographing data; and controlling a vehicle to escape from the target area based on the target electronic map.

2. The method of claim 1, wherein, The controlling the vehicle to escape from the target area based on the target electronic map comprises: determining a target escape route based on the target electronic map; and controlling the vehicle to escape from the target area according to the target escape route based on the target escape route.

3. The method of claim 2, wherein, The determining the target escape route based on the target electronic map comprises: if a user labels an escape route on the target electronic map, taking the escape route labeled by the user as the target escape route; and if the user does not label an escape route on the target electronic map, generating the target escape route based on a current position of the vehicle, a terminal point set by the user, and a map element in the electronic map, wherein the map element is determined based on the first photographing data.

4. The method of claim 2, wherein, The controlling the vehicle to escape from the target area according to the target escape route based on the target escape route comprises: generating a virtual lane line on the target electronic map; and controlling the vehicle to escape from the target area based on the target escape route and the virtual lane line, wherein the virtual lane line is used to adjust the target escape route. 5.The method of any one of claims 2-4, further comprising: sending the target escape route to make the UAV fly in front of the vehicle based on the target escape route; and controlling the vehicle to follow the UAV when the UAV flies based on the target escape route. The method further comprises:

6. The method of claim 5, wherein, sending position information of the vehicle to make the UAV adjust flight of the UAV based on the position information of the vehicle. 7.The method of any one of claims 1-6, further comprising: receiving second photographing data, wherein the second photographing data is obtained by the UAV photographing an escape route when the UAV flies based on the escape route; and rendering and displaying the second photographing data to assist the vehicle to escape from the target area. 8.A vehicle escape method, applied to a UAV, the method comprising: receiving a photographing instruction, wherein the photographing instruction is used to instruct the UAV to photograph a target area; photographing the target area to obtain first photographing data in response to the photographing instruction; and sending the first photographing data to make a vehicle-mounted device generate a target electronic map corresponding to the target area based on the first photographing data, and control a vehicle to escape from the target area based on the target electronic map. 9.The method of claim 8, further comprising: ​ receiving a target escape route; and flying in front of the vehicle based on the target escape route, so that the vehicle-mounted device controls the vehicle to follow the UAV when the UAV flies based on the target escape route.

10. The method of claim 9, wherein the controlling the vehicle to follow the UAV comprises: receiving position information of the vehicle; and adjusting the flight of the UAV based on the position information of the vehicle.

11. The method of claim 10, wherein the adjusting the flight of the UAV based on the position information of the vehicle comprises: if the position information of the vehicle is a terminal point, controlling the UAV to return to a hangar of the vehicle; and if the position information of the vehicle is not the terminal point, determining a distance between the vehicle and the UAV based on the position information of the vehicle and position information of the UAV, and adjusting the flight of the UAV based on the distance.

12. The method of claim 11, wherein, The adjusting the flight of the UAV based on the distance comprises: if the distance is greater than a first threshold, controlling the UAV to hover; and if the distance is less than a second threshold, controlling the UAV to fly at a high speed.

13. The method of any one of claims 8-12, further comprising: when flying based on the escape route, taking a photo of the escape route to obtain second aerial photography data; sending the second aerial photography data to the vehicle-mounted device, so that the vehicle-mounted device assists the vehicle to escape from the target area.

14. A vehicle-mounted device, comprising a transceiver and a processor; The transceiver is configured to send a flight instruction, wherein the aerial photography instruction is used to instruct a UAV to take a photo of a target area; receiving first aerial photography data, wherein the first aerial photography data is obtained by the UAV taking a photo of the target area; the processor is configured to generate a target electronic map corresponding to the target area based on the first aerial photography data; and controlling a vehicle to escape from the target area based on the target electronic map.

15. A UAV, comprising a transceiver and a processor; The transceiver is configured to receive a flight instruction, wherein the aerial photography instruction is used to instruct the UAV to take a photo of a target area; the processor is configured to take a photo of the target area to obtain first aerial photography data in response to the aerial photography instruction; and the transceiver is configured to send the first aerial photography data, so that a vehicle-mounted device generates a target electronic map corresponding to the target area based on the first aerial photography data, and controls a vehicle to escape from the target area based on the target electronic map.

16. An electronic device comprising: a processor and a memory, the processor being connected to the memory, the memory being configured to store computer instructions, and the processor being configured to execute the computer instructions stored in the memory, so that a vehicle-mounted device performs the method of any one of claims 1-7, and so that a UAV performs the method of any one of claims 8-13.

17. A computer-readable storage medium, the computer-readable storage medium storing computer instructions, the computer instructions being executed by a processor to implement the method of any one of claims 1-7 or 8-13.

Images